Ankit Nayak - Academia.edu (original) (raw)

Papers by Ankit Nayak

Study and dissection of cadaver bones is one of the best way to enhance the skills of surgeons, t... more Study and dissection of cadaver bones is one of the best way to enhance the skills of surgeons, thus improving the rate of succession in surgery. Dissecting cadaver temporal bone is best teaching technique in otolaryngology. Due to several constraint in the easy availability of cadaver temporal bone like ethical, legal, religious, etc. it is not possible to ensure frequent availability of cadaver temporal bone for study and dissecting purpose. However, nowadays due to development of innovative processes like Additive Manufacturing (AM), it is possible to fabricate a part with higher accuracy irrespective of its geometrical complexity. AM process is being frequently used in different applications like medical, aerospace, tooling etc. However, the data preparation phase is a critical stage in the fabrication of medical parts through AM processes, because it affect the final geometrical features. In this study, a detailed data preparation phase is discussed and implemented for the fabrication of temporal bone with FDM based AM process. It consists of three main categories i.e. image acquisition, image post processing, 3D printing. FDM fabricated bone part is further dissected to demonstrate the capability of proposed method by checking features in the fabricated model. Features such as foraminae, canals, suture lines, ossicles are ensured in an artificial model. A patient specific anatomical model can be printed with proposed method, can be used as pre-surgical planning, mock surgery, educational or demonstration purpose. Fabricated model can be used to demonstrate surgical operation viz. simple mastoidectomy, modified mastoidectomy, and radical mastoidectomy.

— Basically robots are designed in such way that they remove human intervention from labour inten... more — Basically robots are designed in such way that
they remove human intervention from labour intensive and
hazardous work environment; sometimes they are also used
to explore inaccessible work places which are generally
impossible to access by humans. The inspection of pipe
comes in same category because they carry toxic chemicals,
fluids and most of the time has small internal diameter or
bends which become inaccessible to human. The complex
internal geometry and hazard content constraints of pipes
demand robots for inspection of such pipes in order to
check corrosion level of pipe, recovery of usable parts from
pipe interior, sampling of sludge and scale formation on
pipe internal surface etc.
Several designs of in-pipe inspection robots have been
proposed in the literature to solve the problems related with
inspection of these complicated internal geometries. It is felt
that a review of the design issues considered in various
developed models would help to compare their main
features and their relative advantages or limitations to
allow choose the most suitable design for a particular
application and also throw light on aspects that needs
further attention. In view of above, this paper presents
investigation of design issues pertaining to development of
in-pipe inspection robotics.

One of the most important problems faced in current industrial scenario is heavy wear and tear of... more One of the most important problems faced in
current industrial scenario is heavy wear and tear of
industrial machine parts, and cutting tools are most
vulnerable of it, this wear and tear cause loss of
material and time due to replacement of wear out parts.
Now to overcome this problem we are going to use
cryogenics in this, cryogenic treatment is regarded as an
important technique in industries now days. It is
modern technique of processing which makes metals
more durable, it is an additional process to conventional
heat treatment process. It involves freezing of material
at cryogenic temperature, which enhances physical and
mechanical properties of material. In this paper we
tried to brief different material properties such as their
life span in an industrial application and stability of
cutting tools. It is very environment friendly technique
and do not produce any waste. Generally in this process
we are trying to convert retained austenite into
martensite and this conversion leads to enhanced
material properties. In actual heat treatment process
only 85% of retained austenite is transformed into
martensite and further application of cryogenics will
lead to another 8%-15% transformation of retained
austenite into martensite. Here an investigation is
performed to compare cost and durability of material
before and after cryogenic treatment. In these
treatment ultra cold temperatures i.e. -3100F are used,
and influence the material properties which increase the
strength and wear life of all types of automobile and
aerospace components, casting and cutting tools. Other
added benefits/advantages are also observed in form of
reduced replacement and maintenance of tools and
components, reduced vibration, rapid and more
uniform dissipation and improved conductivity

In modern era of industrialization pipeline is the most common way of inbound and outbound transp... more In modern era of industrialization pipeline is the most common way of inbound and outbound transportation of the fluids. The maintenance and inspection of pipe line is also necessary to prevent it from blockage and leakage. Sometime pipelines are used to carry toxic fluids so it will become harmful to do manual inspection and maintenance. Inspection of underground pipeline is also a complicated task for human. Robots are used to remove the risk involvement and complexity of the task related to pipe inspection and maintenance. The design of a new screw drive type In-Pipe Inspection Robot (IPIR) is presented in this paper. Rotor, stator and motor housing are the main parts of the designed robot. Rotor of robot consist three angled wheels mounted on elastic arms, which are placed on the periphery of rotor. Separation angle of each elastic arm is 1200. Rotor is connected to the motor with the help of a coupling. Rotor converts the rotary motion of motor shaft in to linear motion of whole robot which pulls the robot in the longitudinal direction of pipe line. Two or more rotor can be used which depends on the pay load, torque requirement, and working environment of robot. Stator of robot consists of three spring loaded straight wheels on the outer periphery. Motor and control units are the part of stator module. Stator provides the stability to the robot and prevents the body of robot from the rotation which occurs due to reaction of the robot. In screw type robot camera, sensors and other actuation devices can me mounted. In case of wireless robot, battery and wireless control module are also integral part of the stator.
Basic model of screw type in-pipe inspection robot composed of single motor to actuate the screw drive mechanism of the robot is considered. Stator and rotor consists of three wheels which are mounted on the elastic arm. So the calculation of the required motor torque, spring stiffness for elastic arm, wheel tilt angle, dimensions of shaft and coupling are presented in this paper.

Basically robots are designed in such way that they remove human intervention from labour intensi... more Basically robots are designed in such way that they remove human intervention from labour intensive and hazardous work environment, sometimes they are also used to explore inaccessible work places which are generally impossible to access by humans. The inspection of pipe comes in same category because they carry toxic chemicals, fluids and most of the time has small internal diameter or bends which become inaccessible to human. The complex internal geometry and hazard content constraints of pipes demand robots for inspection of such pipes in order to check corrosion level of pipe, recovery of usable parts from pipe interior, sampling of sludge and scale formation on pipe internal surface etc. Several designs of In-pipe inspection robots (IPIR) have been proposed in the literature to solve the problems related with inspection of these complicated internal geometries. Designing of an in-pipe inspection robot (IPIR) is a difficult task and hence the designer must take care of the design issues like Mobility, Steer ability, Turning radius, Size and shape adaptability, Online adaptability, Flexibility, Stability, Autonomous operation and obstacle avoidance, Efficiency at uneven surface, Safe operation, Material selection, Type of task to be performed inside the pipe, Number of actuators, Operation in active pipe line, Retrieval of robot, User friendly navigation and control system, Range of operation, Quantitative analysis of defects inside the pipe. Based on above, this research work presents investigations into design issues pertaining to development of In-pipe inspection robotics and proposes a new model of an In-pipe inspection robot to overcome some critical design issues. This proposed model is a screw drive type wall press adaptable wheeled In-pipe inspection robot. It is able to move through vertical, horizontal pipes and it can easily pass through elbow of a pipe line. This model comprises of three modules-rotor, stator and control unit. The Rotor module has three wheels mounted on the outer periphery with a helix angle of 15 . Wheels of rotor follow the helical path on the internal surface of pipe line and move in the longitudinal direction inside the pipe.