Dr. Joyjit Mukherjee, Ph.D

EDUCATION

Master of Technology (M.Tech.)
School of Mechatronics & Robotics
IIEST Shibpur, India.

Bachelor of Technology (B.Tech.)
Department of Electrical Engineering
NIT Durgapur, India.

PROJECTS

CONTROLLER DESIGN FOR SOFT EXOSUIT
JATC-DRDO Sponsored Project, Control & Automation Group, Department of Electrical Engineering, IIT Delhi

Exosuits are designed to provide rehabilitation or to provide assistance to humans in doing daily work. Soft exosuits tend to solve various issues faced with rigid exoskeletons like high inertia, non-compliance, joint-misalignment, etc. However, such systems pose a serious challenge towards control design owing to their flexibility, compliance and actuation. Moreover, to design an efficient exosuit, one needs to estimate the intention of the user. The proposed work is aimed at the designing of an efficient control architecture combined with Brain-Computer Interfacing (BCI) to effectively modulate the exosuit for efficient assistance.

September 2020

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ALGORITHM DESIGN FOR GUN SIMULATOR
Faros Technologies Private Limited

This work is aimed at the development of an Image Processing based algorithm for detection and localization of a virtual gunshot from a dummy-gun for a simulator. The algorithm includes techniques like segmentation in gray scale, edge detection, circle detection, etc. to effectively localize multiple IR spots on the screen. The algorithm also attempts to estimate the position of the guns and correlate the target and the source position by employing Hough transform based line detection technique.

January 2020

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MANEUVERING OF SERPENTINE ROBOTS: AN ADAPTIVE ROBUST CONTROL APPROACH
Control & Automation Group, Department of Electrical Engineering, IIT Delhi

In this work, we are aiming to utilize Adaptive-Robust approaches to address the tracking problem of planar snake robots in the presence of uncertainties in ground friction. Also, to circumvent the multi-layered controller design methodlology, flatness properties of a snake robot system has been explored. Moreover, a theoretical model of a snake robot moving inside a pipe or channel has been proposed, so that the various aforementioned control techniques can be utilized for efficient control of this system.

September 2019

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CONTROL OF NONHOLONOMIC MOBILE ROBOT SYSTEM BASED ON SIMULTANEOUS QUADRATIC STABILIZATION
Department of Robotics & Automation, CSIR-CMERI, Durgapur

With the increase in the use of wheeled mobile robots in various applications, accurate and precise motion control of these systems is becoming a matter of prime importance. Different control schemes have been used to achieve the same. Simultaneous Quadratic Stabilization is a control scheme that has not been used earlier for these systems. Here a reduced order dynamic equation of the robot system has been formulated and a controller for achieving desired performance of the system has been designed.

May 2013

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POWER SYSTEM STATE ESTIMATION
Department of Electrical Engineering, NIT Durgapur

Estimation of different essential parameters of a system is a happening research topic nowadays. With increase in technological advancements, higher accuracy and performance is being demanded for any power system. For achieving the same, it is very important to estimate the actual values of the states of these systems from the erroneous data of the different sensors. An algorithm was formulated for estimating the power system states from the erroneous sensor data acquired.

May 2010

PUBLICATIONS

Adaptive robust control of planar snake robots
Studies in Systems, Decision and Control, Springer, [In Press], 2020.

JOURNAL

Sliding Mode Control of Planar Snake Robot With Uncertainty Using Virtual Holonomic Constraints
IEEE Robotics & Automation Letters, Vol. 2, No. 2, April 2017.

A Double-Layered Artificial Delay-Based Approach for Maneuvering Control of Planar Snake Robots
ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 141, No. 4, April 2019.

Time-Energy Efficient Guidance Strategy for a Realistic 3D Interceptor: An Adaptive Robust Time-Delayed Control Approach with Input Saturation
Aerospace Science and Technology, Vol. 104, September 2020.

An artificial delay based robust guidance strategy for an interceptor with input saturation
ISA Transactions, Vol. 109, March 2021.

Re-entry trajectory tracking of reusable launch vehicle using artificial delay based robust guidance law
Advances in Space Research, Vol. 67, No. 1, January 2021.

A sliding-mode control algorithm to enhance in-hand motion capabilities
ASME Journal of Mechanisms and Robotics, Vol. 13, January 2021.

Maneuvering Control of planar snake robot: An adaptive robust approach with artificial time delay
International Journal of Robust Nonlinear Control, January 2021.

CONFERENCE

Adaptive Sliding Mode Control for Head-Angle and Velocity Tracking
IEEE ASCC-2017, Gold Coast, Australia.

Kinematic Control of Wheeled Mobile Robot: An Error based Differentially Flat system approach
IEEE Indicon-2015, New Delhi, India.

Simultaneous Quadratic Stabilization of a Nonholonomic Mobile Robot
IEEE iMac4s - 2013, Kerela, India.

Sliding-Mode Control Algorithm to Enhance In-Hand Motion Capabilities
ASME International Design Engineering Technical Conferences (IDETC), November 2020.

Artificial Time Delay based Adaptive Robust Fault Tolerant Control for RLV During Re-entry Phase
IEEE Mediterranean Conference on Control and Automation (MED), September 2020, Saint-Raphaël, France.

ACHIEVEMENTS

Ph.D. Scholarship (T.A.)
Ministry of HRD, Govt. of India

Best Paper Award
IEEE Indicon, New Delhi

Reviewer
ASME Journal of Autonomous Vehicles and Systems
IEEE Transaction on Circuits and Systems
IEEE Transaction on System, Man and Cybernatics
Control System Letter & Conference on Decision and Control
IEEE Indian International Conference (INDICON)
International Symposium on Intelligent Systems Tech. and Applications