Amit Shukla

Indian Institute of Technology Mandi | भारतीय प्रौद्योगिकी संस्थान मंडी · School of Engineering

In this study, existing conditions of the subsurface pipeline systems are diagnosed and monitored based on an advanced non-destructive, non-invasive and non-contact magnetometric inspection mechanism to minimize the routine maintenance based intervention on to the piping system also eyeing to reduce the overall diagnostic costs and other related ex...

Inspection and maintenance of aging ferrous pipelines of oil and gas industry is a major challenge especially when pipelines are buried in extreme environmental conditions like a desert. Condition monitoring of the metallic pipelines involves two layers of inspection, at first, the inspection of the quality of the cathodic protection (CP) layer and...

Middle Eastern countries have the most complex and extensive oil and gas pipeline network in the world and are expected to have a total length of 24066.9km of pipelines by 2022. Routine inspection and active maintenance of these structures thus have high priority in the oil and gas operations. Pigging, the commonly used internal inspection method i...

This work proposes a vision based guidance strategy for safe navigation of a non-holonomic mobile robot in unknown indoor environments. The proposed switching based sliding mode control (SMC) law makes the robot follow the desired trajectory as given by the guidance law. The guidance strategy uses centroid of the depth map of an obstacle as obtaine...

This paper addresses the problem of robust relative motion control in a multirobotic system using the artificial potential field (APF) method for path planning and fast adaptive gain nonsingular terminal sliding mode control (NTSMC) technique for designing a robust controller. A fast adaptive reaching law is also proposed to further improve the spe...

Condition monitoring and defect inspection in the buried oil and gas pipelines, made of ferrous material, has always been a challenge for all organizations operating in the Oil & Gas sector. Pipelines can be inspected in two ways, internally and externally. Internal inspection by ILI tools require special infrastructures like pig launchers and rece...

This paper presents a control mechanism based on the actual distance between the Unmanned Aerial Vehicles (UAV) and the tracking structure for UAV visual tracking of linear ground structures in a low altitude. This control mechanism is called position control briefly in the following sections. The whole technique methods are divided into two parts:...

This paper presents an autonomous navigation control mechanism for an UAV for accurate tracking and inspection of the ground laid linear horizontal structures such as oil and gas pipelines. At first Canny Edge Detector (CED) and Probabilistic Hough Transformation (PHT) are used to identify the structures based on visual data collected by onboard ca...

The foremost, yet challenging problem of an Unmanned Aerial Vehicle (UAV) is the autonomous landing. This paper presents a solution for the independent landing of a quadrotor UAV on a stationary target. This method includes a searching and a landing part. The visual data is collected by the onboard camera of the AR Drone. Speeded Up Robust Features...

This paper presents modeling, simulation, and control of a teleoperated mechanism, where two non- isomorphic devices a parallel manipulator and an under-actuated unmanned aerial vehicle (UAV) are integrated into a master-slave configuration. A stuarts-type 6-DOF parallel manipulator is used as a master robot and a UAV is used as a slave robot. Sinc...

With the aim of inspecting ground pipelines autonomously, an Unmanned Aerial Vehicle (UAV) will be used in this research. Arbitrary object contours in a 2D image could be considered as plane shapes, which will be used to identify their structures. Vision-based tracking is proposed because it is relatively more direct and more accurate than other se...

This paper is concerned about flocking control of a group of mobile agents having leader-follower configuration where the number of leaders is lesser in number than followers. The leaders have the navigation information where the followers only know who the leaders are. Artificial potential function is used to design the distributed control law of...

In this work, we approach the problem of maximization of delay constraint utility function for a group of robots using a Cyber-Physical System (CPS) framework. For any task involving coordination of robots, a reliable communication link is required to be established. The maintenance of this link reliability highly depends on trajectories of individ...

This paper presents automated navigation control of an Unmanned Aerial Vehicle (UAV) for inspection of oil and gas pipelines. The pipelines carrying inflammable and toxic petroleum products require continuous inspection. An UAV equipped with non-contact sensors can be used for external inspection of the pipeline. Most of the UAVs used for surveilla...

This paper presents modeling, simulation, and control of a novel teleoperated mechanism, where two nonisomorphic manipulators are used in one integrated system, with the purpose of usage in oil and gas industry in the future. Overall integration of the teleoperated system has been done in the master–slave configuration, where a stuart-type 6-DOF pa...

This paper presents modeling simulation and control of stuart type 6-DOF parallel manipulator. Dynamic equations of the parallel manipulator are derived by using Kane's method, inheriting all the advantages while circumventing all the disadvantages of Newtown-Euler and Euler-Lagrangian formulations. In this modeling procedure at first all the inert...

With shrinking resources and increasing demand for petroleum products, oil and gas industries are forced to rethink over their present pace for automatization of industry. New oil fields, mostly located in extreme conditions, are posing serious challenges to both human and environment in terms of safety. Tasks which are repeated, dirty, and dangero...

Using a first-principles approach, the constituent components of a series hybrid electric car are modelled and integrated to form an overall coupled dynamic model. Controllers for the individual components are constructed, and are combined with a load follower supervisory controller and driver model to enable simulation of the vehicle under general...

In this paper, visual motor coordination of a 6 DOF robot manipulator is considered. It is difficult to analytically derive inverse kinematic relationships for such manipulators. The problem becomes more challenging owing to the presence of multiple solutions for the inverse-kinematic relationship between robot end-effector position and joint angle...

In this paper, we present stability analysis for an OR-neuron based Hopfield neural network. We explore the possibility of implementing higher order Hopfield neural network for solving economic load dispatch problem subjected to equality and inequality constraints. Previous work on this kind of problems is limited to quadratic cost function. The pr...

In this paper we consider a class of fully connected complex-valued neural networks which are a complex value extension of higher order real-valued Hopfield type neural networks. We proposed a energy function for higher order complex-valued Hopfield neural network and investigated the stability conditions. This proposed energy function formulation...