Journal of the Indian Institute of Science最新文献_第5页

Guest Editorial: Sustainable Technologies (Part 2: CST) 嘉宾评论：可持续发展技术（第二部分：CST）

IF 2.3 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-04-02 DOI: 10.1007/s41745-025-00467-7

Gali Madhavi Latha, Lakshminarayana Rao, R. Venkataraghavan

引用次数: 0

A Review on the Stability of Biped Robots 双足机器人稳定性研究进展

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-04-02 DOI: 10.1007/s41745-024-00454-4

Alinjar Dan, S. K. Saha, K. Rama Krishna

{"title":"A Review on the Stability of Biped Robots","authors":"Alinjar Dan, S. K. Saha, K. Rama Krishna","doi":"10.1007/s41745-024-00454-4","DOIUrl":"10.1007/s41745-024-00454-4","url":null,"abstract":"<div><p>The use of robotics has been increasing in various applications in industrial, medical, entertainment, and disaster management. Biped robotics is one of the most popular specialized fields. This paper starts with a discussion on the application of robotics and argues that bipeds are an important domain of robotics due to their universal application. Stability is an important issue for bipeds. The present paper is an endeavour to review the important topic of stability. The literature review on stability of bipeds in this paper is broadly divided into two parts: Stable gait generation, also regarded as dynamic stability, and stability against disturbance, also regarded as stance stability. Stable gait generation techniques on various geometrical surfaces, such as level ground, inclined grounds, uneven grounds, stairs, and wide ditch (crossing), are discussed. Stable locomotion for avoiding obstacles is discussed as well. For stance stability, the discussion is broadly divided into two parts: with controller and without controller. For small disturbances that do not cause significant changes in the system’s states, proper Centre of mass (CoM) placement ensures stability; controls at the joints are not needed. However, to ensure stability against sufficiently large disturbances causing significant changes in the system’s states, a proper controller strategy must be developed. All these aspects of stability against disturbances are discussed in detail. After critical review of the above aspects of stability in the literature, existing research gaps are identified, and the possible future works to address them are discussed.</p></div>","PeriodicalId":675,"journal":{"name":"Journal of the Indian Institute of Science","volume":"104 3","pages":"579 - 609"},"PeriodicalIF":1.8,"publicationDate":"2025-04-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143938268","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An Overview of Data-Driven Paradigms for Identification and Control of Robotic Systems 机器人系统识别与控制的数据驱动范式综述

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-03-12 DOI: 10.1007/s41745-025-00464-w

Chandan Kumar Sah, Rajpal Singh, Jishnu Keshavan

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Quadrotor-Based Aerial Manipulator Robotics 基于四旋翼的空中机械手机器人

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-02-26 DOI: 10.1007/s41745-024-00457-1

Vidya Sumathy, Debasish Ghose

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Editor's Desk 编辑器的桌子上

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-02-24 DOI: 10.1007/s41745-025-00460-0

G. Ananthasuresh

引用次数: 0

Integrated Framework for Sustainable Remediation of Soil Contamination in India: From Investigation to Implementation 印度土壤污染可持续修复的综合框架：从调查到实施

IF 2.3 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-02-24 DOI: 10.1007/s41745-024-00456-2

B. Prathima, G. L. Sivakumar Babu

{"title":"Integrated Framework for Sustainable Remediation of Soil Contamination in India: From Investigation to Implementation","authors":"B. Prathima, G. L. Sivakumar Babu","doi":"10.1007/s41745-024-00456-2","DOIUrl":"10.1007/s41745-024-00456-2","url":null,"abstract":"<div><p>Soil pollution continues to be a significant environmental problem that poses a danger to public health, the vitality of ecosystems, and worldwide economic growth. To tackle this problem, effective planning is required that covers the identification of pollutants, assessing the risks involved, setting targets for remediation, choosing suitable remediation technologies, and evaluating the results of the remediation process within a sustainable framework. This study introduces a comprehensive framework for the restoration of polluted soils, highlighting on systematic investigation, soil screening levels (SSLs), remediation techniques, and concepts of sustainability. The review begins by providing a comprehensive introduction to the typical origins and categories of soil pollutants. It next presents a systematic approach for conducting environmental site evaluations, which includes the use of sophisticated methods for identifying and measuring contaminants. The formulation of SSLs is essential for assessing the pollution level and establishing the limits for remedial action. An analysis of traditional and novel techniques for remediation, such as bioremediation, phytoremediation, thermal treatment, and chemical stabilization, offers valuable information on their suitability, effectiveness, and impact on the environment. The article emphasizes the significance of implementing a sustainable strategy to remediation by including environmental, economic, and social factors into the decision-making process. It highlights the need of adaptive management and continual improvement in accomplishing remediation goals. This study provides a comprehensive plan for effectively cleaning up contaminated soils in a way that is sustainable. It aims to improve environmental management practices by restoring soil health and protecting ecosystems from pollution.</p></div>","PeriodicalId":675,"journal":{"name":"Journal of the Indian Institute of Science","volume":"104 4","pages":"919 - 945"},"PeriodicalIF":2.3,"publicationDate":"2025-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145169319","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Guest-Editorial: Robotics Guest-Editorial:机器人

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-02-19 DOI: 10.1007/s41745-025-00463-x

G. K. Ananathasuresh

引用次数: 0

Academic Insights and Future Prospects of Soft Robotics: Architecture, Material, Control and Application 软机器人的学术见解与未来展望：结构、材料、控制与应用

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-02-19 DOI: 10.1007/s41745-025-00461-z

Mervin Joe Thomas, Santhakumar Mohan

{"title":"Academic Insights and Future Prospects of Soft Robotics: Architecture, Material, Control and Application","authors":"Mervin Joe Thomas, Santhakumar Mohan","doi":"10.1007/s41745-025-00461-z","DOIUrl":"10.1007/s41745-025-00461-z","url":null,"abstract":"<div><p>Soft Robotics is an emerging field with the potential to address real-world problems with newer possibilities and safer human–robot interactions. Generally, soft robots comprise materials with moduli ranging from 10<sup>4</sup> to 10<sup>9</sup> Pa. The significant characteristics of soft robots include their high flexibility, compatibility, and superior environmental adaptability. Despite the several advantages of soft robots, many physical limitations exist due to their structural compliance and the viscoelastic behaviour of the material which leads to non-linear deformations in the material. This very reason necessitates sophisticated and novel sensing, actuation and non-linear control methods for soft robots. This review paper provides a comprehensive understanding of the advancements in soft robots and finally outlines the gaps in this field, currently limiting their usage in several applications. The pros and cons of the various technologies are discussed, and possible strategies for the superior performance of soft robots and their prospects are outlined in this paper.</p></div>","PeriodicalId":675,"journal":{"name":"Journal of the Indian Institute of Science","volume":"104 3","pages":"645 - 668"},"PeriodicalIF":1.8,"publicationDate":"2025-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143938223","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Assisted Path Planning for a UGV–UAV Team Through a Stochastic Network 基于随机网络的UGV-UAV团队路径规划

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-02-11 DOI: 10.1007/s41745-024-00459-z

Abhay Singh Bhadoriya, Sivakumar Rathinam, Swaroop Darbha, David W. Casbeer, Satyanarayana G. Manyam

{"title":"Assisted Path Planning for a UGV–UAV Team Through a Stochastic Network","authors":"Abhay Singh Bhadoriya, Sivakumar Rathinam, Swaroop Darbha, David W. Casbeer, Satyanarayana G. Manyam","doi":"10.1007/s41745-024-00459-z","DOIUrl":"10.1007/s41745-024-00459-z","url":null,"abstract":"<div><p>In this article, we consider a multi-agent path planning problem in a stochastic environment. The environment, which can be an urban road network, is represented by a graph where the travel time for selected road segments (impeded edges) is a random variable because of traffic congestion. An unmanned ground vehicle (UGV) wishes to travel from a starting location to a destination while minimizing the arrival time at the destination. UGV can traverse through an impeded edge but the true travel time is only realized at the end of that edge. This implies that the UGV can potentially get stuck in an impeded edge with high travel time. A support vehicle, such as an unmanned aerial vehicle (UAV) is simultaneously deployed from its starting position to assist the UGV by inspecting and realizing the true cost of impeded edges. With the updated information from UAV, UGV can efficiently reroute its path to the destination. The UGV does not wait at any time until it reaches the destination. The UAV is permitted to terminate its path at any vertex. The goal is then to develop an online algorithm to determine efficient paths for the UGV and the UAV based on the current information so that the UGV reaches the destination in minimum time. We refer to this problem as stochastic assisted path planning (SAPP). We present dynamic <i>k</i>-shortest path planning (D*KSPP) algorithm for the UGV planning and rural postman problem (RPP) formulation for the UAV planning. Due to the scalability challenges of RPP, we also present a heuristic based priority assignment algorithm for the UAV planning. Computational results are presented to corroborate the effectiveness of the proposed algorithm to solve SAPP.</p></div>","PeriodicalId":675,"journal":{"name":"Journal of the Indian Institute of Science","volume":"104 3","pages":"691 - 710"},"PeriodicalIF":1.8,"publicationDate":"2025-02-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143938610","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Size and Illumination Matters: Local Magnetic Actuation and Fluorescence Imaging for Microrobotics 尺寸和照明问题：微型机器人的局部磁致动和荧光成像

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-02-10 DOI: 10.1007/s41745-024-00453-5

Juan J. Huaroto, Sarthak Misra

{"title":"Size and Illumination Matters: Local Magnetic Actuation and Fluorescence Imaging for Microrobotics","authors":"Juan J. Huaroto, Sarthak Misra","doi":"10.1007/s41745-024-00453-5","DOIUrl":"10.1007/s41745-024-00453-5","url":null,"abstract":"<div><p>Combining local magnetic actuation with fluorescence imaging modalities promises to introduce significant advances in microrobotic-guided procedures. This review presents the advantages and challenges of this approach, emphasizing the need for careful design considerations to optimize performance and compatibility. Traditional microrobotic actuation systems rely on bulky electromagnets, which are unsuitable for clinical use due to high power requirements and limited operational workspace. In contrast, miniaturized electromagnets can be integrated into surgical instruments, offering low power consumption and high actuation forces at the target site. Fluorescence imaging modalities have been explored in microrobotics, showcasing spatiotemporal resolution and the capability to provide information from biological entities. However, limitations, such as shallow penetration depth and out-of-focus fluorescence, have motivated the development of advanced techniques such as two-photon microscopy. The potential of two-photon microscopy to overcome these limitations is highlighted, with supporting evidence from previous studies on rat tissue samples. Current challenges in optical penetration depth, temporal resolution, and field of view are also addressed in this review. While integrating miniaturized electromagnets with fluorescence imaging modalities holds the potential for microrobotic-guided procedures, ongoing research and technological advancements are essential to translating this approach into clinical practice.</p></div>","PeriodicalId":675,"journal":{"name":"Journal of the Indian Institute of Science","volume":"104 3","pages":"745 - 763"},"PeriodicalIF":1.8,"publicationDate":"2025-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s41745-024-00453-5.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143938512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0