Agricultural automation: Mobile phone based analysis of images of plant leaves to give decision support in agriculture
Principal Investigator
Prof A. G. Ramakrishnan (Professor, Department of Computer Science and Automation)
Duration
16 August 2012 to 15 August 2015
The ultimate goal of agricultural automation is to manage the farm on a site‐by site basis. Traditional soil and plant sampling and analysis methods are very expensive, tedious, and time consuming for obtaining soil and crop parameters on a fine grid and at a short time scale. Sensors capable of gathering information from time to time are needed. They are particularly useful to measure parameters that vary faster in time, such as nitrogen and other nutrient content.
It is a technical solution which will actually be used in agriculture production systems to diagnose the problem, if any and suggest action based on the problem. Such monitoring is important in any production system to ensure quality and quantity in the product. Thus, with the help of suitable colour image processing of the leaf images, we can ensure quality and quantity output in any agriculture production system.
[sta_anchor id=”Cardiac”]Cardiac arrhythmias: In silico studies in realistic mathematical models for cardiac tissue
Principal Investigator
Prof Rahul Pandit (Chairman, Division of Physical and Mathematical Sciences and Professor, Department of Physics)
Duration
16 August 2012 to 15 August 2015
Cardiac arrhythmias, such as ventricular tachycardia (VT) and ventricular fibrillation (VF), are responsible for approximately 17% of all deaths. Experimental studies suggest that rotating spiral or scroll waves of electrical activation in cardiac tissue are associated with VT, whereas, when these waves break to yield spiral- or scroll-wave turbulence, VT develops into life-threatening VF. In the absence of medical intervention, this makes the heart incapable of pumping blood and a patient dies roughly two-and-a-half minutes after the initiation of VF. Thus, studies of spiral- and scroll-wave dynamics in cardiac tissue pose important challenges for in vivo and in vitro experimental studies and for in silico numerical studies of mathematical models for cardiac tissue. Furthermore, the study of these waves and their eventual elimination from cardiac tissue is a problem of central importance in biomedical engineering and biophysical science.
We have been studying such spiral and scroll waves and their control in state-of-the-art mathematical models for human cardiac tissue; these models include (a) cardiac myocytes, (b) fibroblasts, one of the major non-myocyte cells in heart tissue, (c) cells that display earlyafterdepolarizations (EADs), because they are not normal, and (d) Purkinje fibers, a special conduction system that carries electrical impulses from the bundle of His to the interior of ventricular tissue. Our goal in this project has been the development of low-amplitude defibrillation schemes for the elimination of VT and VF.
Project Publications
[sta_anchor id=”Computer”]Computer processing of wrist pulse signals acquired using fiber-optic techniques for healthcare appliances
Principal Investigator
Prof Talabattula Srinivas (Associate Professor, Department of Electrical Communication Engineering)
Duration
16 August 2012 to 15 August 2015
Surveys have revealed that cardio vascular diseases are leading the cause of death in the world. From this point of view, a sensor to record the pulse and a method to subsequently process it using computers have great potential in the medical field. The need here was to focus our research on the development of new methods and devices for monitoring and studying cardiovascular diseases. One of the traditional indicators of the condition of the human cardiovascular system is cardio vascular pulsation. Different cardiovascular diseases can be diagnosed depending on the shape, amplitude and rhythm of this pulsation.
The main objective of the project was to develop recording and processing techniques for wrist pulse signals using conventional and fiber optic sensors. Initially the focus was on processing of signals acquired using conventional sensors. Miniature optic sensors were studied subsequently.
[sta_anchor id=”Control”]Control and prevention of hospital acquired infections
Principal Investigator
Dr T. V. Prabhakar (Principal Research Scientist, Zero Energy Networks Laboratory)
Duration
12 May 2014 to 11 October 2015
Infection control measures through sanitation protocols such as hand washing are key to controlling hospital-acquired infections, which is an enormous health hazard to patients as well as the hospital community at large. A simple, low-cost, scalable monitoring solution based on a ‘crowd-sourced’ architecture has been developed to ensure adequate thoroughness of disinfection. A combination of low-cost beacon tags and mobile phones deployed at multiple locations in themedical facility (in the proximity of ICU beds for instance) to compute location information for tracking the movements of hospital personnel, will be used in conjunction with integrated infection control models and state-following algorithms.
Project Publications
Patent Application
Warrior, Jay; Prabhakar, T. V.
Variable range beacon
Indian Patent Application No. 5029/CHE/2014
[sta_anchor id=”Cyber”]Cyber surgery and remote patient care
Principal Investigator
Prof Ashitava Ghosal (Professor, Department of Mechanical Engineering)
Duration
16 August 2012 to 15 August 2015
Endoscopy is extensively used in examination and diagnosis of diseases in the gastrointestinal (GI) tract. Current endoscopy practice is primarily related to imaging, diagnosis and to a small extent in retrieving tissue for biopsy. There is an acute need of training for endoscopy on virtual (simulator) systems before an endoscopist can be allowed to examine patients. Although a few such systems exist, they are typically very expensive, and all do not give realistic virtual environment, i.e. do not provide haptics/force feedback and the surgical tools for minimally invasive surgery (MIS) cannot be positioned very accurately. The development of actuated end-effectors for use in endoscopes and MIS, imaging, visualization, and mechanical characterization of the GI tract and assisted identification and close examination of abnormal parts have been goals of this project. This project addressed these issues in terms of basic research and developing cost-effective laboratory prototypes.
Project Publications
26 entries « ‹ 2 of 3
› » | 11. | Seelamantula, Chandra Sekhar; Blu, Thierry Image denoising in multiplicative noise Conference Proceedings of the 2015 IEEE International Conference on Image Processing (ICIP), Canada, 2015. Abstract | BibTeX | Links:   @conference{Seelamantula2015,
title = {Image denoising in multiplicative noise},
author = {Chandra Sekhar Seelamantula and Thierry Blu},
url = {http://www.rbccps.org/wp-content/uploads/2017/10/07351056.pdf},
doi = {10.1109/ICIP.2015.7351056},
year = {2015},
date = {2015-09-30},
booktitle = {Proceedings of the 2015 IEEE International Conference on Image Processing (ICIP), Canada},
pages = {1528-1532},
abstract = {We address the problem of denoising images corrupted by multiplicative noise. The noise is assumed to follow a Gamma distribution. Compared with additive noise distortion, the effect of multiplicative noise on the visual quality of images is quite severe. We consider the mean-square error (MSE) cost function and derive an expression for an unbiased estimate of the MSE. The resulting multiplicative noise unbiased risk estimator is referred to as MURE. The denoising operation is performed in the wavelet domain by considering the image-domain MURE. The parameters of the denoising function (typically, a shrinkage of wavelet coefficients) are optimized for by minimizing MURE. We show that MURE is accurate and close to the oracle MSE. This makes MURE-based image denoising reliable and on par with oracle-MSE-based estimates. Analogous to the other popular risk estimation approaches developed for additive, Poisson, and chi-squared noise degradations, the proposed approach does not assume any prior on the underlying noise-free image. We report denoising results for various noise levels and show that the quality of denoising obtained is on par with the oracle result and better than that obtained using some state-of-the-art denoisers.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
We address the problem of denoising images corrupted by multiplicative noise. The noise is assumed to follow a Gamma distribution. Compared with additive noise distortion, the effect of multiplicative noise on the visual quality of images is quite severe. We consider the mean-square error (MSE) cost function and derive an expression for an unbiased estimate of the MSE. The resulting multiplicative noise unbiased risk estimator is referred to as MURE. The denoising operation is performed in the wavelet domain by considering the image-domain MURE. The parameters of the denoising function (typically, a shrinkage of wavelet coefficients) are optimized for by minimizing MURE. We show that MURE is accurate and close to the oracle MSE. This makes MURE-based image denoising reliable and on par with oracle-MSE-based estimates. Analogous to the other popular risk estimation approaches developed for additive, Poisson, and chi-squared noise degradations, the proposed approach does not assume any prior on the underlying noise-free image. We report denoising results for various noise levels and show that the quality of denoising obtained is on par with the oracle result and better than that obtained using some state-of-the-art denoisers. |
| 12. | Ashwin, K P; Don, Jose P; Ghosal, Ashitava Modeling and analysis of a flexible end-effector for actuating endoscopic catheters Conference Proceedings of the 14th IFToMM World Congress, Taiwan, 2015. Abstract | BibTeX | Links: @conference{Ashwin2015,
title = {Modeling and analysis of a flexible end-effector for actuating endoscopic catheters},
author = {K. P. Ashwin and P. Jose Don and Ashitava Ghosal},
url = {http://www.iftomm2015.tw/IFToMM2015CD/PDF/OS13-029.pdf},
doi = {10.6567/IFToMM.14TH.WC.OS13.029},
year = {2015},
date = {2015-10-30},
booktitle = {Proceedings of the 14th IFToMM World Congress, Taiwan},
abstract = {Precise positioning of catheters during an en- doscopic procedure and surgery is typically a very complex and demanding task. Once endoscope tip is stationed at a particular position, the camera is focused at a particular point. In most endoscopes, any motion of the catheter is achieved by moving the endoscope tip which results in a change in camera focus. This paper presents an innovative end-effector design which may be used alongside a camera in such a way that independent motion of catheter is achieved. The design utilizes the advantages of miniaturized pneumatic artificial muscles (MPAM) with a diameter less than 1.2 mm. Three such MPAMs are arranged in a manner so that the tip of the end-effector can be moved by over 15 mm in three-dimensions. This paper presents the detailed design, characteristics of MPAM used, kinematics of end-effector and hardware implementation used to achieve arbitrary tip motion of the end-effector.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Precise positioning of catheters during an en- doscopic procedure and surgery is typically a very complex and demanding task. Once endoscope tip is stationed at a particular position, the camera is focused at a particular point. In most endoscopes, any motion of the catheter is achieved by moving the endoscope tip which results in a change in camera focus. This paper presents an innovative end-effector design which may be used alongside a camera in such a way that independent motion of catheter is achieved. The design utilizes the advantages of miniaturized pneumatic artificial muscles (MPAM) with a diameter less than 1.2 mm. Three such MPAMs are arranged in a manner so that the tip of the end-effector can be moved by over 15 mm in three-dimensions. This paper presents the detailed design, characteristics of MPAM used, kinematics of end-effector and hardware implementation used to achieve arbitrary tip motion of the end-effector. |
| 13. | Menon, Midhun Sreekumar; Ghosal, Ashitava Obstacle avoidance for snake robots and one dimensional flexible bodies using optimization Conference Proceedings of the 14th IFToMM World Congress, Taiwan, 2015. Abstract | BibTeX | Links: @conference{Menon2015,
title = {Obstacle avoidance for snake robots and one dimensional flexible bodies using optimization},
author = {Midhun Sreekumar Menon and Ashitava Ghosal},
url = {https://cps.iisc.ac.in/wp-content/uploads/2020/10/Obstacle-avoidance-for-snake-robots-and-one-dimensional-flexible-bodies-using-optimization-1.pdf},
doi = {10.6567/IFToMM.14TH.WC.OS13.076},
year = {2015},
date = {2015-10-30},
booktitle = {Proceedings of the 14th IFToMM World Congress, Taiwan},
abstract = {Robots with snake topology and large num- ber of redundant degrees of freedom are extensively studied due to increased flexibility in motion planning. Such robots can navigate through narrow passages, avoid obstacles and find use in search and rescue. It is also finding increasing use in fields of medical robotics and surgery in the form of actuated endoscopes. This paper proposes a method to avoid obstacle for such snake robots using an optimization based approach. The path of the leading end of the snake robot and the obstacle field is assumed to be known a priori and the obstacles are assumed to be bounded by smooth and differentiable surfaces. The obstacle avoidance algorithm uses only the task space variables and it is shown that the entire length of the snake robot can avoid all the obstacles while executing the prescribed motion. It is also shown that motion of the snake robot is more natural looking as the motion of the individual links die down along the length of the snake robot. Numerical simulation results are shown to illustrate the effectiveness of the algorithm in two- and three-dimensional space.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Robots with snake topology and large num- ber of redundant degrees of freedom are extensively studied due to increased flexibility in motion planning. Such robots can navigate through narrow passages, avoid obstacles and find use in search and rescue. It is also finding increasing use in fields of medical robotics and surgery in the form of actuated endoscopes. This paper proposes a method to avoid obstacle for such snake robots using an optimization based approach. The path of the leading end of the snake robot and the obstacle field is assumed to be known a priori and the obstacles are assumed to be bounded by smooth and differentiable surfaces. The obstacle avoidance algorithm uses only the task space variables and it is shown that the entire length of the snake robot can avoid all the obstacles while executing the prescribed motion. It is also shown that motion of the snake robot is more natural looking as the motion of the individual links die down along the length of the snake robot. Numerical simulation results are shown to illustrate the effectiveness of the algorithm in two- and three-dimensional space. |
| 14. | Kishan, Harini; Seelamantula, Chandra Sekhar Patch-based and multiresolution optimum bilateral filters for denoising images corrupted by Gaussian noise Journal Article Journal of Electronic Imaging, 24 (5), 2015. Abstract | BibTeX | Links: @article{Kishan2015,
title = {Patch-based and multiresolution optimum bilateral filters for denoising images corrupted by Gaussian noise},
author = {Harini Kishan and Chandra Sekhar Seelamantula},
url = {http://www.rbccps.org/wp-content/uploads/2017/10/053021.pdf},
doi = {10.1117/1.JEI.24.5.053021},
year = {2015},
date = {2015-10-06},
journal = {Journal of Electronic Imaging},
volume = {24},
number = {5},
abstract = {We propose optimal bilateral filtering techniques for Gaussian noise suppression in images. To achieve maximum denoising performance via optimal filter parameter selection, we adopt Stein’s unbiased risk estimate (SURE)—an unbiased estimate of the mean-squared error (MSE). Unlike MSE, SURE is independent of the ground truth and can be used in practical scenarios where the ground truth is unavailable. In our recent work, we derived SURE expressions in the context of the bilateral filter and proposed SURE-optimal bilateral filter (SOBF). We selected the optimal parameters of SOBF using the SURE criterion. To further improve the denoising performance of SOBF, we propose variants of SOBF, namely, SURE-optimal multiresolution bilateral filter (SMBF), which involves optimal bilateral filtering in a wavelet framework, and SURE-optimal patch-based bilateral filter (SPBF), where the bilateral filter parameters are optimized on small image patches. Using SURE guarantees automated parameter selection. The multiresolution and localized denoising in SMBF and SPBF, respectively, yield superior denoising performance when compared with the globally optimal SOBF. Experimental validations and comparisons show that the proposed denoisers perform on par with some state-of-the-art denoising techniques.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
We propose optimal bilateral filtering techniques for Gaussian noise suppression in images. To achieve maximum denoising performance via optimal filter parameter selection, we adopt Stein’s unbiased risk estimate (SURE)—an unbiased estimate of the mean-squared error (MSE). Unlike MSE, SURE is independent of the ground truth and can be used in practical scenarios where the ground truth is unavailable. In our recent work, we derived SURE expressions in the context of the bilateral filter and proposed SURE-optimal bilateral filter (SOBF). We selected the optimal parameters of SOBF using the SURE criterion. To further improve the denoising performance of SOBF, we propose variants of SOBF, namely, SURE-optimal multiresolution bilateral filter (SMBF), which involves optimal bilateral filtering in a wavelet framework, and SURE-optimal patch-based bilateral filter (SPBF), where the bilateral filter parameters are optimized on small image patches. Using SURE guarantees automated parameter selection. The multiresolution and localized denoising in SMBF and SPBF, respectively, yield superior denoising performance when compared with the globally optimal SOBF. Experimental validations and comparisons show that the proposed denoisers perform on par with some state-of-the-art denoising techniques. |
| 15. | Nittala, A; Chakravarthy, Shanthanu; Ananthasuresh, G K Real-time large-deformation modeling of an flexible endoscope tube using elastic similarity principle Presentation 19.12.2015. BibTeX @misc{Nittala2015,
title = {Real-time large-deformation modeling of an flexible endoscope tube using elastic similarity principle},
author = {A. Nittala and Shanthanu Chakravarthy and G. K. Ananthasuresh},
year = {2015},
date = {2015-12-19},
booktitle = {Proceedings on the 2nd International and 17th National Conference on Machines and Mechanisms (iNaCoMM), India},
keywords = {},
pubstate = {published},
tppubtype = {presentation}
}
|
| 16. | Ananya, ; Chakravarthy, Shanthanu; Kumar, Saurabh; Ananthasuresh, G K Shape estimation and prediction of locations of the force on a flexible tube using strains at a few points Conference Proceedings on the 2nd International and 17th National Conference on Machines and Mechanisms (iNaCoMM), India, 2015. Abstract | BibTeX | Links: @conference{Ananya2015,
title = {Shape estimation and prediction of locations of the force on a flexible tube using strains at a few points},
author = {Ananya and Shanthanu Chakravarthy and Saurabh Kumar and G. K. Ananthasuresh},
url = {http://www.rbccps.org/wp-content/uploads/2018/12/80.pdf},
year = {2015},
date = {2015-12-19},
booktitle = {Proceedings on the 2nd International and 17th National Conference on Machines and Mechanisms (iNaCoMM), India},
abstract = {In this work, we address two problems concerning flexible tubes such as the ones used in endoscopy. In the first problem, we use a shape estimation algorithm to simulate the shape of the entire endoscope during endoscopy. In the second problem, we explore a method to predict the location of point forces acting on the tube during endoscopy. Strain measurements made at a few discrete locations on the tube are used as input for both shape estimation and force-location prediction.
A suitable strain interpolation method is explored to capture all the necessary information for the aforementioned two problems. For the first problem, we implemented in both 2D and 3D a shape estimation algorithm based on differential geometry methods. Through experiments we show that the developed shape estimation method can reconstruct the shape with errors no more than 20%. For the second problem, we look at the nature of the derivatives of the interpolated strain values. As the derivative of the strain is proportional to the shear force, we identify the locations of the applied point forces by looking for discontinuities in the strain derivative. Furthermore, we develop graphical visualisation method using OpenGL libraries to render the shape of the endoscope in real time. Implementation and error analysis of the shape estimation algorithm, validation of the force-location predicting method, and the visualisation module comprise the paper.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
In this work, we address two problems concerning flexible tubes such as the ones used in endoscopy. In the first problem, we use a shape estimation algorithm to simulate the shape of the entire endoscope during endoscopy. In the second problem, we explore a method to predict the location of point forces acting on the tube during endoscopy. Strain measurements made at a few discrete locations on the tube are used as input for both shape estimation and force-location prediction.
A suitable strain interpolation method is explored to capture all the necessary information for the aforementioned two problems. For the first problem, we implemented in both 2D and 3D a shape estimation algorithm based on differential geometry methods. Through experiments we show that the developed shape estimation method can reconstruct the shape with errors no more than 20%. For the second problem, we look at the nature of the derivatives of the interpolated strain values. As the derivative of the strain is proportional to the shear force, we identify the locations of the applied point forces by looking for discontinuities in the strain derivative. Furthermore, we develop graphical visualisation method using OpenGL libraries to render the shape of the endoscope in real time. Implementation and error analysis of the shape estimation algorithm, validation of the force-location predicting method, and the visualisation module comprise the paper. |
| 17. | Chakravarthy, Shanthanu; Rao, A M; Ananthasuresh, G K A haptic simulator for upper gastrointestinal endoscopy Conference Proceeding of the 2014 Hamlyn Symposium on Medical Robotics, 12.-15.07.14, London (UK), 2014. Abstract | BibTeX | Links: @conference{Chakravarthy2014,
title = {A haptic simulator for upper gastrointestinal endoscopy},
author = {Shanthanu Chakravarthy and A. M. Rao and G. K. Ananthasuresh},
url = {http://ubimon.doc.ic.ac.uk/Hamlyn2014/public/Proceedings_2014.pdf},
year = {2014},
date = {2014-07-15},
booktitle = {Proceeding of the 2014 Hamlyn Symposium on Medical Robotics, 12.-15.07.14, London (UK)},
pages = {16-17},
abstract = {We present a haptic simulator for upper gastrointestinal (GI) endoscopy. It consists of a novel three Degree-of-Freedom (DoF) haptic device together with visualization and a model for computing forces. Endoscopy is a minimally invasive procedure where a flexible tube is inserted through the digestive tract for medical examination and, in recent years, for surgical procedures too. Endoscopists ought to have high degree of hand-eye coordination and experience gained from large variety of cases. This requirement can be best addressed by Virtual Reality (VR) based training simulators whose benefits include versatility in creating disease scenarios, quantitative evaluation of trainee’s skills, and low cost of training [1]. However, for the training to be effective, the VR simulators should have a haptic device for realistic force feedback. This paper presents our efforts towards the development of such a device and its integration with a control system and graphical visualization.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
We present a haptic simulator for upper gastrointestinal (GI) endoscopy. It consists of a novel three Degree-of-Freedom (DoF) haptic device together with visualization and a model for computing forces. Endoscopy is a minimally invasive procedure where a flexible tube is inserted through the digestive tract for medical examination and, in recent years, for surgical procedures too. Endoscopists ought to have high degree of hand-eye coordination and experience gained from large variety of cases. This requirement can be best addressed by Virtual Reality (VR) based training simulators whose benefits include versatility in creating disease scenarios, quantitative evaluation of trainee’s skills, and low cost of training [1]. However, for the training to be effective, the VR simulators should have a haptic device for realistic force feedback. This paper presents our efforts towards the development of such a device and its integration with a control system and graphical visualization. |
| 18. | Menon, Midhun Sreekumar; Gurumoorthy, B; Ghosal, Ashitava Efficient resolution of hyper-redundancy using splines Conference Proceedings of the 14th Symposium on Advances in Robot Kinematics (ARK), 29.06.-03.07.14, Ljubljana (Slovenia), 2014. Abstract | BibTeX | Links: @conference{Menon2014,
title = {Efficient resolution of hyper-redundancy using splines},
author = {Midhun Sreekumar Menon and B. Gurumoorthy and Ashitava Ghosal},
doi = {10.1007/978-3-319-06698-1_46},
year = {2014},
date = {2014-07-03},
booktitle = {Proceedings of the 14th Symposium on Advances in Robot Kinematics (ARK), 29.06.-03.07.14, Ljubljana (Slovenia)},
pages = {447-456},
abstract = {Hyper-redundant systems such as snake robots, flexible manipulators, ropes and strings discretized as rigid links connected by joints can be reasonably assumed to length preserving during their motion. The resolution of the redundancy in such systems have been addressed by several researchers using least squares and other techniques in which the computation effort increases rapidly with the number of links and thus are not amenable to real time motion planning. In this chapter, we present a computationally efficient, tractrix based algorithm which appear more ‘natural’ with motion of links ‘dying’ down along the length of the hyper-redundant system. The hyper-redundant system is represented by splines and it is shown that an approximate length preserving motion of the hyper-redundant system can be obtained by employing the tractrix based algorithm on the control polygon which generate the spline. The deviation from the actual length is related to the configuration of the control polygon and it is shown that this approach reduces the dimension of the problem space leading to a very efficient resolution scheme. The approach also has the added advantages of better visualization of the motion due to the higher order continuities and capability of localized shape control available in splines.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Hyper-redundant systems such as snake robots, flexible manipulators, ropes and strings discretized as rigid links connected by joints can be reasonably assumed to length preserving during their motion. The resolution of the redundancy in such systems have been addressed by several researchers using least squares and other techniques in which the computation effort increases rapidly with the number of links and thus are not amenable to real time motion planning. In this chapter, we present a computationally efficient, tractrix based algorithm which appear more ‘natural’ with motion of links ‘dying’ down along the length of the hyper-redundant system. The hyper-redundant system is represented by splines and it is shown that an approximate length preserving motion of the hyper-redundant system can be obtained by employing the tractrix based algorithm on the control polygon which generate the spline. The deviation from the actual length is related to the configuration of the control polygon and it is shown that this approach reduces the dimension of the problem space leading to a very efficient resolution scheme. The approach also has the added advantages of better visualization of the motion due to the higher order continuities and capability of localized shape control available in splines. |
| 19. | Chakravarthy, Shanthanu; Aditya, K; Ghosal, Ashitava Experimental characterization and control of miniaturized pneumatic artificial muscle Journal Article Journal of Medical Devices, 8 (4), 2014. Abstract | BibTeX | Links: @article{Chakravarthy2014b,
title = {Experimental characterization and control of miniaturized pneumatic artificial muscle},
author = {Shanthanu Chakravarthy and K. Aditya and Ashitava Ghosal},
url = {http://www.rbccps.org/wp-content/uploads/2017/10/med_008_04_041011.pdf},
doi = {10.1115/1.4028420},
year = {2014},
date = {2014-10-13},
journal = {Journal of Medical Devices},
volume = {8},
number = {4},
abstract = {Robotic surgical tools used in minimally invasive surgeries (MIS) require miniaturized and reliable actuators for precise positioning and control of the end-effector. Miniature pneumatic artificial muscles (MPAMs) are a good choice due to their inert nature, high force to weight ratio, and fast actuation. In this paper, we present the development of miniaturized braided pneumatic muscles with an outer diameter of ∼1.2 mm, a high contraction ratio of about 18%, and capable of providing a pull force in excess of 4 N at a supply pressure of 0.8 MPa. We present the details of the developed experimental setup, experimental data on contraction and force as a function of applied pressure, and characterization of the MPAM. We also present a simple kinematics and experimental data based model of the braided pneumatic muscle and show that the model predicts contraction in length to within 20% of the measured value. Finally, a robust controller for the MPAMs is developed and validated with experiments and it is shown that the MPAMs have a time constant of ∼10 ms thereby making them suitable for actuating endoscopic and robotic surgical tools.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Robotic surgical tools used in minimally invasive surgeries (MIS) require miniaturized and reliable actuators for precise positioning and control of the end-effector. Miniature pneumatic artificial muscles (MPAMs) are a good choice due to their inert nature, high force to weight ratio, and fast actuation. In this paper, we present the development of miniaturized braided pneumatic muscles with an outer diameter of ∼1.2 mm, a high contraction ratio of about 18%, and capable of providing a pull force in excess of 4 N at a supply pressure of 0.8 MPa. We present the details of the developed experimental setup, experimental data on contraction and force as a function of applied pressure, and characterization of the MPAM. We also present a simple kinematics and experimental data based model of the braided pneumatic muscle and show that the model predicts contraction in length to within 20% of the measured value. Finally, a robust controller for the MPAMs is developed and validated with experiments and it is shown that the MPAMs have a time constant of ∼10 ms thereby making them suitable for actuating endoscopic and robotic surgical tools. |
| 20. | Bhatia, Nitesh; Sen, Dibakar; Pathak, Anand V Legibility assessment for functional vision of DHM using differential acuity Conference Proceedings of the 10th Tools and Methods of Competitive Engineering Symposium (TMCE) on Sustainability and Cyber-Physical Systems, 19.-23.05.14, Budapest (Hungary), 2014. BibTeX @conference{Bhatia2014,
title = {Legibility assessment for functional vision of DHM using differential acuity},
author = {Nitesh Bhatia and Dibakar Sen and Anand V. Pathak},
year = {2014},
date = {2014-03-23},
booktitle = {Proceedings of the 10th Tools and Methods of Competitive Engineering Symposium (TMCE) on Sustainability and Cyber-Physical Systems, 19.-23.05.14, Budapest (Hungary)},
pages = {1235-1244},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
|
26 entries « ‹ 2 of 3
› » Patent Applications
- Chakravarthy, Shanthanu; Rao, Ashwin M.; Ananthasuresh, G. K.
A haptic device for endoscopy
Indian Patent Application No. 3439/CHE/2014 (26.02.16)
PTC Application No. PCT/IB2015/055251
- Katti, Anirudh; Chakravarthy, Shanthanu; Ananthasuresh, G. K.
A single-layer compliant mechanism for reversible motion between circumferential and radial directions
Indian Patent Application No. 1248/CHE/2015
[sta_anchor id=”Fiber”]Fiber Bragg Grating sensors for distributed bio-chemical sensing
Principal Investigator
Prof Manoj Varma (Associate Professor, Centre for Nano Science and Engineering)
Duration
16 August 2012 to 15 August 2015
The main objective of this project has been the development of a personal health diagnostic device based on a distributed sensor based on an array of individual sensing elements that have been functionalized in different ways (polyelectrolyte coatings with multiple receptors). The resulting platform is label-free, i.e, no fluorophores are required to generate the desired signal resulting in simplified sensing protocols. The sensing element is an etched Fiber Bragg grating (FBG) which is a type of distributed Bragg reflector along a short segment of an optical fiber whose outer cladding has been removed for higher sensitivity. This approach of exploiting the large multiplexing capability of FBGs coupled with Remote Neonatal Monitoring and Intervention Fiber Bragg Grating Sensors for distributed bio-chemical sensing two novel techniques for incorporating a wide spectrum of functionalization receptors is able to yield high specificities. Recently, this platform has been used for detecting various biomarkers for diagnosing cardiovascular diseases.
Project Publications
30 entries « ‹ 2 of 3
› » | 11. | Shivananju, Bannur Nanjunda; Asokan, Sundarrajan; Misra, Abha Study on effect of optical wavelength on photo induced strain sensitivity in carbon nanotubes using Fiber Bragg Grating Journal Article Journal of Physics D: Applied Physics, 48 (27), 2015. Abstract | BibTeX | Links: @article{Shivananju2015,
title = {Study on effect of optical wavelength on photo induced strain sensitivity in carbon nanotubes using Fiber Bragg Grating},
author = {Bannur Nanjunda Shivananju and Sundarrajan Asokan and Abha Misra},
url = {http://www.rbccps.org/wp-content/uploads/2017/10/Shivananju_2015_J._Phys._D__Appl._Phys._48_275502.pdf},
doi = {10.1088/0022-3727/48/27/275502},
year = {2015},
date = {2015-06-08},
journal = {Journal of Physics D: Applied Physics},
volume = {48},
number = {27},
abstract = {In this work, the role of optical wavelength on the photo induced strain in carbon nanotubes (CNT) is probed using a Fiber Bragg Grating (FBG), upon exposure to infrared (IR) (21 με mW(-1)) and visible (9 με mW(-1)) radiations. The strain sensitivity in CNT is monitored over a smaller range (10(-3) to 10(-9) ε) by exposing to a low optical power varying in the range 10(-3) to 10(-6) W. In addition, the wavelength dependent response and recovery periods of CNT under IR (τ(rise) = 150 ms, τ(fall) = 280 ms) and visible (τ(rise) = 1.07 s, τ(fall) = 1.18 s) radiations are evaluated in detail. This study can be further extended to measure the sensitivity of nano-scale photo induced strains in nano materials and opens avenues to control mechanical actuation using various optical wavelengths.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
In this work, the role of optical wavelength on the photo induced strain in carbon nanotubes (CNT) is probed using a Fiber Bragg Grating (FBG), upon exposure to infrared (IR) (21 με mW(-1)) and visible (9 με mW(-1)) radiations. The strain sensitivity in CNT is monitored over a smaller range (10(-3) to 10(-9) ε) by exposing to a low optical power varying in the range 10(-3) to 10(-6) W. In addition, the wavelength dependent response and recovery periods of CNT under IR (τ(rise) = 150 ms, τ(fall) = 280 ms) and visible (τ(rise) = 1.07 s, τ(fall) = 1.18 s) radiations are evaluated in detail. This study can be further extended to measure the sensitivity of nano-scale photo induced strains in nano materials and opens avenues to control mechanical actuation using various optical wavelengths. |
| 12. | Sridevi, S; Vasu, K S; Bath, Navakanta; Asokan, Sundarrajan; Sood, Ajay K Ultra sensitive NO2 gas detection using the reduced graphene oxide coated etched Fiber Bragg Gratings Journal Article Sensors and Actuators B: Chemical, 223 , pp. 481-486, 2015. Abstract | BibTeX | Links: @article{Sridevi2015b,
title = {Ultra sensitive NO2 gas detection using the reduced graphene oxide coated etched Fiber Bragg Gratings},
author = {S. Sridevi and K. S. Vasu and Navakanta Bath and Sundarrajan Asokan and Ajay K. Sood},
url = {http://www.rbccps.org/wp-content/uploads/2017/10/1-s2.0-S0925400515304366-main.pdf},
doi = {10.1016/j.snb.2015.09.128},
year = {2015},
date = {2015-09-28},
journal = {Sensors and Actuators B: Chemical},
volume = {223},
pages = {481-486},
abstract = {We report a simple and highly sensitive methodology for the room temperature NO2 gas sensing using reduced graphene oxide (RGO) coated clad etched Fiber Bragg Grating (eFBG). A significant shift (>10 pm) is observed in the reflected Bragg wavelength (λB) upon exposing RGO coated on the surface of eFBG to the NO2 gas molecules of concentration 0.5 ppm. The shift in Bragg wavelength is due to the change in the refractive index of RGO by charge transfer from the adsorbing NO2 molecules. The range of NO2 concentration is tested from 0.5 ppm to 3 ppm and the estimated time taken for 50% increase in ΔλB ranges from 20 min (for 0.5 ppm) to 6 min (for 3 ppm).},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
We report a simple and highly sensitive methodology for the room temperature NO2 gas sensing using reduced graphene oxide (RGO) coated clad etched Fiber Bragg Grating (eFBG). A significant shift (>10 pm) is observed in the reflected Bragg wavelength (λB) upon exposing RGO coated on the surface of eFBG to the NO2 gas molecules of concentration 0.5 ppm. The shift in Bragg wavelength is due to the change in the refractive index of RGO by charge transfer from the adsorbing NO2 molecules. The range of NO2 concentration is tested from 0.5 ppm to 3 ppm and the estimated time taken for 50% increase in ΔλB ranges from 20 min (for 0.5 ppm) to 6 min (for 3 ppm). |
| 13. | Shivananju, Bannur Nanjunda; Yamdagni, Sumeet; Fazuldeen, Ruknudeen; Kumar, Anakkat Koyilothu Sarin; Nithin, Shamraju Purushotham; Varma, Manoj; Asokan, Sundarrajan Highly sensitive carbon nanotubes coated etched Fiber Bragg Grating sensor for humidity sensing Journal Article IEEE Sensors Journal, 14 (8), pp. 2615-2619, 2014. Abstract | BibTeX | Links: @article{Shivananju2014,
title = {Highly sensitive carbon nanotubes coated etched Fiber Bragg Grating sensor for humidity sensing},
author = {Bannur Nanjunda Shivananju and Sumeet Yamdagni and Ruknudeen Fazuldeen and Anakkat Koyilothu Sarin Kumar and Shamraju Purushotham Nithin and Manoj Varma and Sundarrajan Asokan},
url = {http://www.rbccps.org/wp-content/uploads/2017/10/06775266.pdf},
doi = {10.1109/JSEN.2014.2312353},
year = {2014},
date = {2014-08-31},
journal = {IEEE Sensors Journal},
volume = {14},
number = {8},
pages = {2615-2619},
abstract = {The sensing of relative humidity (RH) at room temperature has potential applications in several areas ranging from biomedical to horticulture, paper, and textile industries. In this paper, a highly sensitive humidity sensor based on carbon nanotubes (CNTs) coated on the surface of an etched fiber Bragg grating (EFBG) sensor has been demonstrated, for detecting RH over a wide range of 20%-90% at room temperature. When water molecules interact with the CNT coated EFBG, the effective refractive index of the fiber core changes, resulting in a shift in the Bragg wavelength. It has been possible to achieve a high sensitivity of ~31 RH, which is the highest compared with many of the existing FBG-based humidity sensors. The limit of detection in the CNT coated EFBG has been found to be ~0.03 RH. The experimental data shows a linear response of Bragg wavelength shift with increase in humidity. This novel method of incorporating CNTs on to the FBG sensor for humidity sensing has not been reported before.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
The sensing of relative humidity (RH) at room temperature has potential applications in several areas ranging from biomedical to horticulture, paper, and textile industries. In this paper, a highly sensitive humidity sensor based on carbon nanotubes (CNTs) coated on the surface of an etched fiber Bragg grating (EFBG) sensor has been demonstrated, for detecting RH over a wide range of 20%-90% at room temperature. When water molecules interact with the CNT coated EFBG, the effective refractive index of the fiber core changes, resulting in a shift in the Bragg wavelength. It has been possible to achieve a high sensitivity of ~31 RH, which is the highest compared with many of the existing FBG-based humidity sensors. The limit of detection in the CNT coated EFBG has been found to be ~0.03 RH. The experimental data shows a linear response of Bragg wavelength shift with increase in humidity. This novel method of incorporating CNTs on to the FBG sensor for humidity sensing has not been reported before. |
| 14. | Umesh, Sharath; Asokan, Sundarrajan; Bhat, Adarash; Korategere, Aadarsh; Ravi, Jayanth N In-vitro measurement of temperature increase in pulp chamber with light cured composite resins using fiber Bragg grating thermal sensor Conference Proceedings of the 7th International Conference on Sensing Technology (ICST), 3.-5.12.13, Wellington (New Zealand), 2014. Abstract | BibTeX | Links: @conference{Umesh2014b,
title = {In-vitro measurement of temperature increase in pulp chamber with light cured composite resins using fiber Bragg grating thermal sensor},
author = {Sharath Umesh and Sundarrajan Asokan and Adarash Bhat and Aadarsh Korategere and Jayanth N. Ravi},
url = {http://www.rbccps.org/wp-content/uploads/2018/12/06727649.pdf},
doi = {10.1109/ICSensT.2013.6727649},
year = {2014},
date = {2014-01-30},
booktitle = {Proceedings of the 7th International Conference on Sensing Technology (ICST), 3.-5.12.13, Wellington (New Zealand)},
abstract = {This paper reports in vitro studies on pulp chamber temperature increase during the polymerization of the composite resin induced by the light-curing process, using Fiber Bragg Grating Thermal Sensor (FBGTS). A 1.5 mm composite resin layer is applied to the Class I cavity prepared in an extracted molar tooth and light cured. The increase in the pulp chamber temperature, during the curing process is sensed by the FBGTS inserted into the pulp chamber. The FBGTS employed in the present work has been designed, developed and calibrated in the laboratory prior to the experiment. The results are expected to be an indicator towards the potential hazard caused by heat induced pulpal injuries while curing composite resins with light.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
This paper reports in vitro studies on pulp chamber temperature increase during the polymerization of the composite resin induced by the light-curing process, using Fiber Bragg Grating Thermal Sensor (FBGTS). A 1.5 mm composite resin layer is applied to the Class I cavity prepared in an extracted molar tooth and light cured. The increase in the pulp chamber temperature, during the curing process is sensed by the FBGTS inserted into the pulp chamber. The FBGTS employed in the present work has been designed, developed and calibrated in the laboratory prior to the experiment. The results are expected to be an indicator towards the potential hazard caused by heat induced pulpal injuries while curing composite resins with light. |
| 15. | Shivananju, Bannur Nanjunda; Suri, Ashish; Asokan, Sundarrajan; Misra, Abha Monitoring of ultraviolet pulse rate dependent photomechanical actuation in carbon nanotubes using Fiber Bragg Gratings Journal Article Applied Physics Letters, 104 (1), 2014. Abstract | BibTeX | Links: @article{Shivananju2014b,
title = {Monitoring of ultraviolet pulse rate dependent photomechanical actuation in carbon nanotubes using Fiber Bragg Gratings},
author = {Bannur Nanjunda Shivananju and Ashish Suri and Sundarrajan Asokan and Abha Misra},
url = {http://www.rbccps.org/wp-content/uploads/2017/10/12E4860965.pdf},
doi = {10.1063/1.4860965},
year = {2014},
date = {2014-01-04},
journal = {Applied Physics Letters},
volume = {104},
number = {1},
abstract = {In this Letter, we present a non-contact method of controlling and monitoring photomechanical actuation in carbon nanotubes (CNT) by exposing it to ultra-violet radiation at different pulse rates (10 to 200 Hz). This is accomplished by imparting a reversible photo induced strain (5–330 με) on CNT coated fibre Bragg gratings; CNT undergoes an internal reversible structural change due to cyclic photon absorption that leads to the development of mechanical strain, which in turn allows reversible switching of the Bragg wavelength. The results also reveal an interesting pulse rate dependent rise and fall times of photomechanical actuation in CNT.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
In this Letter, we present a non-contact method of controlling and monitoring photomechanical actuation in carbon nanotubes (CNT) by exposing it to ultra-violet radiation at different pulse rates (10 to 200 Hz). This is accomplished by imparting a reversible photo induced strain (5–330 με) on CNT coated fibre Bragg gratings; CNT undergoes an internal reversible structural change due to cyclic photon absorption that leads to the development of mechanical strain, which in turn allows reversible switching of the Bragg wavelength. The results also reveal an interesting pulse rate dependent rise and fall times of photomechanical actuation in CNT. |
| 16. | Shivananju, Bannur Nanjunda; Pal, Parama; Yamdagni, Sumeet; Varma, Manoj; Asokan, Sundarrajan Nanomaterial-coated etched Fiber Bragg Grating sensors Conference Proceedings of the 2013 Workshop on Recent Advanced in Photonics (WRAP), 17.-18.12.13, New Delhi, 2014. Abstract | BibTeX | Links: @conference{Shivananju2014d,
title = {Nanomaterial-coated etched Fiber Bragg Grating sensors},
author = {Bannur Nanjunda Shivananju and Parama Pal and Sumeet Yamdagni and Manoj Varma and Sundarrajan Asokan},
url = {http://www.rbccps.org/wp-content/uploads/2017/10/06917685.pdf},
doi = {10.1109/WRAP.2013.6917685},
year = {2014},
date = {2014-10-14},
booktitle = {Proceedings of the 2013 Workshop on Recent Advanced in Photonics (WRAP), 17.-18.12.13, New Delhi},
abstract = {Multi-parameter sensing in the form of sensor arrays functionalized with multiple receptors, is an approach for attaining selectivity in sensing. We have demonstrated a novel fiber sensor based on an etched Bragg grating whose core is coated with materials such as polyelectrolytes, carbon nanotubes, and polyallylamine-amino-carbon nanotubes, and can be used for detecting gases, pH, humidity, refractive index, proteins and other biomolecules. In this approach, the target molecules interact with the functionalized core of the etched FBG resulting in a change in the effective refractive index of the fiber core leading to a subsequent shift in the Bragg wavelength. The experimental data shows that the wavelength shift varies linearly with the concentration of the target analyte. Besides being reproducible and repeatable, the technique is fast, compact, and highly sensitive.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Multi-parameter sensing in the form of sensor arrays functionalized with multiple receptors, is an approach for attaining selectivity in sensing. We have demonstrated a novel fiber sensor based on an etched Bragg grating whose core is coated with materials such as polyelectrolytes, carbon nanotubes, and polyallylamine-amino-carbon nanotubes, and can be used for detecting gases, pH, humidity, refractive index, proteins and other biomolecules. In this approach, the target molecules interact with the functionalized core of the etched FBG resulting in a change in the effective refractive index of the fiber core leading to a subsequent shift in the Bragg wavelength. The experimental data shows that the wavelength shift varies linearly with the concentration of the target analyte. Besides being reproducible and repeatable, the technique is fast, compact, and highly sensitive. |
| 17. | Sridevi, S; Vasu, K S; Jayaraman, N; Asokan, Sundarrajan; Sood, Ajay K Optical bio-sensing devices based on etched Fiber Bragg Gratings coated with carbon nanotubes and graphene oxide along with a specific dendrimer Journal Article Sensors and Actuators B: Chemical, 195 , pp. 150-155, 2014. Abstract | BibTeX | Links: @article{Sridevi2014b,
title = {Optical bio-sensing devices based on etched Fiber Bragg Gratings coated with carbon nanotubes and graphene oxide along with a specific dendrimer},
author = {S. Sridevi and K. S. Vasu and N. Jayaraman and Sundarrajan Asokan and Ajay K. Sood},
url = {http://www.rbccps.org/wp-content/uploads/2017/10/1-s2.0-S0925400513015906-main.pdf},
doi = {10.1016/j.snb.2013.12.109},
year = {2014},
date = {2014-01-15},
journal = {Sensors and Actuators B: Chemical},
volume = {195},
pages = {150-155},
abstract = {We demonstrate that etched fiber Bragg gratings (eFBGs) coated with single walled carbon nanotubes (SWNTs) and graphene oxide (GO) are highly sensitive and accurate biochemical sensors. Here, for detecting protein concanavalin A (Con A), mannose-functionalized poly(propyl ether imine) (PETIM) dendrimers (DMs) have been attached to the SWNTs (or GO) coated on the surface modified eFBG. The dendrimers act as multivalent ligands, having specificity to detect lectin Con A. The specificity of the sensor is shown by a much weaker response (factor of ∼2500 for the SWNT and ∼2000 for the GO coated eFBG) to detect non specific lectin peanut agglutinin. DM molecules functionalized GO coated eFBG sensors showed excellent specificity to Con A even in the presence of excess amount of an interfering protein bovine serum albumin. The shift in the Bragg wavelength (ΔλB) with respect to the λB values of SWNT (or GO)-DM coated eFBG for various concentrations of lectin follows Langmuir type adsorption isotherm, giving an affinity constant of ∼4 × 10(7) M−1 for SWNTs coated eFBG and ∼3 × 10(8) M−1 for the GO coated eFBG.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
We demonstrate that etched fiber Bragg gratings (eFBGs) coated with single walled carbon nanotubes (SWNTs) and graphene oxide (GO) are highly sensitive and accurate biochemical sensors. Here, for detecting protein concanavalin A (Con A), mannose-functionalized poly(propyl ether imine) (PETIM) dendrimers (DMs) have been attached to the SWNTs (or GO) coated on the surface modified eFBG. The dendrimers act as multivalent ligands, having specificity to detect lectin Con A. The specificity of the sensor is shown by a much weaker response (factor of ∼2500 for the SWNT and ∼2000 for the GO coated eFBG) to detect non specific lectin peanut agglutinin. DM molecules functionalized GO coated eFBG sensors showed excellent specificity to Con A even in the presence of excess amount of an interfering protein bovine serum albumin. The shift in the Bragg wavelength (ΔλB) with respect to the λB values of SWNT (or GO)-DM coated eFBG for various concentrations of lectin follows Langmuir type adsorption isotherm, giving an affinity constant of ∼4 × 10(7) M−1 for SWNTs coated eFBG and ∼3 × 10(8) M−1 for the GO coated eFBG. |
| 18. | Umesh, Sharath; Chiplunkar, Shwetha; Anand, Kalegowda; Asokan, Sundarrajan Radial arterial compliance measurement by Fiber Bragg Grating pulse recorder Journal Article Journal of Human Hypertension, 28 (12), pp. 736-742, 2014. Abstract | BibTeX | Links: @article{Umesh2014,
title = {Radial arterial compliance measurement by Fiber Bragg Grating pulse recorder},
author = {Sharath Umesh and Shwetha Chiplunkar and Kalegowda Anand and Sundarrajan Asokan},
doi = {10.1038/jhh.2014.45},
year = {2014},
date = {2014-12-31},
journal = {Journal of Human Hypertension},
volume = {28},
number = {12},
pages = {736-742},
abstract = {In the present work, we report a novel, in vivo, noninvasive technique to determine radial arterial compliance using the radial arterial pressure pulse waveform (RAPPW) acquired by fiber Bragg grating pulse recorder (FBGPR). The radial arterial compliance of the subject can be measured during sphygmomanometric examination by the unique signatures of arterial diametrical variations and the beat-to-beat pulse pressure acquired simultaneously from the RAPPW recorded using FBGPR. This proposed technique has been validated against the radial arterial diametrical measurements obtained from the color Doppler ultrasound. Multiple trials have been carried out in this work and the results from both techniques have been found to be in good agreement with each other.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
In the present work, we report a novel, in vivo, noninvasive technique to determine radial arterial compliance using the radial arterial pressure pulse waveform (RAPPW) acquired by fiber Bragg grating pulse recorder (FBGPR). The radial arterial compliance of the subject can be measured during sphygmomanometric examination by the unique signatures of arterial diametrical variations and the beat-to-beat pulse pressure acquired simultaneously from the RAPPW recorded using FBGPR. This proposed technique has been validated against the radial arterial diametrical measurements obtained from the color Doppler ultrasound. Multiple trials have been carried out in this work and the results from both techniques have been found to be in good agreement with each other. |
| 19. | Shivananju, Bannur Nanjunda; Prasananth, Gurusiddappa R; Asokan, Sundarrajan; Varma, Manoj Reversible and irreversible pH induced conformational changes in self-assembled weak polyelectrolyte multilayers probed using etched Fiber Bragg Grating sensors Journal Article Sensors and Actuators B: Chemical, 201 , pp. 37-45, 2014. Abstract | BibTeX | Links: @article{Shivananju2014b,
title = {Reversible and irreversible pH induced conformational changes in self-assembled weak polyelectrolyte multilayers probed using etched Fiber Bragg Grating sensors},
author = {Bannur Nanjunda Shivananju and Gurusiddappa R. Prasananth and Sundarrajan Asokan and Manoj Varma},
url = {http://www.rbccps.org/wp-content/uploads/2017/10/1-s2.0-S0925400514004936-main.pdf},
doi = {10.1016/j.snb.2014.04.082},
year = {2014},
date = {2014-10-01},
journal = {Sensors and Actuators B: Chemical},
volume = {201},
pages = {37-45},
abstract = {Polyelectrolytes are charged polymer species which electrostatically adsorb onto surfaces in a layer by layer fashion leading to the sequential assembly of multilayer structures. It is known that the morphology of weak polyelectrolyte structures is strongly influenced by environmental variables such as pH. We created a weak polyelectrolyte multilayer structure (∼100 nm thick) of cationic polymer poly-allylamine hydrochloride (PAH) and an anionic polymer poly-acrylic acid (PAA) on an etched clad fiber Bragg grating (EFBG) to study the pH induced conformational transitions in the polymer multilayers brought about by the variation in charge density of weak polyelectrolyte groups as a function of pH. The conformational changes of the polyelectrolyte multilayer structure lead to changes in optical density of the adsorbed film which reflects in the shift of the Bragg wavelength from the EFBG. Using the EFBG system we were able to probe reversible and irreversible pH induced transitions in the PAH/PAA weak polyelectrolyte system.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Polyelectrolytes are charged polymer species which electrostatically adsorb onto surfaces in a layer by layer fashion leading to the sequential assembly of multilayer structures. It is known that the morphology of weak polyelectrolyte structures is strongly influenced by environmental variables such as pH. We created a weak polyelectrolyte multilayer structure (∼100 nm thick) of cationic polymer poly-allylamine hydrochloride (PAH) and an anionic polymer poly-acrylic acid (PAA) on an etched clad fiber Bragg grating (EFBG) to study the pH induced conformational transitions in the polymer multilayers brought about by the variation in charge density of weak polyelectrolyte groups as a function of pH. The conformational changes of the polyelectrolyte multilayer structure lead to changes in optical density of the adsorbed film which reflects in the shift of the Bragg wavelength from the EFBG. Using the EFBG system we were able to probe reversible and irreversible pH induced transitions in the PAH/PAA weak polyelectrolyte system. |
| 20. | Sridevi, S; Vasu, K S; Asokan, Sundarrajan; Sood, Ajay K Sensitive detection of C-reactive protein using optical Fiber Bragg Gratings Journal Article Biosensors and Bioelectronics, 65 , pp. 251-256, 2014. Abstract | BibTeX | Links: @article{Sridevi2014,
title = {Sensitive detection of C-reactive protein using optical Fiber Bragg Gratings},
author = {S. Sridevi and K. S. Vasu and Sundarrajan Asokan and Ajay K. Sood},
url = {http://www.rbccps.org/wp-content/uploads/2017/10/1-s2.0-S095656631400832X-main.pdf},
doi = {10.1016/j.bios.2014.10.033},
year = {2014},
date = {2014-10-23},
journal = {Biosensors and Bioelectronics},
volume = {65},
pages = {251-256},
abstract = {An accurate and highly sensitive sensor platform has been demonstrated for the detection of C-reactive protein (CRP) using optical fiber Bragg gratings (FBGs). The CRP detection has been carried out by monitoring the shift in Bragg wavelength (ΔλB) of an etched FBG (eFBG) coated with an anti-CRP antibody (aCRP)-graphene oxide (GO) complex. The complex is characterized by Fourier transform infrared spectroscopy, X-ray photoelectron spectroscopy and atomic force microscopy. A limit of detection of 0.01mg/L has been achieved with a linear range of detection from 0.01mg/L to 100mg/L which includes clinical range of CRP. The eFBG sensor coated with only aCRP (without GO) show much less sensitivity than that of aCRP-GO complex coated eFBG. The eFBG sensors show high specificity to CRP even in the presence of other interfering factors such as urea, creatinine and glucose. The affinity constant of ∼1.1×10(10)M(-1) has been extracted from the data of normalized shift (ΔλB/λB) as a function of CRP concentration.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
An accurate and highly sensitive sensor platform has been demonstrated for the detection of C-reactive protein (CRP) using optical fiber Bragg gratings (FBGs). The CRP detection has been carried out by monitoring the shift in Bragg wavelength (ΔλB) of an etched FBG (eFBG) coated with an anti-CRP antibody (aCRP)-graphene oxide (GO) complex. The complex is characterized by Fourier transform infrared spectroscopy, X-ray photoelectron spectroscopy and atomic force microscopy. A limit of detection of 0.01mg/L has been achieved with a linear range of detection from 0.01mg/L to 100mg/L which includes clinical range of CRP. The eFBG sensor coated with only aCRP (without GO) show much less sensitivity than that of aCRP-GO complex coated eFBG. The eFBG sensors show high specificity to CRP even in the presence of other interfering factors such as urea, creatinine and glucose. The affinity constant of ∼1.1×10(10)M(-1) has been extracted from the data of normalized shift (ΔλB/λB) as a function of CRP concentration. |
30 entries « ‹ 2 of 3
› » Patent Applications
- Asokan, Sundarrajan; Umesh, Sharath; Raju, Sukreet; Girish, Apoorva
Apparatus and method to measure blood pressure using Fiber Bragg Grating sensor
Indian Patent Application No. 4989/CHE/2012 (06.05.16)
- Vasu, Kalangi Siddeswara; Sridevi, S.; Asokan, Sundarrajan; Jayaraman, Narayanaswamy; Sood, Ajay K.
Optical biosensors having enhanced sensitivity
Indian Patent Application No. 719/CHE/2013 (14.08.15)
PCT Application No. PCT/IB2014/058880
- Asokan, Sundarrajan; Umesh, Sharath; Chiplunkar, Swetha
Measurement of arterial compliance using Fiber Bragg Grating pulse recorder
Indian Patent Application No. 457/CHE/2014 (07.08.15)
- Vasu, Kalangi Siddeswara; Sridevi, S.; Asokan, Sundarrajan; Sood, Ajay K.
Optical sensor, methods and applications thereof
Indian Patent Application No. 6111/CHE/2014
[sta_anchor id=”Formal”]Formal analysis of CPS protocols and software
Principal Investigator
Prof Aditya Kanade (Associate Professor, Department of Computer Science and Automation)
Duration
16 August 2012 to 15 August 2015
Communication protocols and system software form critical components of cyber-physical systems. The concurrent and distributed nature of different components of a protocol make it difficult to design and debug the protocols. In addition, mechanisms for providing reliable communication over unreliable communication media (e.g. checksums,sliding window protocols) make the protocols intricate. This project aimed at formal modeling and analysis of protocols, in particular, protocols that provide reliable retransmission capabilities over noisy channels.
System software plays a significant role in cyber-physical systems by gluing together different components like sensors, controllers, actuators, and end-user devices. Control algorithms are also commonly implemented in software. The complexity of these software components make them susceptible to bugs. This project focussed at designing techniques to detect, localize, and fix bugs in programs. In particular, we explored combinations of dynamic analysis, symbolic reasoning, and machine learning to develop techniques for debugging and repair of programs.
Project Publications
[sta_anchor id=”Low-cost”]Low-cost, optical detection of DNA for HPV detection in urine
Principal Investigator
Prof Manoj Varma (Associate Professor, Centre for Nano Science and Engineering)
Duration
1 February 2015 to 30 September 2015
Project Publications
[sta_anchor id=”Precision”]Precision farming model for peri-urban agriculture: Technological interventions and innovations to enhance the input use efficiency
Principal Investigator
Prof Jaywant H. Arakeri (Professor, Department of Mechanical Engineering)
Duration
16 August 2012 to 15 August 2015
The project is a collaborative effort three institutes: IISc, the University of Agricultural Sciences, Bangalore, and Jawaharlal Nehru Centre for Advanced Scientific Research, Bangalore. UAS has allotted 15 guntas of land for erecting four polyhouses and a field laboratory. An experiment was completed with baby corn (which has a growth period of two months) to optimize the growth conditions inside the polyhouse, deployment of sensors, deployment of micro irrigation/precision delivery systems for water and fertilizers. The existing technologies and their limitations could be understood through design experiments with Capsicum as test crop. The results of the experiments in the standard polyhouse gave inputs for new designs for the climatic conditions obtained in Bangalore.
Technical details on fabrication of a new type of controlled growth chamber have been discussed with engineers of a Chennai based company. Studies have been carried out to optimize the sensors to be used in the polyhouse and for plant image capture. A mini-lysimeter was developed to measure continuously transpiration rates from single plants. The mechanism of clogging of emitters/actuators was researched by examining several emitters/actuators collected from the field. An emitter test set-up to study clogging, obtain pressure-flow characteristics and develop new emitters was set up. A new type of intermittent emitter is was designed as part of an MDes project of Centre for Product Design and Manufacture (CPDM).
[sta_anchor id=”Remote”]Remote neonatal monitoring and intervention
Principal Investigator
Prof Bharadwaj Amrutur (Chairman, Robert Bosch Centre for Cyber-Physical Systems)
Duration
16 August 2012 to 15 August 2015
A robust, easy-to-use prototype device has been developed for continuous, realtime monitoring of the core body temperatures of neonates. The design for this device has factored in considerations for ease-of-use in rural settings with minimal infrastructure. The primary utility of this wearable device is to be able to raise triggers/alarms for prompting appropriate interventions in the case of the neonate’s body temperature exceeding limits predetermined by clinicians (e.g. in the case of hypothermia or sepsis). Recent efforts have been directed into widening the sensing scope of the device by incorporating functionalities such as breathing rate determination, oxygen saturation (SpO2) detection as well as electrocardiogram (ECG) measurements.
Project Publications
Patent Applications
- Gubbi, Sagar Venkatesh; Amrutur, Bharadwaj
Low power pulse oximeter and a method thereof
Indian Patent Application No. 1979/CHE/2014 (01.01.16)
- Amrutur, Bharadwaj; Rao, Hiteshwar; Saxena, Dhruv; Mony, Prem
A method and a device for monitoring physiological characteristics with adaptive power management
Indian Patent Application No. 4499/CHE/2014 (01.07.16)
[sta_anchor id=”Sensor”]Sensor system for monitoring stroke patients in rehabilitation
Principal Investigator
Prof K. Gopinath (Professor, Department of Computer Science and Automation)
Duration
16 August 2012 to 15 August 2015
The project’s original aim was to enable stroke patients in their rehabilitation by providing an interesting way to perform the required exercises. A stroke patient, during his/her rehabilitation period is required to perform regular, repetitive exercises, especially some predefined movements of the affected region, to gain back the functionality of those regions. However, these exercises are often highly repetitive in nature and may become boring over the time, because of which the patient may stop doing it. Instead, the basic idea was to make such movements part of some video game(s) that would have the desired motions (exercise movements). We also planned to capture the movement of the patient during these exercises by placing sensors on the moving body parts and provide feedback to the patient or the doctor, either off-line or, if possible, on-line regarding the patient performance.
In the process of formally defining the problem, we spoke to medical specialists who work in related areas. During these discussions it became clear that the Human Gait Analysis is a far more pressing problem. Given its immediate need, the cost of doing so can be reduced substantially. Also, from the point of validation, there are well defined standards available for Gait Analysis, like Optical Gait Analysis, which can be used for evaluating any new system.
Given the commonality of the hardware for our original problem and Human Gait Analysis and due to lack of data for the original problem, we therefore decided to shift our attention to Human Gait Analysis. Based on our discussions with specialists, our new goals was to calculate the clinically important joint angles (knee joint angle, ankle joint angle, hip joint angle, etc.) using IMU Sensors (Inertial Measurement Unit) and to validate the results using an Optical system (BIMRA Gait Lab). If the angles produced by the IMU sensors is comparable with that produced by Optical system, then potentially, one can use IMU sensors system to do Gait Analysis at a much lower cost.
Project Publications
[sta_anchor id=”Simulation”]Simulation environment with active feedback for epidural procedures
Principal Investigator
Prof M. S. Bobji (Assistant Professor, Department of Mechanical Engineering)
Duration
16 August 2012 to 15 August 2015
Epidural procedures are routinely performed by trained physicians for anesthesia and treatment. It is a procedure that requires considerable skill on the part of the physician to correctly place the needle and catheter at the exact position in the epidural space as puncturing or damaging the dura mater may lead to side effects like headache or even paralysis. Training on cadavers is one way to provide necessary skills in the procedure. The current project involved the development of a training system to realistically provide a simulation environment with a haptic feedback and immersive visualisation. Some key features of the project are development of custom sensors and mechanisms and an intelligent software engine to provide measurements, feedback and operations of the training environment.
Project Publications
[sta_anchor id=”Smart”]Smart transportation and mobility solutions
Principal Investigator
Prof T. G. Sitharam (Senior Professor, Department of Civil Engineering)
Duration
1 August 2013 to 31 July 2015
Integrated Urban Transportation Planning includes collaborative planning of land use and transport, integration of various modes of transport in terms of infrastructure like coexisting terminals for public transportation and service like having common fare payment systems etc.
Intelligent Transport System (ITS) is another promising and prevalent means of improving mobility in an optimal manner, ITS provides very efficient and smooth coordination among functioning of various infrastructure elements that constitutes the transport system. It is majorly divided into Advanced Traffic Management System (ATMS), Advanced Traveler Management System (ATIS), and Advanced Public Transport Systems (APTS). All three of these involve utilization of telematics. Real time estimation of traffic stream characteristics such as traffic flow, speed and traffic density act as inputs to all three and helps in unparalleled enhancement of mobility.
Project Publications
[sta_anchor id=”SPMU”]SPMU based solar water pump and smart controller
Principal Investigator
Prof L. Umanand (Professor, Department of Electronic Systems Engineering)
Duration
1 May 2014 to 31 October 2015
Solar pump units provide varying power to pumps with varying solar isolation. The solar panels are also by about 25% oversized to accommodate wide seasonal variations. As a result, the pump rarely runs at full capacity, and thereby, subjects the pump, the pump motor and motor driver to run at lower efficiencies most of the time.
We developed a new solar pump system with an intelligent solar power management unit (SPMU) to help regulate constant power to the pump. The unit diverts solar power to battery whenever it is greater than the pump power requirement, and also supplements the solar power with battery power whenever it is lesser than the pump power requirement. The unit features “maximum power point tracking (MPPT)” to harness maximum power from the solar panel. The system also (uniquely) provides the capability to measure the total and time profile of water pumped, and also supports the collection of inline Total Dissolved Solids (TDS), a critical water quality parameter that is necessary to determine appropriate watering levels.
Patent Application
Warrior, Jay; Sekhar, Muddu; Misra, Prasant
Smart solar water pump system
Indian Patent Application No. 3578/CHE/2014
[sta_anchor id=”Studies”]Studies into impact of dust and PV temperature on PV system (performance) efficiency in tropical regions
Principal Investigator
Prof Monto Mani (Associate Professor, Centre for Sustainable Technologies and Centre for Product Design and Manufacturing)
Duration
16 August 2012 to 15 August 2015
Clean energy technologies are an imminent necessity to sustain modern civilization and ensuring environmental vitality for future generations. While solar photovoltaics (PV) for clean electricity generation is promising, ensuring its optimum performance is crucial for sustainability. Often, onsite parameters such as dust-settlement and ambient climatic factors have a significant bearing on PV system output, including the dependence on clean-water for maintenance. Despite enormous ongoing efforts to devise novel materials for higher PV yield and efficiency, there is inadequate study dealing with onsite factors. Dust deposition and operating PV temperatures are acute considerations in tropical regions such as India. Research and development, under the current project, investigated the impact of dust settlement, associated water-based cleaning cycles and operating PV temperature profiles on PV system output (efficiency) for various PV material and design configurations. Further, to minimize use of clean water for maintenance, given site-specific conditions, an effort was made to evolve a methodology to identify appropriate cleaning mechanisms. Further, results of the study paved way for research in other domains of material sciences such as development of dust repelling coatings and self-cleaning glasses.
Project Publications
[sta_anchor id=”Verified”]Verified model of real–time operating systems for multi-core processors
Principal Investigator
Prof Deepak D’Souza (Associate Professor, Department of Computer Science and Automation)
Duration
16 August 2012 to 15 August 2015
Real-time operating systems (RTOS) play a central role in embedded system applications, and will likely do so for cyber-physical systems in the future. Given the paradigm shift towards multi-core processors, most embedded processors are likely to be multi-core ones in the near future. Today’s RTOS that are typically designed to be run on uni-processors will need to be re-designed and implemented for multi-core processors. Reasoning about the correctness of embedded applications is impossible without a precise specification and proof of correctness of the RTOS itself.
In this project we used the open source Free-RTOS operating system as an example. To begin with we defined a precise specification (for example in a formal modelling language like Z notation or Event B) of the intended behaviour of a Free-RTOS-like OS on a multicore processor. Secondly, we proposed a multicore implementation of Free-RTOS. Finally we investigated techniques to prove the correctness of this implementation with respect to the top-level specification.
Project Publications
[sta_anchor id=”Zero”]Zero energy smart building
Principal Investigator
Prof Joy Kuri (Professor, Department of Electronic System Engineering)
Duration
16 August 2012 to 15 August 2015
The Zero Energy Building project had two principal objectives: (a) To use renewable energy sources to meet, at least in part, the energy requirements of a building, and (b) to retrofit this capability to an existing building, with no structural changes allowed. A two-pronged approach was used: To exploit solar photovoltaics, and to implement load management to reduce energy demand.
The solution incorporated several novel features. On the supply side, the traditional inductor stage used in interfacing the transformer to the grid was eliminated completely — instead, the leakage inductance of the transformer was utilized; this lead to significant savings in weight and space. On the demand side, load management is the key requirement, and an elaborate measurement and control infrastructure has been developed. This consists of Load Management Units (LMU-s, one in each lab or office) that provide aggregate measurement and control functionality, a smart meter for pluggable loads with communication and storage capabilities called the Joule Jotter, and a Master Energy Consumption Scheduler, that collects measurements from LMU-s and Joule Jotters and makes load scheduling decisions, taking into account time-of-day energy prices, available solar energy as well as user convenience.
LMU-s and the master communicate using the DNP v3.0 protocol. Keeping the goal of retrofitting in mind, a Smart Switch that can be substituted for the traditional 2-terminal wall switch, has been developed. The Smart Switch can respond to commands from a remote controller sent via the power line (PLC) or via a wireless link. The challenge here is to provide power to the electronics inside the switch from the two terminals – line and load point – that are available at the switch; in particular, the neutral is not available.
The complete solution was designed and implemented in the Department of Electronic Systems Engineering, Indian Institute of Science Bangalore. It is operational and provides an average of 70 KWh of energy per day.
Project Publications
Patent Application
Umanand, Loganathan; Karthik, A.
Energy-harvesting electronic switch
Indian Patent Application No. 4110/CHE/2015