Ramabalan Sundaresan

E.G.S. Pillay Engineering College · Mechanical Engineering

An efficient spur gear box design should be reliable, versatile and satisfying strength requirements. In the presented article, a classy spur gear optimization problem for a two-step gear box taking into account such requirements is solved. The problem has a single nonlinear objective function, twenty one critical mechanical constraints including t...

Hastelloy B2 is a high-performance nickel-molybdenum alloy and has been used in micro reactor, pump, pipe, and corrosion-resistant equipment. Square holes are required in the above application components. Although square holes are easily produced by spending more electrodes wear in Electrical Discharge Machining (EDM). Moreover, the square hole wit...

Halloysite nanotubes (HNTs) were effectively surface-treated with γ-methacryloxypropyltrimethoxysilane (γ-MPS), promoting interactions with the aluminol and silanol groups present on the nanotubes’ edges and surfaces. The modified HNTs (mHNTs) were then utilized in the preparation of nanocomposites with silicone rubber vulcanizate. A comprehensive...

The halloysite nanotubes (HNTs) underwent effective surface treatment using γ-methacryloxypropyltrimethoxysilane (γ-MPS), which facilitated interactions with the aluminol and silanol groups present on the edges and surfaces of the nanotubes. The treated HNTs (mHNTs) were utilized to prepare nanocomposites with silicone rubber vulcanizate. The appli...

The halloysite nanotubes (HNTs) experienced a satisfactory surface treatment with γ-methacryloxypropyltrimethoxysilane (γ-MPS), which facilitated interaction with the aluminol and silanol groups found on the edges and surfaces of the nanotubes. The modified HNTs (mHNTs) were used to create silicone rubber vulcanizate nanocomposites. The modificatio...

The halloysite nanotubes (HNTs) were modified using γ-methacryloxypropyltrimethoxysilane (γ-MPS), which interacts with the silanol and aluminol groups of the HNTs. Melt mixing technique was used to formulate the polymer composites using phenyl methyl silicone rubber (PVMQ) and various weight percentages of modified HNTs (mHNTs). The crosslinking de...

The COVID-19 (Corona virus disease 2019) pandemic continues to slash through the entire humanity on the earth causing an international health crisis and financial uncertainty. The pandemic has formed a colossal disruption in supply chain networks. It has caused piling higher mortality in patients with comorbidities and generated a surging demand fo...

This paper presents an evolutionary algorithm-based online motion planning method for a car-like mobile robot which operates in a dynamic environment with velocity obstacles. More number of complications and difficulties in online motion planning (dynamic environment and obstacles, complicated motion dynamics, and decision-making time are in nanose...

This paper introduces a method for car-like mobile robot path planning (CRPP). The robot works in both dynamic and static situations. The aim of this method is to explore the best safe path with minimum path length, minimum motor torque, minimum travel time, minimum robot acceleration and maximum obstacle avoidance. Kinodynamic and non-holonomic co...

To safeguard the environment, products and technologies are made friendlier to it. In this context, more research works were already done in computing and supply chain management fields. But, only less amount of research happened in Robotics field. Particularly green robotics was not addressed well. This research work tries to address green robotic...

To maximize power at drive output is important in gear devices, as it directly influences power loss, which significantly affects overall efficiency. In this article, the aim is to optimize output power of worm gear drive taking into account eight design variables and sixteen critical mechanical constraints. Various design constraints, namely, line...

To ensure environment friendly products in the international supply chain scenario, an important initiative is reverse supply chain (RSC). The benefits (environmental and financial) from a RSC are influenced by disposal of reusable parts, cost factors and emissions during transportation, collection, recovery facilities, recycling, disassembly and r...

This paper proposes two multi-objective trajectory planning optimization algorithms namely Multi-Objective Differential Evolution (MODE) and Elitist Non-dominated Sorting Genetic Algorithm (NSGA-II). They are applied for a differential drive wheels mobile robot (WMR). A cubic NURBS curve is used to constitute the mobile robot’s path. The objective...

Profile shift of the gear significantly affects its form, zone, stress factors, transversal and face load factors. In this paper, an optimum solution to the problem of mating helical gears design considering profile shift is given. The objective of the problem is to minimise volume taking into account tooth root bending strength, contact pressure, f...

Chatter is a self-excited vibration that occurs during any machining process. Chatter sensations were stir up during boring process due to cantilever shape of boring bars. These vibrations amplify the temperature of the boring tool additional which ultimately increases the tool wear. In this project a proper damping material is fixed on the boring...

Industries such as Aircraft manufacturing, nuclear power plants and oil refineries witness a wide range of applications in dissimilar welded joints considering the advantage of strength and high corrosion resistance. The primary objective of this research is to study the dissimilar metal joints of pure Copper and Stainless Steel 304 using Electron...

Gears are used to transmit mechanical power in systems such as automotives, automation and machine tools. The demand for lighter and optimally designed gears is high in power transmission systems, as they save material, energy and also considerably influence performance. Hence, in this paper, a bevel gear pair is optimized. The problem consists of...

The accurate design of spur gear drive has a tremendous impact on size, weight, transmission and machine performance. Also, the demand for lighter gears is high in power transmission systems, as they save material and energy. Hence this paper presents an enhanced method to solve a two stage spur gear optimization problem. It consists of a mathemati...

In this study, Central Composite Design method in combination with Technique for Order of Preference by Similarity to the Ideal Solution has been implemented to estimate the efficiency of multi-objective characteristics for Electrical Discharge Drilling of Inconel 718 using hol-low tubular copper electrode. The influence of input pro-cess variables...

The Threats to public security and premises security are on the rise because of increasing terrorism and violence. Safety of individual is a matter of concern, hence there is need to develop bullet resistant solutions for soldiers, tanks, and other military vehicles. This case study is concerned with designing the plates which are made up of differ...

Optimal trajectory planning for robot manipulators is always a hot spot in research field of robotics. This paper presents a novel general method for doing multi criteria optimal trajectory planning of cooperative robots in the presence of obstacles using two evolutionary algorithms (Elitist Non-dominated Sorting Genetic Algorithm (NSGA-II), Multi-...

Any manufacturing organization has ambitions of perpetuity, to continue its existence over long periods, to sustain itself. This, together with growth plans, is a natural phenomenon. Sustainability concepts naturally play a pivotal role in the twin ambition of manufacturing organizations. This paper deals with the sustainability of a product throug...

The recent developments in manufacturing organizations recognize sustainability as an important value addition for survival in the competitive scenario. The design engineers are in search of approaches for creating environmental conscious products. The purpose of this paper is to report a research carried out for ensuring sustainable product design...

Friction stir processing (FSP) is a novel solid state method to homogenize the distribution of particles in aluminum matrix composites (AMCs). AA7075/TiB2 AMCs were prepared by the in situ reaction of inorganic salts K2TiF6 and KBF4 with molten aluminum. The microstructure, before and after FSP, was studied using optical and scanning electron micro...

In this article, performance tests were carried out on a diesel engine with neat diesel fuel and biodiesel mixture. Biodiesel (cashew nut shell liquid) was made by pyrolysis process. Fuel blends were tested in a single cylinder, direct injection, water cooled diesel engine. The effects of Blend 10, Blend 20, Blend 30, and number-2 diesel on the eng...

In order to render cost effective and environmentally friendly products, sustainability is gaining importance in contemporary manufacturing organizations. The rapidly changing marketplace also means that organizations are in search of integrated approaches for creating sustainable product. In this context, this paper reports a case study carried ou...

A robot's mobility is mainly concerned about its size, surface of motion and way of propagation (wheel). The wheel carries the load and generates the friction between the wheel and surface of motion. The bearing capacity of ground, traction performance of the wheel and geometry of terrain profile are the important factors of wheel topography intera...

Electrical Discharge Machining is a one of an electrical energy based Unconventional Machining Technique. The electrical energy is directly used to remove or cut the metals. It's also called as Spark Erosion Machining or Electro Erosion Machining. The metal is removed by electrical spark discharge between tool (Cathode) and workpiece (Anode). Elect...

Electrical Discharge Machining is a one of an electrical energy based Unconventional Machining Technique. The electrical energy is directly used to remove or cut the metals. It's also called as Spark Erosion Machining or Electro Erosion Machining. The metal is removed by electrical spark discharge between tool (Cathode) and workpiece (Anode). Elect...

Electrical Discharge Machining is a one of an electrical energy based Unconventional Machining Technique. The electrical energy is directly used to remove or cut the metals. It's also called as Spark Erosion Machining or Electro Erosion Machining. The metal is removed by electrical spark discharge between tool (Cathode) and workpiece (Anode). Elect...

Electrical Discharge Machining is a one of an electrical energy based Unconventional Machining Technique. The electrical energy is directly used to remove or cut the metals. It's also called as Spark Erosion Machining or Electro Erosion Machining. The metal is removed by electrical spark discharge between tool (Cathode) and workpiece (Anode). Elect...

Vegetable oils are a potential alternative towards partial or total substitution of diesel fuels. In this study, we used ethanol as the solvent, and a bio fuel enhancer as additive to explore the possible use of higher percentages of biodiesel in an unmodified diesel engine. Biodiesel was produced from cashew nut shell liquid (CNSL) by pyrolysis pr...

Electrical Discharge Machining is a one of an electrical energy based Unconventional Machining Technique. The electrical energy is directly used to remove or cut the metals. It’s also called as Spark Erosion Machining or Electro Erosion Machining. The metal is removed by electrical spark discharge between tool (Cathode) and workpiece (Anode). Elect...

This paper presents the effects of different input machining parameters (pulse-on time, pulse-off time, peak current, wire feed) and the amount of reinforcement (0, 3, 6 and 9 wt% of TiB2) on material removal rate (MRR) of AA7075/TiB2 in situ metal matrix composites. The L9 orthogonal arrays of Taguchi, the signal-to-noise (S/N) ratio and the analy...

In order to survive in the competitive world, the contemporary manufacturing organizations have to present their new product to the public rapidly and continuously, and they must keep their products with low price and high quality. The implementation of design for manufacturing and assembly (DFMA) methodologies can be beneficial to manufacturing or...

Tolerance design is always a challenging task for engineers, since it need to satisfy multidisciplinary functions. Engineering design is done in two stages: assembly design and detail design. In the first stage, an assembly is designed considering certain system level functions and in secondary detail design stage; decomposition of the assembly is...

Vegetable oils are a potential alternative to partial or total substitution of diesel fuels. In this study, we used diethyl ether as an additive to investigate the possible use of increased percentages of biodiesel in diesel engine without any retrofitting. Biodiesel was made by pyrolysis process. Cashew nut shell liquid (CNSL) was selected for bio...

It is proposed to determine the velocity of the embedded mobile robot in a real world test environment .The test environment considered in this work is the man-made road surfaces like cement road surface, sand road surface, Bituminous Thar road surface, Grass road surface and loose gravel road surfaces etc. First, fuzzy logic control of velocity es...

This paper deals with the design of wheeled mobile robot that will able to climb an obstacle and describes the fuzzy logic control of the obstacle climbing of the robot. The controller is 2 input and single output system. The controller is simulated in Mat lab. The 3D model of the mobile robot with eight wheels was designed using solid works and fa...

Aluminum alloy AA7075 reinforced TiB2 particulate composites were prepared by the in situ reaction of K2TiF6 and KBF4 to molten aluminum. The prepared aluminum matrix composites (AMCs) were characterized using X-ray diffraction and scanning electron microscopy (SEM). The sliding wear behavior of the AMCs was evaluated using a pin-on-disc wear appar...

Optimal structure design for robots is fundamentally important, as it stands first in the order of robotic system design. The structure of industrial robots should be robust, versatile and strong enough - to withstand a variety of forces/loads, guarantee stability and security in operation. To achieve best solution, it is desirable to perform struc...

Vegetable oils are a potential alternative to the partial or total substitution of diesel fuels. An experimental investigation is conducted to evaluate the effects of using ethanol and diethyl ether as additives to biodiesel/diesel blends on the emission and performance of direct injection unmodified diesel engine. Biodiesel was made by pyrolysis p...

The purpose of this study is to investigate the impact of bio fuel enhancer additive added to 20% cashew nut shell liquid (CNSL) biodiesel blended with No.2 diesel fuel, in terms of the performance and exhaust emissions on a 4-cylinder naturally-aspirated direct-injection diesel engine. Experiments were conducted under five engine loads at a steady...

In situ fabrication of aluminum matrix composites (AMCs) has gathered widespread attention of researchers due to inherent advantages over ex situ methods. Aluminum alloy AA7075 reinforced with various amounts (0, 3, 6 and 9 wt.%) of TiB2 particles were prepared by the in situ reaction of inorganic salts such as K2TiF6 and KBF4 to molten aluminum. X...

This paper describes the fuzzy logic control of motion control of mobile robot on rough terrain. The controller employed for this purpose is a two output and single output system. The input to the controller are slope of the terrain and terrain type. The output from the controller is the speed commands for the driving wheels. The controller is desi...

The idea of using vegetable oils as fuel for diesel engines is not new. With the advent of cheap petroleum, appropriate crude oil fractions were reined to serve as fuel and diesel fuels and diesel engines evolved together. In the 1930s and 1940s vegetable oils were used as diesel fuels from time to time, but usually only in emergency situations. Re...

Optimal Trajectory planning is very important to the operation of robot manipulators. Its main aim is to generate the trajectory from initial to goal that satisfies some objectives, like minimization of Time interval, Acceleration, Joint Jerk, Torque, Vibration, mechanical energy consumption of Actuator and obstacle, collision avoidance criteria by...

This paper focuses on optimal allocation of joint tolerances taking into account positional and directional errors and assembly cost of the robot. This involves a study of direct and indirect kinematics of robots in the presence of uncertain factors namely manufacturing and assembly tolerances and deviations in actuators and controllers. It also se...

Tolerance specification is an important part of mechanical design. Design tolerances strongly influence the functional performance and manufacturing cost of a mechanical product. Tighter tolerances normally produce superior components, better performing mechanical systems and good assemblability with assured exchangeability at the assembly line. Ho...

Concurrent tolerancing which simultaneously optimises process tolerance based on constraints of both dimensional and geometrical tolerances (DGTs), and process accuracy with multi-objective functions is tedious to solve by a conventional optimisation technique like a linear programming approach. Concurrent tolerancing becomes an optimisation proble...

The allocation of optimal tolerance on part dimensions plays a major role on performance, quality, and product cost. The selection of alternative processes for tolerance allocation also plays a vital role in reducing manufacturing cost. In this paper, a novel multiobjective optimization method is proposed to enhance the operations of evolutionary a...

This paper presents a novel general method for computing optimal motions of an industrial robot manipulator (AdeptOne XL robot) in the presence of fixed and oscillating obstacles. The optimization model considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacle avoidance. The problem has 6 objective functions, 88...

This paper presents a new method based on evolutionary algorithms—Elitist Non-dominated Sorting Genetic Algorithm (NSGA-II) and Differential Evolution (DE)—for the sensitivity-based conceptual design and the tolerance allocation for mechanical assemblies. The approach I of this paper moves the nominal values of non-critical dimensions to a less sen...

Concurrent design of tolerances by considering both the manufacturing cost and quality loss of each component by alternate processes of the assemblies may ensure the manufacturability, reduce the manufacturing costs, decrease the number of fraction nonconforming (or defective rate), and shorten the production lead time. Most of the current toleranc...

This paper proposes a new novel trajectory planning method by using two evolutionary algorithms namely Elitist non-dominated sorting genetic algorithm (NSGA-II) and differential evolution (DE) for an autonomous robot manipulator (STANFORD robot) whose workspace includes several obstacles. The aim of the problem is to minimise a multicriterion cost...

Optimal trajectory planning for robot manipulators is always a hot spot in research fields of robotics. This paper presents two new novel general methods for computing optimal motions of an industrial robot manipulator (STANFORD robot) in presence of obstacles. The problem has a multi-criterion character in which three objective functions, a maximu...

The optimum robot structure design problem based on task specifications is an important one, since it has greater influence on manipulator workspace design, vibrations of the manipulator during operation, manipulator efficiency in the work environment and power consumption. In this paper, an optimization robot structure problem is formulated with t...

In this paper, a real-world test problem is presented and made available for the use of evolutionary multi-objective community. The generation of manipulator trajectories by considering multiple objectives and obstacle avoidance is a non-trivial optimisation problem. In this paper two multi-objective evolutionary algorithms viz., elitist non-domina...

This paper explores the use of intelligent techniques to obtain optimum geometrical dimensions of a robot gripper. The optimization problem considered is a non-linear, complex, multi-constraint and multicriterion one. Three robot gripper configurations are optimized. The aim is to find Pareto optimal front for a problem that has five objective func...

A general new methodology using evolutionary algorithm viz., Elitist Non-dominated Sorting Genetic Algorithm (NSGA-II) and Multi Objective Particle Swarm Optimization (MOPSO) for obtaining optimal tolerance allocation and alternative process selection for mechanical assembly is presented. The problem has a multi-criterion character in which 3 objec...

A general new methodology using evolutionary algorithms viz., Elitist Non-dominated Sorting Genetic Algorithm (NSGA-II) and Multi-objective Differential Evolution (MODE), for obtaining optimal trajectory planning of an industrial robot manipulator (PUMA 560 robot) in the presence of fixed and moving obstacles with payload constraint is presented. T...

This paper presents a new general methodology based on the evolutionary algorithms—elitist non-dominated sorting genetic algorithm (NSGA-II) and differential evolution (DE)—for optimal trajectory planning of an industrial robot manipulator (PUMA560) by considering payload constraints. The aim is to minimize a multicriterion cost function with actua...

Force balancing is a very important issue in mechanism design and has only recently been introduced to the designing step of robotic mechanisms. In creating the best robot design, the statical balancing plays a vital role because it reduces the required motor power. To get a simple and more-effective control system, elimination or significant reduc...

A general method for computing minimum cost trajectory planning for industrial robot manipulators is presented. The aim is minimization of a cost function with constraints namely joint positions, velocities, jerks and torques by considering dynamic equations of motion. A clamped cubic spline curve is used to represent the trajectory. This is a non-...

This paper presents optimization procedures based on evolutionary algorithms such as the elitist non-dominated sorting genetic algorithm (NSGA-II) and differential evolution (DE) for solving the trajectory planning problem of intelligent robot manipulators with the prevalence of fixed, moving, and oscillating obstacles. The aim is the minimization...