Hey! My name is Ankit Aggarwal. I am currently pursuing a Master’s in Robotic Systems Development (MRSD) at the Robotics Institute, Carnegie Mellon University. As part of this program, my capstone project lies in the domain of Space Robotics – Lunar ROADSTER , a Robotic Operator for Autonomous Development of Surface Trails and Exploration Routes.
My core interest lies in creating robots in unpredictable environments. This ranges from robots that operate in extra-terrestrial conditions or aid humans work in hard-to-access mining sites. Robotics allows me to explore a broad spectrum of engineering problems, and I enjoy creating complete multi-disciplinary systems from the ground up.
I recently graduated from Manipal Institute of Technology with a Bachelor of Technology degree. My major was Mechatronics, and my minor was Robotics and Automation. During my undergraduate tenure, I led a team of undergraduate students to various international robotics competitions with Mars Rover Manipal and research projects in the domain of parallel robots and IoT.
Nowadays, in metropolises, both parents are working; therefore, it is of paramount importance to ensure the well-being of the infant. As a result, it is challenging to ensure the infant’s safety, security, and comfort. The present study introduces an innovative solution that uses humidity and sound sensors for continuous monitoring of the infant’s bed and environmental conditions in the cradle. Along with that, a camera is also installed for continuous monitoring using live streaming through the live mobile application. The notable new addition to this study was the integration of the auto-cleaning system into the smart cradle, which is yet unexplored in the field of smart cradle systems for infant care. The Raspberry Pi control was used as the central control for the monitoring system, and Arduino was deployed for the control of the cradle movement, which used the PWM-based control of the motor for the cradle moment. As infants urinate and start crying, it is detected through a sound sensor, and it starts shaking the cradle while simultaneously checking the moisture conditions in the bed, which updates the parent with a message on their mobile. On the request of the parent, the auto-cleaning system can be used for the change of the sheet, which also ensures the safety of the infant by taking feedback using an ultrasonic sensor that the baby is not in the cradle and then changing the sheet using the motorized control. This illustrates the potential of the IoT in infant care and safety. By actively monitoring sound and humidity levels, caregivers gain valuable insights into the infant’s needs, allowing them to make real-time adjustments to the cradle’s motions. Incorporating a camera and a mobile app further enhances monitoring and accessibility.
3-RPR
Workspace and Trajectory Analysis of the 3-RPR Planar Parallel Manipulators with Joint Clearance
Ankur Jaiswal, Sidhant Barai, Abhishek Jha, and 2 more authors
In Recent Advances in Machines, Mechanisms, Materials and Design, 2024
The parallel mechanisms are mostly used in industrial and robotics applications for achieving desired tasks. The performance of the mechanism depends upon the many parameters like link joint clearance and manufacturing defects. A new mathematical model is developed for the analysis of linear input (prismatic joint) mechanisms under the effects of joint clearance. This paper presents the loop closure equation used for estimating the mechanical/position error due to the effect of link tolerances. The results evaluate the position error using a mathematical approach. The results are validated by the CAD model approach. The demonstrated case is illustrated in this paper.
