arXiv subjects

Kaushik Das

Publications and source records attributed to Kaushik Das.

At least 19 recordsLinked to original sources

arXiv2026

Task Planning for Mobile Manipulation in Retail Stores using Foundation Models with Iterative Re-planning

Automation in industries such as retail, warehousing and logistics presents opportunities for greater throughput, cost reduction and mitigation of disruptions from labour shortages. Previously, such efforts have focused on back-room operations involving packing and sorting in relatively structured environments. With advances in robotic mobile manipulation hardware and foundation models, automation can now be applied to more variable and human-centric environments such as retail store shelves. In this work, we present a task-planning approach using Large Language Models (LLMs) and Vision-Language Models (VLMs) to address the restocking problem in retail scenarios such as supermarkets. We demonstrate this system on a custom omnidirectional mobile manipulation platform, with user-driven prompts and a feedback-based iterative re-planning approach for error correction. The end-to-end system is validated in a PyBullet simulation environment for pick-and-place tasks.

cs.RO↗

arXiv2026

Teleoperated Omni-directional Dual Arm Mobile Manipulation Robotic System with Shared Control for Retail Store

The swiftly expanding retail sector is increasingly adopting autonomous mobile robots empowered by artificial intelligence and machine learning algorithms to gain an edge in the competitive market. However, these autonomous robots encounter challenges in adapting to the dynamic nature of retail products, often struggling to operate autonomously in novel situations. In this study, we introduce an omni-directional dual-arm mobile robot specifically tailored for use in retail environments. Additionally, we propose a tele-operation method that enables shared control between the robot and a human operator. This approach utilizes a Virtual Reality (VR) motion capture system to capture the operator's commands, which are then transmitted to the robot located remotely in a retail setting. Furthermore, the robot is equipped with heterogeneous grippers on both manipulators, facilitating the handling of a wide range of items. We validate the efficacy of the proposed system through testing in a mockup of retail environment, demonstrating its ability to manipulate various commonly encountered retail items using both single and dual-arm coordinated manipulation techniques.

cs.RO↗

arXiv2025

Symmetry-designed BiFeO3 single domain spin cycloid for efficient spintronics

Deterministic control of coupled ferroelectric and antiferromagnetic orders remains a central challenge in multiferroics, limiting their integration into functional magnetoelectrics and magnonic-devices. (111)pc BiFeO3 with a robust single spin cycloid, offers direct magnetoelectric-coupling and a platform for efficient spin transport, yet multi-magnetic domains and ferroelectric-fatigue have prevented reproducible control. Here, we show that anisotropic-compressive in-plane strain stabilizes a single antiferromagnetic domain with unique spin-cycloid vector, by breaking the symmetry of the (111)pc plane. Epitaxial BiFeO3 films grown on orthorhombic NdGaO3 (011)o [(111)pc] substrates impose the required anisotropic in-plane strain and stabilizes single antiferromagnetic domain, as confirmed through direct imaging with scanning NV microscopy and non-resonant-x-ray-magnetic-scattering. Remarkably, these engineered films exhibit deterministic and non-volatile 180° switching of ferroelectric and single antiferromagnetic domains over 1,000 cycles. The monodomain state also enables anisotropic and threefold enhanced magnon transport with reduced scattering. Thus, symmetry-designed (111)pc monodomain BiFeO3 offers a robust platform for advanced magnetoelectric and magnonic applications.

cond-mat.mtrl-sci↗

arXiv2025

Microstructural Studies Using Generative Adversarial Network (GAN): a Case Study

The generative adversarial network (GAN) is one of the most widely used deep generative models for synthesizing high-quality images with the same statistics as the training set. Finite element method (FEM) based property prediction often relies on synthetically generated microstructures. The phase-field model is a computational method of generating realistic microstructures considering the underlying thermodynamics and kinetics of the material. Due to the expensive nature of the simulations, it is not always feasible to use phase-field for synthetic microstructure generation. In this work, we train a GAN with microstructures generated from the phase-field simulations. Mechanical properties calculated using the finite element method on synthetic and actual phase field microstructures show excellent agreement. Since the GAN model generates thousands of images within seconds, it has the potential to improve the quality of synthetic microstructures needed for FEM calculations or any other applications requiring a large number of realistic synthetic images at minimal computational cost.

cond-mat.mtrl-sci↗

arXiv2025

An Efficient Method for Accurate Pose Estimation and Error Correction of Cuboidal Objects

The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise pose estimation of cuboid-shaped objects, which aims to reduce errors in target pose in a time-efficient manner. Typical pose estimation methods like global point cloud registrations are prone to minor pose errors for which local registration algorithms are generally used to improve pose accuracy. However, due to the execution time overhead and uncertainty in the error of the final achieved pose, an alternate, linear time approach is proposed for pose error estimation and correction. This paper presents an overview of the solution followed by a detailed description of individual modules of the proposed algorithm.

cs.CV↗

arXiv2024

Improving the energy density and flexibility of PMN-0.3PT based piezoelectric generator by composite designing

Ceramics based piezoelectric generators are known for their high energy density and poor flexibility. In this work, v_r-PMN-0.3PT/PDMS 2-2 composite with optimum PMN-0.3PT content (v_r) was designed that demonstrated enhanced output energy density and superior mechanical flexibility under dynamic mechanical excitation. v_r-PMN-0.3PT/PDMS 2-2 composite with different PMN-PT reinforcement content (v_r) and two different reinforcement configurations were fabricated and characterized for effective electro-elastic properties and energy harvesting response. Parallelly, using the finite element method and analytical models, effective electromechanical properties were calculated. Composites with parallel connectivity of the reinforcement phase demonstrated enhanced piezoelectric charge coefficient even with low PMN-0.3PT content whereas the relative permittivity and elastic modulus exhibited a linearly increasing trend with reinforcement volume fraction. At a compressive load of 50 N and 5 Hz frequency, a piezoelectric generator (PG) based on a v_r = 0.2, v_r- PMN-0.3PT/PDMS 2-2 composite with parallel connectivity produced a maximum short-circuit current density of 69 nA/cm2 and an open-circuit electric field of 189 V/cm, translating to a maximum output power density of ~13 μW/cm3 higher than that of pristine PMN-0.3 PT based piezoelectric generator. Estimated mechanical flexibility was found to be ~53 % higher than that of pristine PMN-0.3PT.

physics.app-ph↗

arXiv2023

Microstructure-property prediction of a Ni-based superalloy: A combined phase-field and finite element modelling approach

Multiscale modelling is a new paradigm that has emerged in recent times to study the well-known problem of the process-structure-property relationship in the area of materials science and engineering. For obtaining the desired performance for materials of strategic importance, such as superalloys, it is essential to bridge different length and time scales in order to navigate the entire design space. In the present study, we develop a physics-based model for a Ni-based superalloy where the microstructures simulated using a phase-field model serve as input to finite-element computations. We examine the alloy's microstructure evolution and effective elastic properties quantitatively via phase-field and finite element methods integrated with CALPHAD database, by varying composition and aging temperature. The phase-field simulations provide us with an insight into the different regimes of microstructure evolution. The finite element analysis uncovers the relation of effective elastic properties with several system parameters.

cond-mat.mtrl-sci↗

arXiv2023

$μ$2mech: a Software Package Combining Microstructure Modeling and Mechanical Property Prediction

We have developed a graphical user interface (GUI) based package $μ$2mech to perform phase-field simulation for predicting microstructure evolution. The package can take inputs from ab initio calculations and CALPHAD (Calculation of Phase Diagrams) tools for quantitative microstructure prediction. The package also provides a seamless connection to transfer output from the mesoscale phase field method to the microscale finite element analysis for mechanical property prediction. Such a multiscale simulation package can facilitate microstructure-property correlation, one of the cornerstones in accelerated materials development within the integrated computational materials engineering (ICME) framework.

cond-mat.mtrl-sci↗

arXiv2023

Development of On-Ground Hardware In Loop Simulation Facility for Space Robotics

Over a couple of decades, space junk has increased rapidly, which has caused significant threats to the LEO operation satellites. An Active Debris Removal $(ADR)$ concept continuously evolves for space junk removal. One of the ADR methods is Space Robotics, whose function is to chase, capture and de-orbit the space junk. This paper presents the development of an on-ground space robotics facility in the TCS Research for on-orbit servicing $(OOS)$ like refueling and debris capture experiments. A Hardware in Loop Simulation (HILS) system will be used for integrated system development, testing, and demonstration of on-orbit docking mechanisms. The HiLS test facility of TCS Research Lab will use two URs in which one UR is attached to the RG2 gripper, and the other is attached to a force-torque sensor and with a scaled mock-up model. The first UR5 will be mounted on a 7-axis linear rail and contain the docking probe. First, UR5 with a suitable gripper has to interface its control boxes. The grasping algorithm was run through the ROS interface line to demonstrate and validate the on-orbit operations. The manipulator will be mounted with LIDAR and a camera to visualize the mock-up model, find the target model's pose and rotational velocity estimation, and a gripper that will move relative to the target model. The other manipulator has the UR10 control, providing rotational and random motion to the mockup, enabling a dynamic simulator fed by force-torque data. The dynamic simulator is fed up with the orbit propagator, which will provide the orbiting environment to the target model. For the simulation of the docking and grasping of the target model, a linear rail of a 6m setup is still in the procurement process. Once reaching proximity, the grasping algorithm will be launched to capture the target model after reading the random motion of the mock-up model.

cs.RO↗

arXiv2022

UAV-miniUGV Hybrid System for Hidden Area Exploration and Manipulation

We propose a novel hybrid system (both hardware and software) of an Unmanned Aerial Vehicle (UAV) carrying a miniature Unmanned Ground Vehicle (miniUGV) to perform a complex search and manipulation task. This system leverages heterogeneous robots to accomplish a task that cannot be done using a single robot system. It enables the UAV to explore a hidden space with a narrow opening through which the miniUGV can easily enter and escape. The hidden space is assumed to be navigable for the miniUGV. The miniUGV uses Infrared (IR) sensors and a monocular camera to search for an object in the hidden space. The proposed system takes advantage of a wider field of view (fov) of the camera as well as the stochastic nature of the object detection algorithms to guide the miniUGV in the hidden space to find the object. Upon finding the object the miniUGV grabs it using visual servoing and then returns back to its start point from where the UAV retracts it back and transports the object to a safe place. In case there is no object found in the hidden space, UAV continues the aerial search. The tethered miniUGV gives the UAV an ability to act beyond its reach and perform a search and manipulation task which was not possible before for any of the robots individually. The system has a wide range of applications and we have demonstrated its feasibility through repetitive experiments.

cs.RO↗

arXiv2022

Design and Analysis of Cold Gas Thruster to De-Orbit the PSLV Debris

Todayś world of spaceś primary concern is the uncontrolled growth of space debris and its probability of collision with spacecraft, particularly in the low earth orbit (LEO) regions. This paper is aimed to design an optimized micro-propulsion system, Cold Gas Thruster, to de-orbit the PSLV debris from 668km to 250 km height after capturing process. The propulsion system mainly consists of a storage tank, pipes, control valves, and a convergent-divergent nozzle. The paper gives an idea of the design of each component based on a continuous iterative process until the design thrust requirements are met. All the components are designed in the CATIA V5, and the structural analysis is done in the ANSYS tool for each component where our cylinder tank can withstand the high hoop stress generated on its wall of it. And flow analysis is done by using the K-$ε$ turbulence model for the CD nozzle, which provides the required thrust to de-orbit PSLV from a higher orbit to a lower orbit, after which the air drag will be enough to bring back to earthś atmosphere and burn it. Hohmannś orbit transfer method has been used to de-orbit the PSLV space debris, and it has been simulated by STK tools. And the result shows that our optimized designed thruster generates enough thrust to de-orbit the PSLV debris to a very low orbit.

cs.RO↗

arXiv2022

Hierarchical Frequency Control of Hybrid Power Plants Using Frequency Response Observer

Frequency control (FC) enables utility-scale grid-connected hybrid power plants (HPPs) to operate in compliance with grid code requirements while to capture value streams from provision of frequency control services (FCSs). In this paper, a novel hierarchical FC approach is proposed to allow HPPs to provide three types of FCSs, namely fast frequency response (FFR), frequency containment response (FCR) and frequency restoration response (FRR). To accommodate state-of-the-art fast FC, controllers for fast FCSs, such as FFR and FCR, are implemented at asset controllers, while controllers for slow FCSs like FRR are implemented at plant controllers or the HPP controller (HPPC). Control counteraction issue, which arises across control hierarchy, is then discussed. To solve this issue, an innovative frequency response observer (FROB) is proposed. Inspired by the concept of disturbance observer (DOB), FROB at plant controllers and the HPPC accurately estimates frequency response initiated at asset controllers, and the obtained estimation is used for control compensation at plant controllers and the HPPC to avoid control counteraction. This scheme achieves robust performance even when there are system uncertainties existing in HPPs, such as parameter uncertainty, unknown control malfunction, and time-varying communication delays. The proposed approach is implemented in a power system dynamic model in MATLAB/Simulink to highlight its effectiveness and robustness.

eess.SY↗

arXiv2022

Design of Low Thrust Controlled Maneuvers to Chase and De-orbit the Space Debris

Over the several decades, the space debris at LEO has grown rapidly which had caused a serious threat to the operating satellite in an orbit. To avoid the risk of collision and protect the LEO environment, the space robotics ADR concept has been continuously developed for over a decade to chase, capture, and deorbit space debris. This paper presents the designed small satellite with dual robotic manipulators. The small satellite is designed based on CubeSat standards, which uses commercially available products in the market. In this paper, an approach is detailed for designing the controlled chase and deorbit maneuver for a small satellite equipped with an RCS thruster. The maneuvers are comprised of two phases, a. bringing the chaser satellite to the debris orbit and accelerating it to close proximity of 1m to the debris object by using the low thrust RCS thruster, and b. Once captured, controlled deorbiting it to 250 km of altitude. A Hohmann transfer concept is used to move our chaser satellite from the lower orbit to the debris orbit by two impulsive burns. A number of the scenarios are simulated, where one or more orbital elements are adjusted. For more than one orbital elements adjustment, the DAG law and the Q law are utilized. These laws synthesize the three direction thrusts to the single thrust force for the controlled maneuver. The $Δ$V requirement at each maneuver is determined by using the performance parameters of the RCS thruster intended for a small satellite. The results show that, for long term simulation of a chaser satellite maneuver to debris object, an optimum DAG law is most suitable than the Q law, as it can handle the singularity behavior of the orbital elements caused due by adjustment of one or more elements more efficiently.

cs.RO↗

arXiv2021

Constellation Design of Remote Sensing Small Satellite for Infrastructure Monitoring in India

A constellation of remote sensing small satellite system has been developed for infrastructure monitoring in India by using SAR Payload. The LEO constellation of the small satellites is designed in a way, which can cover the entire footprint of India. Since India lies a little above the equatorial region, the orbital parameters are adjusted in a way that inclination of 36 degrees and RAAN varies from 70-130 degrees at a height of 600 km has been considered. A total number of 4 orbital planes are designed in which each orbital plane consisting 3 small satellites with 120-degrees true anomaly separation. Each satellite is capable of taking multiple look images with the minimum resolution of 1 meter per pixel and swath width of 10 km approx. The multiple look images captured by the SAR payload help in continuous infrastructure monitoring of our interested footprint area in India. Each small satellite is equipped with a communication payload that uses X-band and VHF antenna, whereas the TT&C will use a high data-rate S-band transmitter. The paper presents only a coverage metrics analysis method of our designed constellation for our India footprint by considering the important metrics like revisit time, response time, and coverage efficiency. The result shows that the average revisits time for our constellation ranges from about 15- 35 min which is less than an hour and the average response time for this iteratively designed constellation ranges from about 25-120 min along with hundred percent coverage efficiency most of the time. Finally, it was concluded that each satellite has 70kg of total mass and costs around $ 0.75M to develop.

cs.RO↗

arXiv2021

Attitude and In-orbit Residual Magnetic Moment Estimation of Small Satellites Using only Magnetometer

Attitude estimation or determination is a fundamental task for satellites to remain effectively operational. This task is furthermore complicated on small satellites by the limited space and computational power available on-board. This, coupled with a usually low budget, restricts small satellites from using high precision sensors for its especially important task of attitude estimation. On top of this, small satellites, on account of their size and weight, are comparatively more sensitive to environmental or orbital disturbances as compared to their larger counterparts. Magnetic disturbance forms the major contributor to orbital disturbances on small satellites in Lower Earth Orbits (LEO). This magnetic disturbance depends on the Residual Magnetic Moment (RMM) of the satellite itself, which for higher accuracy should be determined in real-time. This paper presents a method for in-orbit estimation of the satellite magnetic dipole using a Random Walk Model in order to circumnavigate the inaccuracy arising due to unknown orbital magnetic disturbances. It is also ensured that the dipole as well as attitude estimation of the satellite is done using only a magnetometer as the sensor.

cs.RO↗

arXiv2021

Model Based Control of Commercial-Off-TheShelf (COTS) Unmanned Rotorcraft for BrickWall Construction

This work proposes a systematic framework for modelling and controller design of a Commercial-Off-The Shelf (COTS) unmanned rotorcraft using control theory and principles, for brick wall construction. With point to point navigation as the primary application, command velocities in the three axes of the Unmanned Aerial Vehicle (UAV) are considered as inputs of the system while its actual velocities are system outputs. Using the sine and step response data acquired from a Hardware-in-Loop (HiL) test simulator, the considered system was modelled in individual axes with the help of the proposed framework. This model was employed for controller design where a sliding mode controller was chosen to satisfy certain requirements of the application like robustness, flexibility and accuracy. The model was validated using step response data and produced a deviation of only 9%. Finally, the controller results from field test showed fine control up to 8 cms accuracy. Sliding Mode Control (SMC) was also compared with a linear controller derived from iterative experimentations and seen to perform better than the latter in terms of accuracy, and robustness to parametric variations and wind disturbances.

cs.RO↗

arXiv2020

Synthesis of a Six-Bar Gripper Mechanism for Aerial Grasping

In this paper, a 1-DoF gripper mechanism has been synthesized for the type of mechanism, number of links and joints, and the dimensions of length, width and thickness of links. The type synthesis is done by selecting the proper class of mechanism from Reuleaux's six classes of mechanisms. The number synthesis is done by using an algebraic method. The dimensions of the linkages are found using the geometric programming method. The gripper is then modeled in a computer aided design software and then fabricated using an additive manufacturing technique. Finally the gripper mechanism with DC motor as an actuator is mounted on an Unmanned Aerial Vehicle (UAV) to grip a spherical object moving in space. This work is related to a task in challenge 1 of Mohamed Bin Zayed International Robotics Challenge (MBZIRC)-2020.

cs.RO↗

arXiv2020

A Robust Aerial Gripper for Passive Grasping and Impulsive Release using Scotch Yoke Mechanism

Aerial transportation requires a simple yet reliable gripper for picking and placing objects of interest. In this work, we design an aerial gripper for passive grasping and impulsive release of ferrous coated objects. Permanent magnets are used for passive grasping and the Scotch Yoke mechanism is used for providing impulsive force to drop the object. The load carrying capacity of the gripper is calculated theoretically and experimentally. The parameters such as the radius of the rotating disk and length of the slider in the Scotch Yoke mechanism were optimized using weighted geometric programming. The dimensions of the gripper mount were derived considering the various components of the gripper. The gripper was mounted on an Unmanned Aerial Vehicle (UAV) and the tests were done by carrying ferrous coated cuboid shaped objects of different sizes and masses. These tests were done in manual and autonomous mode in the outdoor environment.

cs.RO↗