Machines, Mechanism and Robotics: Proceedings of iNaCoMM 2019

Organization
Preface
Contents
Editors and Contributors
A Mechanical Contrivance for Acoustic Levitation and Mixing of Particles
	1 Introduction
	2 Numerical Modeling
		2.1 Geometry of Standing Wave Acoustic Levitation System
		2.2 Procedure
		2.3 Finite Element Method and Convergence Study
	3 Results and Discussion
	4 Summary
	References
Design and Validation of Flexure-Based Hinges for Space Deployable Antenna Reflector
	1 Introduction
	2 Design Configuration of Deployable Mesh Reflector
		2.1 Description
		2.2 Kinematics of Deployable Mesh Reflector
	3 Design of Joints with Flexure Hinges
		3.1 Geometry of Tape Flexures
		3.2 Kinematics of Tape Flexures
		3.3 Structural Analysis of Tape Flexures
		3.4 Implementation of Compliant 5J Joint in Deployable Reflector
	4 Advantages of Tape Flexures in Deployable Configuration
	5 Conclusion
	References
Effect of Implant Materials on Bone Remodelling Around Cemented Acetabular Cup
	1 Introduction
	2 Materials and Method
		2.1 Material Properties of Cortical Bone, Cancellous Bone, Cement Mantle and Implant
		2.2 Loading Boundary Conditions and Bone Remodelling Models
		2.3 Interfacial Conditions
	3 Results
	4 Discussion
	5 Conclusion
	References
Influence of Ageing and High BMI on Lower Back Pain
	1 Introduction
	2 Methodology
	3 Results
	References
Design and Analysis of a Robotic Lizard Using Five-Bar Mechanisms
	1 Introduction
	2 Topological Design of the Robotic Lizard Mechanism
	3 Position Analysis of the Robotic Lizard Mechanism
		3.1 Coordiates of Linkages in the Mechanism
		3.2 Workspace of Robot Parts
	4 Prototype of the Robotic Lizard Mechanism
	5 Conclusions
	References
Development of an Automated Material Handling System Inside a Nuclear Containment Structure
	1 Introduction
	2 Design Considerations and Constraints
	3 System Details
	4 Conclusions
	References
Nonlinear Modeling and Stability Analysis of Piezoelectric Energy Harvesting Mechanism Under Aeroelastic Vibration
	1 Introduction
	2 Theoretical Background
	3 Mathematical Formulation
		3.1 Nonlinear Distributed Parameter Model
	4 Results and Discussion
	5 Conclusions
	References
Optimization of Surface Roughness of Laser Trepanned Hole in ZTA Plate
	1 Introduction
	2 Experimentation
	3 Modeling and Optimization
	4 Conclusions
	References
PI Control-Based Modelling of Segway Using Bond Graph
	1 Introduction
	2 Bond Graph Modelling of Segway
		2.1 Word Bond Graph of Segway
	3 Bond Graph Modelling of Segway
		3.1 Word Bond Graph of Segway
	4 Bond Graph Simulation Result of Segway
	5 Conclusions
	References
Strategic Coordination and Navigation of Multiple Wheeled Robots
	1 Introduction
	2 Developed Cooperative Multi-agent Systems
	3 Developed Motion Planning Approaches
		3.1 Approach 1: Potential Field-Based Motion Planner
		3.2 Approach 2: Manually Constructed Mamdani-Type Fuzzy Logic-Based Motion Planner
		3.3 Automatically Evolved Genetic-Fuzzy Motion Planner
	4 Implementation of Strategic Coordination
	5 Results and Discussion
		5.1 GA parametric Study and Identification of Best Rule Base of FLC
		5.2 The Need for Coordination Schemes
		5.3 Comparison of Traveling Time Taken by the Robots
	6 Concluding Remarks
	References
Spur Gear Mechanism for Accurate Angular Indexing and Locking of Angular Position by Using Additive Manufacturing
	1 Introduction
	2 Literature Review
	3 Methodology
		3.1 Machine, Materials and Software
		3.2 Design of Modified Ratchet Mechanism
		3.3 Design of Spur Gear
	4 Analysis
	5 Development of Spur Gear Mechanism
	6 Results and Discussion
	7 Conclusion
	References
Fabrication of Solid Lubricant Coating and Its Optimization Using Response Surface Methodology
	1 Introduction
	2 Experimentation
	3 Results and Discussion
		3.1 Response Surface Methodology
		3.2 Analysis of Variance (ANOVA)
		3.3 FESEM Analysis
	4 Conclusions
	References
Computing and Verification of IPMC Parameters Through Equivalent Beam Theory
	1 Introduction
	2 Mathematical Model
		2.1 Beam Model
	3 Results
	4 Conclusion
	References
Characterization of Mechanical Properties of Different Agro-derived Reinforcements Reinforced in Aluminium Alloy (AA6061) Matrix Composite: A Review
	1 Introduction
	2 Metal Matrix Composites (MMCs)
	3 Reinforcing Materials in MMCs
		3.1 Synthetic Reinforcements
		3.2 Agro-industrial Waste Derivatives as Reinforcements
		3.3 Advantages and Disadvantages of Agro-Derived and Synthetic Reinforcements.
	4 Production of Metal Matrix Composites
		4.1 Solid Route
		4.2 Liquid Route
	5 Summary and Conclusions
	References
Shoe-Based Energy Harvesting Using Ionic Polymer Metal Composites
	1 Introduction
	2 Experimental Setup
		2.1 Fabrication of Double Curved-Shaped Structure
		2.2 Working Mechanism of Energy Harvester
	3 Result and Discussion
	4 Conclusion
	References
IoT-Based Health Monitoring System (IHMS)
	1 Introduction
	2 Related Work
	3 Working of IHMS
	4 Simulation Results and Analysis
	5 Conclusion
	References
Search and Reconnaissance Robot for Disaster Management
	1 Introduction
	2 Existing ATVs
		2.1 Legged Robots
		2.2 SuperDroid Robots
		2.3 Honda’s 3E-D18
	3 Design
		3.1 Material
		3.2 Specifications
		3.3 Articulating Chassis
	4 Electronics and Power Management
		4.1 Power Distributions and Voltage Levels
		4.2 Operating Time
		4.3 Power Calculations
	5 Locking Mechanism and Modularity
		5.1 Modularity
		5.2 Locking Mechanism
	6 Assistive Autonomy and Wireless Communication
		6.1 Modes for Climbing
		6.2 Assistive Autonomy
		6.3 Robotics Operating System (ROS) Framework
		6.4 Video and Audio Feed
	7 Conclusion and Future Prospects
	References
Experimental Validation of Various Existing Impedance Models for Acoustic Liners
	1 Introduction
	2 Analytical Models
		2.1 Modified Howe Model
		2.2 Betts Impedance Model
		2.3 Bauer Impedance Model
	3 Experimental Setup
	4 Results
	5 Conclusion
	References
Design and Modeling of Pipeline Inspection Robot (PIR) for Underground Pipelines
	1 Introduction
	2 Design of Pipeline Inspection Robot (PIR) for Underground Pipelines Inspection
	3 Kinematics Modeling of Link Mechanism
	4 Results and Discussion
	5 Conclusion
	References
Mechanism of Material Removal in Magneto Abrasive Flow Machining
	1 Introduction
	2 Experimental Work
		2.1 Fabrication of Work Specimen
		2.2 Finishing of Aluminum Tubes Using MAFM
		2.3 Variables and Responses
	3 Regression Analysis
	4 Results and Discussion
		4.1 Analysis of MR and Surface Roughness in MAFM
		4.2 Optimization
		4.3 SEM Examination
	5 Conclusions
	References
Optimization of Cutting Parameters of EN9 Steel with Plain Carbide Tool Using Response Surface Methodology
	1 Introduction
	2 Experimental Methods
		2.1 Selection of Work Piece and Tool
		2.2 Composition of EN9 Steel with Energy Dispersive Spectroscopy (EDS)
	3 Experimental Design
		3.1 Response Surface Methodology
		3.2 Measurement of Responses
	4 Results and Discussions
		4.1 Analysis of Output Parameters with Plain Carbide Tool Analysis of Crater Wear
		4.2 Predicted Versus Actual Values for Response Factors with Plain Carbide Tool
		4.3 Effect of Machining Parameters on Response Variables with Plain Carbide Tool Crater Wear
		4.4 Optimization of Cutting Conditions with Plain Carbide Tool
	5 Conclusions
	References
Design and Development of a Sit-to-Stand Assistive Device
	1 Introduction
	2 Determination of Natural STS Trajectory
	3 Four-Position Motion Generation for STS Mechanism
	4 STS Device Design and Fabrication
	5 STS Experiments with Assistive Device
	6 Conclusion and Future Work
	7 Declaration
	References
Effect of Structural Characteristics on Kinematics of Planar Kinematic Chains
	1 Introduction
	2 Methodology
		2.1 Joint Value
		2.2 Design Parameters
		2.3 Chain Motion Characteristic Matrix (CMC)
	3 Detection of Isomorphism
	4 Characteristic of Kinematic Chains
	5 Path Analysis
	6 Summary
	Appendix: Eight-link Single Degree of Freedom Kinematic Chains Figure
	References
A Combined Experimental/Finite Element Model Analysis on Compressive Behavior of Tamarind Pod Shell Filler Reinforced Composites
	1 Introduction
	2 Experimental
		2.1 Materials
		2.2 Preparation of Composite Specimens
		2.3 Density and Void Measurement
		2.4 Compression Testing
		2.5 Multiscale Material Modeling
		2.6 Surface Treatment in Digimat-FE
		2.7 Failure Indicator Model
	3 Results and Discussions
		3.1 Density and Void Content
		3.2 Compressive Behavior
	4 Conclusion
	References
Workspace Evaluation of Robotino-XT Under Reconfiguration
	1 Introduction
	2 CBHA Description
	3 Experimental Setup of Multi-section CBHA
	4 Experimental Results
	5 Conclusions and Future Scope
	References
Assessment of Surface Water Quality Using Principal Component Analysis in the Yamuna River: A Case Study
	1 Introduction
	2 Literature Review
	3 Material and Method
	4 Result and Discussion
	5 Conclusion
	References
Performance Analysis of Gripper Assembly of an In-Vessel Fuel Handling Machine
	1 Introduction
	2 Description of Gripper Assembly
	3 Analysis of Gripper Assembly
	4 Results and Discussion
	5 Design Improvements for Gripper Assembly with Larger Offset
	6 Summary
	References
Design and Development of a Remote Racking Mechanism for Switchgear
	1 Introduction
	2 Design of Remote Racking Mechanism
	3 Remote Racking Mechanism Performance Estimation with FEA Analysis Simulation and Testing
		3.1 Static Analysis
		3.2 Modal Analysis
	4 Conclusion
	References
Iwan Model for Bolted Joint with Residual Macroslip Stiffness and Pinning
	1 Introduction
	2 Modeling of Backbone Curve
		2.1 Iwan Model
		2.2 Pinning Force
		2.3 Backbone Curve
		2.4 Comparison with Other Models
	3 Conclusion
	References
Kinematics Model of Bionic Manipulator by Using Elliptic Integral Approach
	1 Introduction
	2 System Configuration
	3 Experimental Set-Up
	4 Results and Discussion
	5 Conclusions
	References
A Review on the Effect of Biomechanical Aspects and the Type of Stability Fixation on the Bone Fracture Healing Process
	1 Introduction
	2 Biology of Bone Fracture Healing
	3 Finite Element Analysis
	4 Factors Affecting the Bone Healing Process
		4.1 Simple and Complex Fracture
		4.2 Open and Closed Reduction
		4.3 Absolute and Relative Stability
		4.4 Implants and Their Outcomes
		4.5 Direction of Interfragmentary Movement
	5 Discussion
	6 Conclusion
	References
Mechanical Behaviour of Special Type Seals Used in the FBR Application
	1 Introduction
	2 Seal Description
	3 Numerical Analysis
		3.1 Stage 1: Development of a Numerical Model
		3.2 Stage 2: Optimisation Study
	4 Conclusion
	References
Realization of a Simple Mechanism to Simulate Core Subassembly Growth of FBR
	1 Introduction
	2 Different Methods Proposed to Simulate Subassembly Growth
	3 Description of Test Set-up Based on Selected Mechanism
	4 Tests on Lifting Tool Mechanism
	5 Results and Discussion
	6 Conclusion
	References
Investigation of Multiple Stable States of Tensegrity Structure
	1 Introduction
	2 Stability of Tensegrity Structure
		2.1 Monte Carlo-Based Algorithm and Simulation
		2.2 Selection of Initial Configuration, Computation of Member Lengths, Member Forces and Nodal Forces
		2.3 Steps of Simulation and Implementation in a Tensegrity Simplex
		2.4 Implementation of Dynamic Relaxation (DR) Method
	3 Conclusion
	References
Design and Development of a Short-Wave Electric Infrared Heater of 215 kW Capacity
	1 Introduction
	2 Electric SWIR Heater
		2.1 Background
		2.2 SWIR Lamp
		2.3 Electric IR Heater
	3 Experiments on EIH
	4 Conclusions
	References
Kinematic and Dynamic Modeling of a Quadruped Robot
	1 Introduction
	2 Kinematic Mechanism of the Legged Robot
		2.1 D-H Parameter Representation
		2.2 Inverse Kinematics
	3 Dynamic Motion and Joint Space Formulation
	4 Simulation Results
	5 Conclusions
	References
Nonlinear Joint Stiffness Parameter Identification
	1 Introduction
	2 Theory: Nonlinear Joint Parameter Identification
	3 Numerical Simulation
		3.1 Joint Parameter Identification
	4 Conclusion
	References
Design and Development of Reaper for Harvesting Maize
	1 Introduction
	2 Problem Statement
	3 Design of the Reaper
	4 Detailed Design
		4.1 Design of Traction System
		4.2 Traction System Arrangement
		4.3 Design of Reaper Mechanism
		4.4 Design of Frame
	5 Prototype of Maize Harvesting Reaper
	6 Cost Analysis of Maize Harvesting
	7 Conclusions and Future Directions
	References
Transpose Jacobian Control of Flexible Joint Upper Limb Exoskeleton System
	1 Introduction
	2 System Dynamics
		2.1 Device Specifications
		2.2 Flexible Joint Exoskeleton Dynamics
	3 Control Scheme
		3.1 Rigid Dynamics Transpose Jacobian Control Scheme
		3.2 Modified Dynamics Transpose Jacobian Control Scheme
	4 Results and Discussion
	5 Conclusion
	References
Defect-Free Synthesis, Analysis and Optimization of Planar Lower Limb Assistive Device for Gait Rehabilitation
	1 Introduction
	2 Clinical Design Specifications
	3 Caster Walker Gait Trainer (CGT) Design
	4 Optimal Synthesis of Mechanism
	5 Conclusions
	References
Theoretical and Experimental Investigation of Friction in Hydraulic Actuators
	1 Introduction
	2 Friction Models
		2.1 LuGre Model [1–3]
		2.2 Modified LuGre Model [1]
	3 Experimental Setup and Methodology
	4 Results and Discussion
		4.1 Identification of σ2, Vb, Fs, and Fc
		4.2 Model Validations
	5 Conclusion
	References
Support Vector Classifier-Based Broken Rotor Bar Detection in Squirrel Cage Induction Motor
	1 Introduction
	2 Broken Rotor Bar Fault
	3 Fast Fourier Transformation
	4 Support Vector Machine
		4.1 SVM Classifier for Broken Bar Detection
		4.2 Data Acquisition and Implementation of SVM Classifier
		4.3 Results
	5 Conclusion
	References
Kinematic and Dynamic Analysis of Primary FCS Circuits of Typical 25 Seater Transport Aircraft
	1 Introduction
	2 Problem Definition and Methodology
	3 Geometric Modeling and Kinematic Simulation
	4 Kinematic Simulation in MSC ADAMS
		4.1 ADAMS Models and Kinematic Joints
		4.2 Kinematic Motion
		4.3 Simulation Results
	5 Force Analysis in MSC ADAMS
		5.1 Hinge Moment Calculations
		5.2 Aerodynamic (Actuator) Load Calculations
		5.3 ADAMS Force Model
		5.4 Validation of Force Analysis Carried Out Using MSC ADAMS
		5.5 Results of Force Simulation
	6 Inertia Effects of Control Surfaces on Pilot Controls
	7 Conclusions
	References
Kinematic Synthesis and Optimization of a Double-Slotted Fowler Flap Mechanism
	1 Introduction
	2 Problem Definition
	3 Methodology
		3.1 Kinematic Synthesis of the Six Bar Mechanism
		3.2 Parametric Analysis of the Design Parameters
		3.3 Dimensional Synthesis Using MATLAB Program
		3.4 Optimization of Link Lengths
		3.5 Dimensional Synthesis of Aft-flap Mechanism
	4 Verification of Synthesis Procedure with CAD Models
	5 Fabrication of Prototype Model of the Mechanism
	6 Conclusion
	References
Intelligent Modeling of Dilution Percent in Laser Surface Alloying of AlxCu0.5FeNiTi High Entropy Alloy
	1 Introduction
	2 Experimental Method
	3 Results and Discussions
		3.1 Regression-Based Modeling
		3.2 ANN-Based Modeling
		3.3 Comparison of RSM and ANN Models
	4 Conclusions
	References
Spinal Needles Insertion and Traversal Based on Fiber Bragg Gratings—From Conceptual Approach to Prototype Development
	1 Introduction
	2 Device Design and Development
	3 Experimental Procedure and Results
		3.1 Device Calibration Methodology
		3.2 Experimentation, Results, and Discussion
	4 Conclusion
	References
Kinematic and Dynamic Analysis of Sliding Door Operating Mechanism for Internal Weapon Bay
	1 Introduction
	2 Kinematic Analysis of Mechanism (Analytical)
		2.1 Input Motion Profile of Connecting Link-A
		2.2 Displacement Analysis: Point-B (Slider)
		2.3 Velocity Analysis: Point-B (Slider)
		2.4 Acceleration Analysis: Point-B (Slider)
	3 Kinematic and Dynamic Analysis of Mechanism (Software)
		3.1 Kinematic Analysis of Slider (Point-B)
		3.2 Kinematic Analysis of Point-E
		3.3 Dynamic Analysis
	4 Conclusion
	5 Further Scope of Works
	References
A Method to Detect Isomorphism in Planar Kinematic Chains
	1 Introduction
	2 Basic Terminologies in Kinematic Chains
	3 Method for Detection of Isomorphism
	4 Analysis of Four-Bar Kinematic Chain
		4.1 Comparison Between Watt and Stephenson Chains
		4.2 Comparison Between a Pair of 8-links Single Degree of Freedom Kinematic Chains
		4.3 Analysis of 8-link Single Degree of Freedom Kinematic Chains
		4.4 Analysis of 9-link Double Degree of Freedom Kinematic Chains
	5 Conclusion
	References
Generation of Coupler Curves for Planar Kinematic Chains Using Link Joint Equations
	1 Introduction
	2 Method
	3 Applications and Results
	4 Conclusions
	References
Tribological Behaviour of Polymer-Based Composite Reinforced with Molybdenum Disulphide
	1 Introduction
	2 Materials and Methodology
		2.1 Materials and Fabrication Process
		2.2 Analysis of Tribological Properties
		2.3 Estimation of Volumetric Wear of the Pin
	3 Result and Discussion
		3.1 Sample Designation
		3.2 Tribological Behaviour of Polymer Composite
	4 Conclusion
	References
Prediction of the Blood Flow Through Stenosis in AVF for Hemodialysis
	1 Introduction
	2 Geometrical Model
	3 Numerical Modeling
	4 Result
	5 Conclusion
	References
Tool Quality Monitoring in Friction Stir Welding Process
	1 Introduction
	2 Experimental Procedure
	3 Result and Discussion
	4 Conclusion
	References
Condition Monitoring and Fault Diagnosis of Induction Motor in Electric Vehicle
	1 Introduction
	2 Faults in Induction Motor
	3 Condition Monitoring Techniques
	4 Proposed Methodology
	5 Data Acquisition and Processing
	6 On-Board Diagnosis
	7 Conclusion
	References
Mechanical Design Calculations of Flywheel Generator
	1 Introduction
	2 Design Schematic
	3 Modelling and Design Calculation
		3.1 NdFeB Magnet and Equivalent Layer
		3.2 Stress Analysis of Rotor
		3.3 Max Deflection of System
		3.4 Anisotropic and Isotropic Properties
		3.5 Critical Speed of the System
		3.6 Windage Losses
	4 Conclusion
	References
Numerical Analysis and Reduction of Blade-Vortex Interaction (BVI) Noise in Helicopter Using Numerical Simulation
	1 Introduction
	2 Computational Methodology
	3 Results and Discussions
	4 Conclusion
	References
Dynamics of Underwater Manipulator: A Recursive Lagrangian Formulation
	1 Introduction
	2 Mathematical Modeling of Object Moving Through Fluid
		2.1 Dynamic Effect Due to Added Mass
		2.2 Hydrodynamic Drag
		2.3 Buoyancy
	3 Recursive Lagrangian Formulation for the Serial Link Underwater Manipulator
		3.1 The Lagrangian
		3.2 Kinetic Energy
		3.3 Potential Energy
		3.4 Drag Force and Rayleigh Dissipation Function
		3.5 Derivation for Recursive Formulation
	4 Modeling and Simulation of Two-Link Underwater Manipulator
	5 Experiments and Validation
	6 Conclusion
	References
Effect of Tool Geometry on Chip Morphology Formed During CNC Turning of a Round Shaped Product
	1 Introduction
	2 Workpiece and Tool Material
		2.1 Workpiece Material
		2.2 Tool Material and Geometry
	3 Development of Mathematical Model
	4 Experimental Verification
	5 Discussion
	6 Conclusion
	References
Optimization of Equal Multi-square Cell Crash Box for Enhanced Energy Absorption
	1 Introduction
	2 Mathematical Model
	3 Simulation Using LS-DYNA
	4 Experimentation
	5 Parametric Study
	6 Overall Optimization Process
		6.1 Optimization Algorithm
		6.2 Optimization Results
	7 Conclusions
	Reference
Joint Stiffness Estimation Between Spindle-Tool Holder by Considering Clamping Forces
	1 Introduction
	2 Geometric Model of Spindle-Tool Holder Joint Interface
	3 Contact Stiffness Model
		3.1 Elastic Deformation of the Aspirates
		3.2 Plastic Deformation of the Aspirates
	4 BT-40 Spindle Shaft Case Study
		4.1 Experimental Modal Analysis
		4.2 Finite Element Analysis
	5 Conclusion
	References
Buckling Analysis of Nonlinear First-Order Shear Deformation Composite Plates
	1 Introduction
	2 Theoretical Formulations
		2.1 Basic Assumptions
		2.2 Kinematics
		2.3 Equation of Motion
		2.4 Constitutive Equations of a Laminate
	3 Analytical Solutions
	4 Numerical Results
	5 Conclusions
	References
Path Tracing and Object Avoidance Algorithm for Robotic Manipulators Incorporating Constrained Filters
	1 Introduction
	2 Representation of Rigid Bodies
	3 Methodology
		3.1 Workspace and C-Space
		3.2 Collision Filter
		3.3 Nearest State Filter
		3.4 Smoothing Filter
		3.5 Implementation of Approach
		3.6 Results
	4 Conclusion
	References
Characterisation of Composites Made by Prepreg Waste
	1 Introduction
	2 Material Preparation
		2.1 Chips Chopped from Prepreg Waste
		2.2 Fabrication of PBDC Material
	3 Experimentation
		3.1 Aspect Ratio Size of Chopped Chips
		3.2 Fibre Volume Fraction
		3.3 Void Fraction
		3.4 Tensile Test Setup for PBDC
	4 Results and Discussions
		4.1 Chips Size Results from Image J
		4.2 Fibre and Void Volume Fraction
		4.3 Tensile Testing Results
	5 Conclusions
	References
Experimental Investigation on the Effect of Process Parameters for CNC Turning of UNI Al 3055 Alloy Under MQCL Based Cooling Technique
	1 Introduction
	2 Experimental Procedure
		2.1 Experimental Setup
		2.2 Work Piece Materials
		2.3 Design of Experiment
	3 Results and Analysis
	4 Discussion
	5 Conclusions
	References
Reciprocating Wear Behaviour of Al–SiC Composite Processed with MWS
	1 Introduction
	2 Experimental Details
		2.1 Materials
		2.2 Processing Details and Characterization Study
	3 Results and Discussion
		3.1 Microstructure Analysis of the Milled Powder Material
		3.2 Hardness
		3.3 Wear analysis
	4 Conclusion
	References
Dynamics and Control of a 6-DOF Biped Robot on MATLAB/SimMechanics
	1 Introduction
	2 Modeling of System in MATLAB/SimMechanics
		2.1 Torso Modeling
		2.2 Leg Modeling
		2.3 PID Control Modeling
		2.4 Ground Contact Modeling
	3 Simulation and Results
	4 Dynamic Stability
	5 Conclusion
	References
Modal Analysis of 3-RRR SPM Model
	1 Introduction
	2 Modeling of the 3-RRR SPM
	3 Simulation of SPM
	4 Experimentation of SPM
	5 Comparison of Results
	6 Conclusion
	References
Mode Based Crack Identification of Rotor
	1 Introduction
	2 Finite Element Formulation for Cracked Beam Element
	3 Procedure for Identifying the Crack and Location
	4 Illustrative Examples
		4.1 Case 1: Single Crack at 42nd Element
		4.2 Case 2: Single Crack at 111th Element
		4.3 Case 3: Multi-Crack at 45th and 161st Element
	5 Conclusion
	Annexure A
	References
A Note on Implementation of Raghavan–Roth Solution for Wrist-Partitioned Robots
	1 Introduction
	2 Raghavan and Roth Algorithm Preview
	3 Modified Architecture
		3.1 Failure of Raghavan–Roth Solution
	4 Numerical Example Case of KUKA KR 5 Robot
	5 Discussion
	6 Conclusion
	References
Experimental Identification of Residual Unbalances for Two-Plane Balancing in a Rigid Rotor System Integrated with AMB
	1 Introduction
	2 Influence Coefficient Method
	3 Working of AMB
	4 Experimental Simulation
		4.1 Physical and Electrical Connections
		4.2 Testing of the Physical System
		4.3 Dynamic Balancing
	5 Conclusions
	References
Determination of Steering Actuator Mounting Points of a Load Haul Dump Machine for Optimum Performance
	1 Introduction
	2 Geometric Modeling of the Articulated Steering Arrangement
		2.1 Flowchart
		2.2 Results Observed from MATLAB Programming
	3 Force Analysis Using MSC ADAMS
	4 Results and Discussion
	5 Conclusion and Future Scope of Work
		5.1 Conclusion
		5.2 Future Scope of Work
	References
Dynamic Analysis of Helicopter Boom with Different Payload Configurations
	1 Introduction
	2 Helicopter Boom and Its Arsenal
	3 Configurations of Weapons Systems and Their Dynamic Behavior
	4 Impact Hammer Test
	5 Post Flight Data
	6 Sensitivity Analysis
	7 A Passive Damping Solution
	8 Conclusion
	References
Characterization of Composites Made with In-House Prepregs at Different Curing Cycle
	1 Introduction
	2 Material Making
		2.1 Prepreg Making Process
		2.2 B-Stage Curing
		2.3 Laminate and Test Specimen
	3 Experimentation
		3.1 Fiber and Void Volume Fraction
		3.2 Tensile Testing
	4 Result and Discussion
		4.1 Tensile results
		4.2 Comparison of Strength and Modulus with Available Literature
		4.3 Failure Analysis Using Microscope
	5 Conclusions
	References
A Parametric Approach to Detect Isomorphism and Inversion in the Planar Kinematic Chains
	1 Introduction
	2 Methodology
	3 Isomorphism
	4 Inversion
	5 Results
	6 Conclusion
	Appendix
	References
Feasibility of Tensegrity-Based Walking Robot
	1 Introduction
	2 Guiding Principle of Gait Generation in Tensegrity
		2.1 Sensitive Analysis for Cable Actuation
		2.2 Concept of Locomotion
		2.3 Simulation of Gait of a Four-Bar Tensegrity Mechanism
		2.4 Gate Generation of Other Tensegrity Mechanism
	3 Conclusion
	References
Design and Development of a Climb-Free Telescopic Mechanism for Harvesting from Tall Trees
	1 Introduction
	2 Design Concept
	3 Selection of Appropriate Telescopic Mechanism
		3.1 Types of Telescopic Mechanism
		3.2 Comparison of Telescopic Mechanisms
		3.3 Selection of Mechanism
	4 Concept of Support System
	5 Testing of Prototype
	6 Conclusion
	References
Simulation Modeling of 37 Degrees-of-Freedom ICF Coach
	1 Introduction
	2 Simulation Modeling
	3 Equations of Motion
	4 Natural Frequencies
	5 Response of the System
	6 Conclusion
	References
Transmission Efficiency and Surface Damage of Polymer–Polymer Gear Pair Under Wet Lubrication
	1 Introduction
	2 Methodology
		2.1 Experimental Methodology
		2.2 Numerical Analysis
	3 Results and Discussion
		3.1 Temperature Measurement
		3.2 Transmission Efficiency Measurement
		3.3 Test Gear Surface Wear Morphology
	4 Conclusion
	References
Effect of Acceleration of Moving Object During Collision with Stationary Object
	1 Introduction
	2 Coefficient of Restitution (COR)
	3 Effect of Acceleration on Momentum Transfer
	4 Effect of Retardation on Momentum Transfer
	5 Conclusion
	References
Finite Element Modelling of the Human Lumbar Vertebrae for Dynamic Analysis
	1 Introduction
	2 Solid Modelling
	3 Results and Discussion
	References
Hybrid Steering System of Six-Wheel Multiterrain Robot (SW-MTR)
	1 Introduction
	2 The Steering System of SW-MTR
		2.1 Differential Steering System
		2.2 Worm-Sector Steering
		2.3 Hybrid Steering
	3 Dynamic Modeling of Hybrid Steering
		3.1 Motion Analysis
		3.2 Equation of Motion
	4 Comparison of Simulation Results
		4.1 Comparison of Steering Radius
		4.2 Comparison of Contact Forces
		4.3 Comparison of Motion Torque
		4.4 Comparison of Power Consumption
	5 Conclusion
	References
Flexible Coupling—A Research Review
	1 Background of Present Work and Scope of the Research
	2 Reported Work Pertaining to Flexible Couplings
	3 Summary and Conclusion
	References
Design of Post-Curing Inflator Using Bistable Locking Mechanism
	1 Introduction
	2 Design Requirements
	3 Bistable System
		3.1 Bistable Beam
		3.2 Pseudo-Bistable System
		3.3 Retractable Mechanism
		3.4 Compliant Mechanism
		3.5 Four-Bar Linkage
	4 Design Setup
		4.1 Pressure Calculation
	5 Rapid Prototyped Setup
	6 Conclusion
	References
Stability Analysis of a Dual-Rate Haptics Controller Using Discrete-Time Root-Locus Method
	1 Introduction
	2 Dual-Rate Haptics Controller
	3 Stability Analysis Using DTRL Method
		3.1 Root-Locus as a Function of B
		3.2 Root-Locus as a Function of K
	4 Discussions and Conclusions
	5 Appendix
	References
Design of Compliant Iris
	1 Introduction
	2 Iris Structure
	3 Stiffness Analysis
		3.1 Derivation of Stiffness Expression
	4 Discussion
	5 Conclusion
	References
Investigation on the Effects of Nose Radius and Rake Surface of Cutting Tool for Machinability During Sustainable Turning of EN 31 Alloy Steel
	1 Introduction
	2 Experimentation
	3 Results and Discussion
		3.1 Analysis on MRR
		3.2 Analysis for Cutting Temperature
	4 Conclusions
	References
Battery Performance Analysis of Static Temperature Variations for Medical Environment
	1 Introduction
	2 Experimentation
		2.1 Implementation
		2.2 Thermography
		2.3 Scanning Electron Microscope
	3 Results and Discussion
		3.1 Thermography Image Analysis
		3.2 Scanning Electron Microscope
	4 Conclusion
	References
Derivation of the Rotation Matrix for an Axis-Angle Rotation Based  on an Intuitive Interpretation  of the Rotation Matrix
	1 Introduction
		1.1 Problem Statement
	2 Derivation of the Rotation Matrix
	3 An Example
	4 Conclusions
	References
Resolving Hyper-Redundant Planar Serial Robots to Ensure Grasp
	1 Introduction
	2 Tractrices and Tractors
	3 Methodology
	4 Simulation Showing Caging and Grasp
		4.1 Example
	5 Conclusion
	References
Boom Packaging with Yoshimura Pattern: Geometrical and Deformation Analysis
	1 Introduction
	2 Geometry of Yoshimura Pattern
		2.1 Radius of Packaged Cylinder
		2.2 Packaging Efficiency
		2.3 Residual Volume Calculations
	3 Packaging Behavior
	4 Deployment of Single Story Yoshimura Cylinder
	5 Summary
	References
Multimodal Medical Image Fusion Based on Interval-Valued Intuitionistic Fuzzy Sets
	1 Introduction
	2 Literature Review
	3 Proposed Method
	4 Experimental Results
	5 Conclusion
	References
The Influence of Ultrasound for the Protection of Animals on Highways Through Electronic Circuits
	1 Introduction
	2 Literature Review
	3 Proposed Method
		3.1 Generation of Ultrasound Waves Using 555 Timer
	4 Simulation Results
	5 Conclusion
	References
Workspace Analysis of a 5-Axis Parallel Kinematic Machine Tool
	1 Introduction
	2 Description of Parallel Kinematic Machine (PKM)
	3 Position Analysis
		3.1 Inverse Position Analysis (IK) and Forward Position Analysis (FK)
	4 Workspace Analysis
	5 Results
	6 Conclusion and Future Scope
	References
Reaction Solvability Analysis Using Natural Coordinates
	1 Introduction
	2 Equations of Motion and the RSA Algorithm
		2.1 Equations of Motion of Multi-body Systems
		2.2 The RSA Algorithm
	3 The Optimal Coordinate Formulation for RSA
		3.1 Joint Reactions from Natural Coordinates
		3.2 Joint-Augmented Natural Coordinate Formulation
	4 RSA of a Planar Mechanism Using Natural Coordinates
		4.1 Assumptions
		4.2 Modeling Using Natural Coordinates
		4.3 Applying RSA Algorithm
		4.4 Discussion
	5 Conclusions
	References
Design, Analysis and Development of Sweep Arm Scanner for Scanning Fast Breeder Reactor Core
	1 Introduction
	2 Sweep Arm Scanner (SAS)
		2.1 General Aspects of SAS
	3 Analysis of L-Motion
		3.1 Kinematic Analysis
		3.2 Dynamic Analysis
	4 Analysis of R-Motion
		4.1 R-Motion Using Bevel Gears
		4.2 R-Motion Using Alternate Options
	5 Summary
	References
Kinematics of Three Segment Continuum Robot for Surgical Application
	1 Introduction
	2 Preliminary Design
		2.1 Model and Design Specification
		2.2 Kinematic Assumptions
	3 Continuum Robot Kinematics
		3.1 Forward Kinematics
		3.2 Inverse Kinematics
	4 Workspace and Dexterity Analysis
		4.1 Workspace Analysis
		4.2 Dexterity Analysis
		4.3 Result and Discussion
	5 Conclusion
	References
Automatic Seed Cum Fertilizer Sowing Machine with Water Dripping on Seeds
	1 Introduction
	2 Literature Review
	3 Proposed Method
	4 Conclusion
	References
Automatic Drip Irrigation Control System for Paddy Fields in Depleting Water Resource Areas
	1 Introduction
	2 Proposed System
	3 Results and Discussion
	References
Investigating the Ambient Thermal Loading Failure of Lead–Acid Battery Based on Thermal Analysis
	1 Introduction
	2 Experimentation
	3 Result and Discussion
		3.1 Differential Scanning Calorimetry Analysis
		3.2 Thermogravimetric Analysis Result
	4 Conclusion
	References
Distance Operated Manipulator: A Case Study for Rose Plucking
	1 Introduction
	2 Literature Review
	3 Novelty of the Device
	4 General Specifications
	5 Design Details and Methodology
		5.1 Problem Identification
		5.2 Possible Solutions
		5.3 Design Considerations
		5.4 Selection of Materials
		5.5 Dimensions
		5.6 Calculation of Forces
		5.7 Anatomical Analysis
	6 Conclusion
	References
Topology Structure Design of Fish-Based Propulsive Mechanisms
	1 Introduction
	2 Creative Design Procedure
	3 Procedure Followed
	4 Equations
	5 Results
	6 Conclusion
	References
Impact of SOC Estimation on Primary Frequency Regulation for Sustainable Grid Energy Storage System
	1 Introduction
		1.1 Introduction
	2 State of Charge
		2.1 Equivalent Circuit Model
	3 State-of-Charge Estimation for PFR
	4 Results and Discussion
	5 Conclusion and Future Work
	References
Kinematic Modelling of UR5 Cobot Using Dual Quaternion Approach
	1 Introduction
	2 Mathematical Preliminaries
	3 Kinematic Modelling of Serial Manipulator
	4 Application to UR5 Cobot
	5 Results and Discussion
	6 Conclusion
	References
Design of XY Air Bearing Stage for Ultra-Precision
	1 Introduction
	2 Literature Review
	3 XY Stage Design
		3.1 Stiffness Analysis
		3.2 Error Budget
		3.3 Flexure Design
	4 FEA
		4.1 FE Model
		4.2 Analysis and Results
	5 Control
		5.1 Results
	6 Conclusion
	References
Design and Fabrication of a Bio-inspired Soft Robotic Gripper
	1 Introduction
	2 Design of Gripper
	3 Results and Discussion
	4 Conclusion
	References
Experimental and Simulation Study of Haptically Enabled Robotic Teleoperation for NOTES
	1 Introduction
	2 Method and Meterial
		2.1 The Relation Between Joint Angle and Tip Position of Master Device Phantom Omni
		2.2 The Relation Between Joint Angle and Tip Position of the Slave Miniature Robot
	3 Experiement
		3.1 Finding Joint Angles for the Tip Position of the Miniature Robot
		3.2 Simulation Experiment for Haptic Feedback
		3.3 Simulation in Haptic Environment to Get the Forces
	4 Result and Discussion
		4.1 Joint Angle for the Tip Position of Miniature Robot
		4.2 Simulation Experiment for Haptic Feedback
	5 Conclusion and Future Scope
	References
Design of Robust Backstepping Controller for Four-Wheeled Mecanum Mobile Robot
	1 Introduction
	2 Kinematic Modeling
	3 Dynamic Modeling
	4 Controller Design
	5 Simulation Results
	6 Conclusion and Future Scope
	References
Dynamic Analysis of a Magnetohydrodynamic Journal Bearing of Circular Cross Section in a Rotating Coordinate Frame
	1 Introduction
	2 Formulations
		2.1 Assumptions
		2.2 Non-Dimensionalization and Function Definitions
		2.3 System Equations
		2.4 Perturbed Equations and Solutions
	3 Results and Discussion
	References
Synergistic Effect of Pocket and Bionic Texture on the Performance Behaviours of Thrust Pad Bearing
	1 Introduction
	2 Governing Equations and Computational Procedure
		2.1 Film Thickness Expressions
		2.2 Reynolds Equation for Computation of Pressure in the Film
	3 Results and Discussions
	4 Conclusions
	References
Analysis of a Soil-Moisture Sensor for Potential Failure Modes and Mass Manufacturing
	1 Introduction
	2 Reliability Analysis
	3 Mass Manufacturing of the Sensor
		3.1 Calculations for Feed Rate of the Copper Wire
		3.2 Assembly of the Heater Probe
	4 Closure
	References
Evaluation and Validation of Weld Joint Fatigue in Vibration Using Notch Stress Approach
	1 Introduction
	2 Notch Stress Approach
	3 Details of Analysis and Validation
		3.1 Modeling
		3.2 Simulation Results
		3.3 Test Validation
	4 Conclusions
	References
Trajectory Control and Force Control of Biomimetic Fingers by Tendon-Based Actuation System Using Bond Graph
	1 Introduction
	2 Methodology
		2.1 Prosthetic Fingers Mechanism
		2.2 Lead-Screw and Slider-Nut Mechanism
		2.3 String-Tube Mechanism
		2.4 Experimental Setup
		2.5 Force Sensor Design and Development
		2.6 Bond Graph Modelling
		2.7 Software Development
	3 Results and Discussions
		3.1 Results for Trajectory Control
		3.2 Results for Force Control
	4 Conclusion
	References
Design of a Two Degrees of Freedom Actuator for Rehabilitation Robotic Applications
	1 Introduction
	2 A Single Degree of Freedom Actuator
	3 A Two-Degrees-of-Freedom Actuator
	4 Model of PAM in the Proposed Actuators
	5 Mathematical Modelling of the Proposed Two-Degrees-of-Freedom Actuator
	6 Conclusion
	References
Kinematics/Dynamics Analysis with ADAMS/MATLAB Co-simulation of a SolidWorks Designed Spatial Robot Arm with Control and Validation of Results
	1 Introduction
	2 Kinematic Analysis, Dynamic Modelling and Control of the Manipulator
		2.1 Kinematic Analysis
		2.2 MATLAB/ADAMS Co-simulation
		2.3 Dynamics and Control System of the Manipulator
	3 Simulation and Results
	4 Conclusions
	References
Joining Aluminum Open Cell Sponge by Friction Stir Welding
	1 Introduction
	2 Experimental Procedure
	3 Results and Discussion
	4 Conclusions
	References
Harmonic Response Analysis of Photovoltaic Module Using Finite Element Method
	1 Introduction
	2 Finite Element Analysis
	3 Results
	4 Conclusions
	References
Development of a Micro-forming System for Micro-extrusion Process of Micro-pin in AZ80 Alloy
	1 Introduction
	2 Development of Micro-forming System and Micro-extrusion Process
	3 Summary
	References
Topological Analysis of Epicyclic Gear Trains—Symmetry and Redundancy
	1 Introduction
	2 Graph Representation of Kinematic Structure of EGTs
	3 Determination of Symmetry Properties of EGTs
		3.1 Application of Group Theory to Study Structure of EGT Graph
		3.2 Topologically Similar Possibilities Owing to Symmetry—Examples
	4 Identification of Redundant Links in an EGT Graph—Application of Connectivity Concept in Graph Theory
		4.1 Background
		4.2 Present Work
	5 Conclusions
	References
Condition Monitoring and Identification of Misalignment with Initial Unbalance of Flexible Rotor-Bearing System
	1 Introduction
	2 Mathematical Modelling
		2.1 Disc Element
		2.2 Shaft Misalignment
	3 Result and Discussion
		3.1 Modal Characteristics
		3.2 Shaft Misalignment
	4 Conclusion
	References
Effect of Unbalance with Bearing Flexibility on Vibration Phenomenon of Geometrically Nonlinear Rotating Shaft with Ball Bearing
	1 Introduction
	2 Formulation of Mathematical Model
		2.1 Hamilton’s Principle
	3 Numerical and Experimental Investigation
		3.1 Modal Characteristic
		3.2 Unbalance Responses
	4 Conclusion
	References
Analysis of Parametric Influence on Control of a Two-Link Flexible Manipulator Incorporating a Payload
	1 Introduction
	2 Dynamic Modeling and Governing Equations
	3 Closed Form Equations of Motion
	4 Results and Discussions
	5 Conclusions
	References
An Assistive Chair Using a Series-Elastic Actuator
	1 Introduction
	2 Series-Elastic Actuator
		2.1 Design and Retrofitting on Chair Frame
	3 Motor Selection and Governing Equations
		3.1 Kinematics
		3.2 Dynamics
	4 Control System
		4.1 Error Calculation
		4.2 Transfer Equation Form and System Block Diagram
	5 Electronics and Integration
	6 Multi-Body Dynamics Simulations
	7 Device Operation
	8 Closure
	References
Natural Control of Virtual Models of Mechanisms Using Leap Motion for Interactive Learning
	1 Introduction
	2 Simulation of Mechanisms in Autodesk Inventor
		2.1 Application Programming Interface (API) of Autodesk Inventor
	3 Natural Control of Virtual Mechanism Using Leap Motion
		3.1 Forward Kinematics of One DOF Mechanisms
		3.2 Inverse Kinematics of Five-Bar Mechanism
	4 Conclusions
	References
Automated Calibration of Cervical Spine Motion Segment Finite Element Model for Physiological Kinematics
	1 Introduction
	2 Methods
		2.1 Finite Element Model of Cervical Spine Motion Segment
		2.2 Optimization Framework for Calibration
	3 Results and Discussion
	4 Conclusions
	References
Identification of Inertial Parameters and Friction Coefficients for One-Link Manipulator
	1 Introduction
	2 Mathematical Modeling for Dynamic Identification
		2.1 Linear-in-Parameter Form for One-Link Manipulator
		2.2 Joint Trajectories for Dynamic Identification and Torque Reconstruction
	3 Dynamic Identification of One-Link Manipulator
	4 Discussion and Conclusions
	References
A Task-Based Dimensional Synthesis of an Upper-Limb Exoskeleton: A Hybrid Configuration
	1 Introduction and Background
	2 Exercise-Based Data Collection
	3 Planar Hybrid Configuration
		3.1 Double Four-Bar Connected in Series
		3.2 Kinematic Modelling and Jacobian Computation
	4 Problem Formulation: An Optimization Approach
	5 Results and Discussion: Task-Based Dimensional Synthesis
		5.1 Case 1: Focus on Ergonomically and Aesthetically Compatible Configuration
		5.2 Case 2: Focus on Avoiding Misalignment Issue
	6 Conclusions
	References
Topology Refinement from Design to Manufacturing Using Image Processing-Based Filtration Techniques
	1 Introduction
	2 Topology Optimization
		2.1 Topology Optimization of Manipulator-Link
	3 Methodology
		3.1 Filtration Technique
	4 Results and Discussion
	5 Conclusion
	References
Soft Robotic Gripper for Agricultural Harvesting
	1 Introduction
	2 Soft Actuator with Fiber-Reinforcement
	3 Soft Actuator with PneuNets Methodology
	4 Conclusions
	References
Surface Profile Accuracy of Deployable Mesh Reflectors Based on Focal Offset
	1 Introduction
	2 Focus Offset Error
	3 Closure
	References
Design and Control of a Low-Cost EMG-Based Soft Robotic Ankle-Foot Orthosis for Foot Drop Rehabilitation
	1 Introduction
	2 Rehabilitation Techniques
		2.1 Physiotherapy
		2.2 Technology-Assisted
	3 Existing Technologies for Rehabilitation
		3.1 Rigid Actuation
		3.2 Soft Actuation
	4 Construction and Working
		4.1 Design of the Prototype
		4.2 Control of the Orthosis
	5 Results and Statistical Data
		5.1 Pneumatic Artificial Muscles Tests
		5.2 EMG Control Tests
	6 Conclusions
	References
Comparison of PPC and LQR Controller for Stabilization of Cart Pendulum System: Simulation and Real-Time Study
	1 Introduction
	2 Experimental Setup
	3 Modeling of Cart Pendulum System
	4 Controller Design
	5 Results and Discussions
	6 Conclusions
	References
Effective Education Using a 2-DOF Five-Bar Mechanism
	1 Introduction
	2 Kinematics of Five-Bar and Iris Mechanism
	3 Prototype I
		3.1 Effective Education Using Proposed Mechanism
	4 Prototype II
	5 Conclusions
	References
Renewable Energy System Using Thermoelectric Generator (RESTEC)
	1 Introduction
	2 Previous works
		2.1 CVT Heating
		2.2 Thermoelectric Generator
	3 RESTEC
		3.1 Design
		3.2 Implementation
	4 Observation
	5 Conclusion
	References
Bending and Free Vibration Analysis of Exponential Graded FG Plate Using Closed-Form Solution
	1 Introduction
	2 Mathematical Formulation
		2.1 Displacement Field
		2.2 Energy Equations
		2.3 Constitutive Equations
		2.4 Analytical Solution
	3 Results and Discussion
	4 Conclusions
	References
Structural Responses of Geometrically Imperfect Functionally Graded Plates with Microstructural Defects Under Hygrothermal Environment
	1 Introduction
	2 Mathematical Formulation
		2.1 Displacement Field
		2.2 Strain–Displacement Relation
		2.3 Stress–Strain Relations
	3 Finite Element Formulation
		3.1 Expression for Characteristics Equation
	4 Results and Discussion
		4.1 Comparison Study
		4.2 Parametric Study
	5 Conclusion
	References
Simplified Aerodynamic Modeling of a Bird Robot Using the DeNOC Matrices
	1 Introduction
	2 Mathematical Modeling for Simplified Bird Model
		2.1 Kinematic Modeling of Robotic Bird
		2.2 Dynamic Modeling of Robotic Bird
		2.3 Reduced-Order Equations of Motion
	3 Dynamic Simulation of Robotic Bird
	4 Discussion and Conclusions
	References
Parallel Mechanism-Based Master–Slave Manipulation
	1 Introduction
	2 Parallel Mechanism-Based Master–Slave Manipulation
		2.1 Mechanical Master–Slave Parallel Manipulators
		2.2 Forward Kinematics of Parallel Mechanisms
	3 Communication Channel
	4 Slave Manipulator
	5 Conclusion
	References
Comparative Stiffness and Damping Analysis for Various Flow Controlling Devices of Hole Entry Worn Hybrid Conical Journal Bearing Under the Variation of Speed
	1 Introduction
	2 Mathematical Formulations
		2.1 Finite Element Formation
		2.2 Fluid Film Thickness
		2.3 Worn Zone Model
		2.4 Restrictor Flow Equation
	3 Solution Procedure
	4 Results and Discussion
		4.1 Variation of Stiffness overline2S11 and overline2S22 Coefficient with Speed
		4.2 Variation of Damping Coefficient overline2C11 and overline2C22 with Speed Parameter Ω
	5 Conclusion
	References
A Comparative Study of Three Methods for the Computation of Determinants of Univariate Polynomial Matrices
	1 Introduction
	2 Mathematical Preliminaries
		2.1 Method 1: Direct Expansion of the Determinant Inside a CAS
		2.2 Method 2: Using Newton’s Identities
		2.3 Method 3: Evaluation-Interpolation Method with FFT and IFT
	3 Numerical Experiments
		3.1 Setup of the Numerical Experiments
		3.2 Comparative Analysis of the Results, for Accuracy
		3.3 Comparative Analysis of the Results, for Computational Speed
	4 An Application to Kinematics: FKP of the General SPM
	5 Conclusions
	References
A Comparative Study of Different Numerical Scanning Strategies for Finding the Safe Working Zone  of a 3-DoF Parallel Manipulator
	1 Introduction
	2 Numerical Scanning Techniques
		2.1 Cartesian Scanner
		2.2 Polar Scanner
	3 Case Study: Application to a Spatial 3-underlineRRS Manipulator
		3.1 Setup of the Numerical Experiments
		3.2 Details of the Boundary Functions
		3.3 Numerical Results
		3.4 Comparison of Computation Times
	4 Conclusions
	References
Motion Control of a Phalange Using Tendon-Based Actuation System: A Bond Graph Approach
	1 Introduction
	2 Proposed Model
		2.1 Muscle Tendon Units and Their Modeling
		2.2 Multibond Graph Model
	3 Simulation and Results
	4 Conclusion
	References
Taguchi Optimization for Wear Behaviour of Drum Brake Shoe Interface
	1 Introduction
	2 Experimental Design
		2.1 Materials
		2.2 Selection of Process Variables and Design Levels
		2.3 Experimental Setup
	3 Results and Discussion
	4 Conclusions
	References
Analysis of a Hydrodynamic Journal Bearing of Circular Cross Section Lubricated by a Magnetomicropolar Fluid
	1 Introduction
	2 Formulations
		2.1 Assumptions
		2.2 Non-dimensionalization
		2.3 System Equations
		2.4 Perturbed Equations and Solutions
	3 Results and Discussion
	References
Twin-Plate Turbine Using Parallel Four-Bar Mechanisms
	1 Introduction
	2 Twin-Plate Turbine
	3 Mathematical Model
	4 Physical Prototype
	5 Conclusion
	Reference
Intuitive Manipulation of Delta Robot Using Leap Motion
	1 Introduction
	2 Kinematics of Delta Robot
	3 Physical Prototype
	4 Integration with Leap Motion
	5 Conclusions
	References
A Computation Model of Contact Interaction Between the Scaphoid and Its Neighboring Bones Using Bond Graph Approach
	1 Introduction
	2 Proposed Model
		2.1 Bone Geometry
		2.2 Cartilage Layer
		2.3 Ligament
	3 Bond Graph Model
	4 Result and Discussion
	5 Conclusion
	References
Mathematical Model of SMA Spring Actuator in a Miniature Flexible Tube Robot
	1 Introduction
	2 Mathematical Model
	3 Results
	4 Conclusion
	References
Analysis of Inner Block in a Roller Chain Using Glass Reinforced Composites
	1 Introduction
	2 Parts of a Chain and the Materials Usually Used
	3 Fiberglass
	4 Working Conditions
	5 Results
		5.1 Total Deformation
		5.2 Strain
		5.3 Stress
	6 Conclusion
	References
Study on the Effect of Process Parameters on Machinability Performance of AA7050/B4C Metal Matrix Composite on Wire Cut EDM
	1 Introduction
	2 Experimental Setup
		2.1 Design of Experiments
	3 Results and Discussions
		3.1 Taguchi Methods
		3.2 Confirmation Test and Prediction
	4 Conclusions
	References
Biomechanical Response of Seated Human Body Subjected to Vertical Vibrations Using Coupled Matrix Model
	1 Introduction
	2 Biomechanical Modelling
	3 Parameters Optimization
	4 Vehicle Human Integration
	5 Conclusion
	References
Categorization of the Indian Males’ Foot Data for Age 18–25 Years Based on Plantar Footprints
	1 Introduction
	2 Method
		2.1 Experimental Setup
		2.2 Subjects
	3 Result
		3.1 Foot Types Based on Chippaux-Simark Index (CSI)
		3.2 Foot Types Based on Hallux-Valgus Angle (HVA)
	4 Conclusion
	References
Mechanization of Peppermint Oil Extraction Plant of Rural India
	1 Introduction
		1.1 Existing Traditional Method for Peppermint Oil Extraction Post-harvesting
		1.2 Problems Associated with Existing System of Peppermint Oil Extraction Method
	2 Literature Survey
	3 Proposed Mechanized Models for Extraction of Peppermint Oil
	4 Conclusions
	References
Imperfection Sensitivity of Skewed FG Flat Plates Under Dynamic Loading
	1 Introduction
	2 Theoretical Formulation
		2.1 Plate Kinematics
		2.2 Finite Element Method
		2.3 Skew Boundary Transformation
		2.4 Governing Equation
	3 Results and Discussion
		3.1 Convergence and Validation
		3.2 Parametric Study
	4 Conclusion
	References
A Bond Graph Model for the Estimation of Torque Requirements at the Knee Joint During Sit-to-Stand and Stand-to-Sit Motions
	1 Introduction
	2 Physical System
	3 Bond Graph of the Physical System
		3.1 Conditional Rotational Coupling
	4 Controller Between Virtual and Actual Sub-models
	5 Results
	6 Conclusion
	References
Detecting Cancerous Cells Using Data Augmentation In Deep Cascaded Networks
	1 Introduction
	2 Proposed Methodology
		2.1 Basic Image Classification
		2.2 Data Augmentation and Performing Image Classification
		2.3 Dataset
		2.4 Convolutional Neural Networks (CNNs)
		2.5 Different Layers Of CNNs
	3 Experiment
	4 Results
	5 Future Work
	References
Free Vibration Analysis of the Sandwich Curved Panels with the Gradient Metallic Cellular Core
	1 Introduction
	2 Theoretical Formulations
		2.1 Displacement Fields
		2.2 Modeling of Cellular Core
	3 Results and Discussions
	4 Conclusions
	References
A Study on Clean Coal Technology in the Indian Context
	1 Introduction
	2 Clean Coal Technology
		2.1 Blast-Free Mining Technology
		2.2 Case Study for Comparison of Energy Consumption
		2.3 Case Study for Cost Savings
	3 Clean Processing Technology
	4 Silo
	5 Conclusion
	References
Lubrication Characteristics of Newtonian-Lubricated Hydrodynamic Bearing with Partial and Fully Textured Surface
	1 Introduction
	2 Methodology
		2.1 Fluid Film Thickness
		2.2 FEM Formulation
	3 Results and Discussion
		3.1 Effect of Textures on Load Carrying Capacity and Coefficient of Friction:
		3.2 Performance Enhancement Ratio (PER)
	References
Big Turbo-Generator Shaft Vibrations Control Using Magnetorheological Fluid Damper
	1 Introduction
	2 Mathematical Formulation
		2.1 Generator Modeling
		2.2 Fault Modeling of Loaded Generator
		2.3 Dynamic Modeling
		2.4 Rotor with MR Fluid Damper Modeling
	3 Validation
	4 Results and Discussion
	5 Conclusions
	References
Antagonistic Actuation of Pneumatic Artificial Muscle (PAM) with Chain-Sprocket Mechanism
	1 Introduction
	2 Design of the Setup
		2.1 Features of the Setup
	3 Conclusion
	References
Deep Neural Network Approach for the Prediction of Journal Bearing Static Performance Characteristics
	1 Introduction
	2 FEM Analysis of Journal Bearing
	3 FEM Solution Procedure
	4 Neural Network Model Development
	5 Results and Discussion
	6 Conclusion
	Appendix
	References
Kinematics and Foldability Analysis of Bennett Mechanisms and Its Networks
	1 Introduction
	2 Kinematics of Type 1 Bennett 4R Mechanism
	3 Kinematics of Type 2 Bennett 4R Mechanism
	4 Coupler Curves
	5 Bennett Network
	6 Replacement of R (Revolute) by S (Spherical)
	7 Results
	8 Different Cases of Twist Angles
	9 Conclusion
	References
Nanofibers for Sustainable Filtration: A Waste to Energy Approach
	1 Introduction
	2 Methodology
		2.1 Materials
		2.2 Electrospinning and Membrane Preparation
		2.3 Characterization and Testing
		2.4 Carbonization
		2.5 Electrochemistry
	3 Results
		3.1 Fiber Morphology
		3.2 Filtration Properties
		3.3 Reusability Analysis
	4 Conclusion
	References
Effect of Heat Treatment on Wear Behaviour of Austenitic Stainless Steel
	1 Introduction
	2 Material
	3 Experiment
		3.1 Specimen Preparation
		3.2 Heat Treatment
		3.3 Pin on Disc Wear Test
	4 Results and Discussion
		4.1 Microstructural Examination:
		4.2 Microhardness Measurement
		4.3 Dry Sliding Wear Test
		4.4 Wear Calculation on the Basis of Wear Scar Diameter
		4.5 Wear Mechanism
	5 Conclusion
	References
Design and Development of Intelligent Moving Machine Using LabVIEW
	1 Introduction
		1.1 Intelligent Moving Machine
		1.2 Motivation
		1.3 Steps for Design and Development of Intelligent Machine
		1.4 Proposed Work
	2 Objective of Paper
		2.1 Methodology
		2.2 Block Diagram Panel for IMM
	3 Results
	4 Conclusion
	5 Experimental Setup of Intelligent Moving Machine
	References
Effect of Poling Orientation in Performance of Piezoelectric Materials
	1 Introduction
	2 Materials and Methodology
	3 Results and Discussion
	4 Conclusion
	References
Parametric Analysis of Vertical Contact Mode Triboelectric Energy Harvester
	1 Introduction
	2 Mathematical Modeling
	3 Result and Discussion
	4 Parametric Study
		4.1 Triboelectric Material
		4.2 Effect of Dielectric Thickness on the Output Power
		4.3 Investigation of Optimum Load Resistance
		4.4 Effect of Motion Parameter (Frequency) on Output Power
		4.5 Effect of Dielectric Surface Area on Output Power
		4.6 Effect of Surface Charge Density on Output Power
	5 Conclusion
	References
Mathematical Model of Sliding Mode Triboelectric Energy Harvester
	1 Introduction
	2 Basic Mechanism of Working of Sliding Mode TENG
		2.1 Initial Position
		2.2 Sliding (X < L)
		2.3 Maximum Sliding Position (x = xmax = l)
		2.4 Sliding Back to Initial Position
	3 Mathematical Modelling
	4 Numerical Results
	5 Experimental Results
	6 Conclusions
	References
Free and Forced Flexural Vibration Responses of the Laminated Composite Plates
	1 Introduction
	2 Theoretical Formulations
		2.1 Kinematic Relations
		2.2 Finite Element Formulation
		2.3 Newmark’s Method
	3 Results and Discussion
	4 Conclusions
	References
Shape Control of Piezolaminated Structure Using Poling Tuned Piezoelectric Actuators
	1 Introduction
	2 Methodology
		2.1 Finite-Element Formulation
		2.2 Poling Tuning of Piezoelectric Material
	3 Result and Discussion
		3.1 Validation Study
		3.2 Shape Control of SSSS Plate
	4 Conclusion
	References
Power Optimization of a Wind Turbine Using Genetic Algorithm
	1 Introduction
	2 Aerodynamic Design of Wind Turbine
		2.1 Momentum Theory
		2.2 Blade Element Theory
		2.3 Blade Element Momentum Theory
		2.4 Tip Loss Correction
		2.5 Power Output
	3 Genetic Algorithm
	4 Computational Model
	5 Optimization Problem Formulation
	6 Results and Discussion
	7 Conclusion
	References
Automated Design for Cam Profile Using CATIA V5 and Its Fatigue Life Assessment Using ANSYS
	1 Introduction
		1.1 Cams
		1.2 Significance of Design Automation in CAD
		1.3 Fatigue Life Assessment
	2 Automation Methodology
		2.1 What is to Be Automated?
		2.2 Automating Method
	3 Results and Observation
		3.1 Results
		3.2 Observations
	4 Fatigue Life Assessment in ANSYS 18
		4.1 Analysis Results
	5 Conclusions
	References
Vibration Control of Smart Cantilever Beam Using Fuzzy Logic Controller
	1 Introduction
	2 Mathematical Modeling
	3 Fuzzy Logic Controller Design
	4 Result and Discussion
	5 Simulation Output
	6 Conclusion
	References
Multi-body Analysis for a Four-Bar Mechanism Using RecurDyn and MATLAB
	1 Introduction
	2 Notations
	3 Theoretical Formulation
		3.1 Kinematic Analysis
		3.2 Dynamic Analysis
	4 Analysis Using RecurDyn
	5 Results and Discussion
	6 Conclusion
	References
Author Index