Department of Electrical Engineering

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IIT Jodhpur

The design of Substrate Integrated Coaxial Line (SICL) based wideband baluns for K-band application are presented in this work. The proposed two-section branch-line balun realized in SICL technology can be fabricated using traditional PCB technology. The performance of the planar and folded balun are evaluated to demonstrate low amplitude and phase imbalance in the entire K-band covering 18 GHz to 26 GHz. Fractional bandwidth of 40.68% and 37.27% are achieved by the proposed planar and folded balun, respectively. The size of planar SICL balun is 0.73λg × 0.78λg × 0.05λg, and the folded balun covers only 58% lateral area as compared to the planar balun. The wide-band single mode TEM characteristics of these baluns realized in SICL technology have enhanced shielding capability which motivates their usage in densely integrated millimeter-wave systems. © 2018 IEEE.

World University root node

2018 IEEE Indian Conference on Antennas and Propagation, InCAP 2018

Design of Folded Substrate Integrated Coaxial Line Wideband Balun for K-band Applications

Assessing grasp stability is essential to prevent the failure of robotic manipulation tasks due to sensory data and object uncertainties. Learning-based approaches are widely deployed to infer the success of a grasp. Typically, the underlying model used to estimate the grasp stability is trained for a specific task, such as lifting, hand-over, or pouring. Since every task has individual stability demands, it is important to adapt the trained model to new manipulation actions. If the same trained model is directly applied to a new task, unnecessary grasp adaptations might be triggered, or in the worst case, the manipulation might fail. To address this issue, we divide the manipulation task used for training into seven sub-tasks, defined as modular tasks. We deploy a learning-based approach and assess the stability for each modular task separately. We further propose analytical features to reduce the dimensionality and the redundancy of the tactile sensor readings. A main task can thereby be represented as a sequence of relevant modular tasks. The stability prediction of the main task is computed based on the inferred success labels of the modular tasks. Our experimental evaluation shows that the proposed feature set lowers the prediction error up to 5.69% compared to other sets used in state-of-the-art methods. Robotic experiments demonstrate that our modular task-oriented stability assessment avoids unnecessary grasp force adaptations and regrasps for various manipulation tasks. © 2018 IEEE.

IEEE International Conference on Intelligent Robots and Systems

Learning-Based Modular Task-Oriented Grasp Stability Assessment

This paper presents the performance of a nanostructured tungsten trioxide (WO 3 ) based bottom gate field effect transistor as a highly responsive gas sensor. The fabrication process followed is scalable and semiconductor industry compatible. Complete material and electrical characterization of the device was performed which shows WO 3 nano-clusters and ambipolar nature of the WO 3 based transistor. Sensing studies were carried out in presence of volatile organic compounds (VOCs) of which maximum response was given to acetone. Dynamic response was taken to demonstrate real time sensing. © 2018 IEEE.

Proceedings of IEEE Sensors

Highly Responsive Behavior Towards Acetone by WO 3 Based Bottom Gate Field Effect Transistor

In this work, we present an innovative approach to provide training to undergraduate and postgraduate students in the area of microelectronics technology through test chip design, fabrication and testing. A large number of academic institutions across the world do not have device fabrication facilities at their disposal. In such cases, imparting even basic training to the students in the area of microelectronics technology is severely restricted. In the work presented here, a test chip, based on a generic bipolar process, has been designed and fabricated. The test chip contains various test structures through which process parameters (such as sheet resistance of diffused layers, contact resistance etc.) can be measured. In addition, the chip has a few diodes and bipolar junction transistors of different designs and dimensions. The devices were packaged in a standard integrated circuit header but with a transparent cover to enable optical viewing. The devices and test structures were characterized and the measured parameters were correlated with the processing parameters. The electrical measurement on these structures together with processes used in fabrication and the visual observation under an optical microscope is helpful to students in developing better understanding of the intricacies of device fabrication. © 2018, Rajarambapu Institute of Technology. All rights reserved.

Journal of Engineering Education Transformations

Teaching fundamentals of microelectronic technology using test chip

In this chapter, we extend the findings of Chap.Â 3 to 2-D kinesthetic data. For this, we again design an appropriate experimental setup and record the responses of several users to piecewise constant haptic signals. In order to predict the labels of the responses, we have used the Weber, level crossing, and conic section-based classifiers. It has been found that similar to 1-D haptic signal, the level crossing classifier performs better than the Weber classifier for all users. Thus, the level crossing classifier-based sampler turns out to be a good candidate for perceptually adaptive sampling mechanism for 2-D haptic data also. Further, we study the possible structures of the perceptual deadzone for 2-D haptic data and examine whether the deadzone depends on the direction of the kinesthetic force stimulus. The level crossing classifier defines the best fit deadzone around a reference vector to be circular, while the Weber classifier makes the radius a function of its current magnitude. A competing conic section-based classifier makes the kinesthetic deadzone directionally sensitive. It is demonstrated that the kinesthetic perception is circularly symmetric and is independent of the direction of the force stimulus. Hence, a user does not have any directional preference while perceiving any change in the kinesthetic stimulus. © 2018, Springer Nature Singapore Pte Ltd.

Studies in Computational Intelligence

Deadzone analysis of 2-D kinesthetic perception

In this paper, an equivalent output injection based sliding mode observer is proposed for estimating the states of a class of perturbed n-dimensional nonholonomic systems. In the proposed design, we introduce a new transformation based on state scaling which renders the perturbed system in a triangular input form, amenable for the design of the observer. Thereafter, the equivalent control method is adopted in a sequential manner to estimate each of the system states one after another, in finite time such that ultimately all the states are estimated. Thus the entire state estimates are available for feedback after a finite time, in the presence of structured perturbations affecting the system. Simulations are performed on a unicycle mobile robot, to demonstrate the effectiveness of the proposed observer design. © 2018 IEEE.

Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

A finite-time sliding mode observer for a class of perturbed nonholonomic systems

This paper introduces a discrete time sliding mode by using a periodic intermittent control with multirate fast output feedback technique for the robust stabilization of discretized linear time invariant systems. In discrete time periodic intermittent control technique, the control input is applied to the system for the first few sampling time interval and then the control is not applied for next few sampling time interval, this control cycle is repeated. The proposed periodic intermittent control drives the system to discrete time sliding mode to achieve the robust stabilization of discretized linear time invariant system. The proposed theory is demonstrated by a simulation example on industrial plant emulator. © 2018 IEEE.

Discrete time intermittent sliding mode control with multirate output feedback

The claim, within the proof of Corollary 1 in Behera, Chalanga, and Bandyopadhyay (2018), that (14) implies (7), is clearly incorrect since [Formula presented], [Formula presented], [Formula presented], and [Formula presented] are all positive and [Formula presented]. (Fortunately, the main results in Behera et al. (2018) are not affected by this error.) Here, we state and prove a replacement corollary. Corollary 1 The origin of the system given by (5) and (6) of Behera et al. (2018) is finite-time stabilizable if the gains satisfy [Formula presented] Proof In view of Theorem 1 of Behera et al. (2018), it suffices to note that (7) of Behera et al. (2018), equivalently expressed as [Formula presented] is implied by (1) in the above. This is true because with [Formula presented], [Formula presented], and [Formula presented] all positive and [Formula presented], [Formula presented] holds. □ Following Corollary 1, the Remark 1 in Behera et al. (2018) may now be read as follows. Remark 1 For an unperturbed system. i.e., [Formula presented] with [Formula presented] and [Formula presented], the gain conditions are found to be [Formula presented] and [Formula presented]. Similarly, if [Formula presented] but [Formula presented] is a bounded uncertainty then the gains satisfy the relation as [Formula presented] and [Formula presented] where [Formula presented]. © 2018 Elsevier Ltd

Automatica

Corrigendum to “A new geometric proof of super-twisting control with actuator saturation” [Automatica 87 (2018) 437-441] (S0005109817304855) (10.1016/j.automatica.2017.09.015))

In this article, we propose a new approach towards the design of higher order sliding mode (HOSM) control, for a class of multiple input multiple output (MIMO) uncertain nonlinear systems subject to matched and unmatched uncertainties. In the proposed method, nonlinear sliding surfaces incorporating the system initial conditions and exponential functions, which guarantee the existence of sliding mode from an initial state are utilized and appropriate control inputs are designed. The control inputs are designed to enforce second order sliding mode w.r.t the sliding variables via the use of multivariable super-twisting algorithm (STA) in finite time. The resulting sliding motion is in turn proved to be input-to-state-stable (ISS) with respect to the perturbations and unmatched uncertainties. The developed sliding mode control strategy is applied for the posture stabilization of a unicycle mobile robot. The proposed method is illustrated through simulations. © 2018 European Control Association

European Journal of Control

Continuous higher order sliding mode control for a class of uncertain MIMO nonlinear systems: An ISS approach

SMC is a robust control technique that ensures the robust (insensitive) stabilization of the system against (matched) disturbance. This property holds when it is designed and implemented in continuous-time domain. On the other hand, in digital implementation of SMC the system trajectory slides in the vicinity of sliding manifold. Many techniques and design methodologies have appeared in the literature for reducing the sliding band and improving the accuracy. Nevertheless, a significant improved performance can be obtained using some novel control implementation strategy, namely event-triggering technique. © Springer International Publishing AG, part of Springer Nature 2018.