Madhusmita Senapati | National Institute of Technology Rourkela (original) (raw)

Madhusmita Senapati

Address: Rourkela, Orissa, India

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Papers by Madhusmita Senapati

Research paper thumbnail of Visual Servoing and Motion control of a robotic device in inspection and replacement tasks

Abstract-This paper presents a generalized framework of an image-based visual servoing of an arti... more Abstract-This paper presents a generalized framework of an image-based visual servoing of an articulated arm which has to be deployed inside a simulated reactor vessel environment. Wall tiles of the vessel idealized as rectangular grids on a surface are to be inspected and an attempt is made to replace the damaged tiles during shutdown periods of the machine. The vision sensing methodology of the proposed arm is explained. The arm has a camera located at the wrist (eye-in-hand) and the control action has to be taken place at joint level. The preliminary results are only illustrated.

Research paper thumbnail of Gripper consideration for In-vessel handling Tile handling task in a fusion reactor vessel

This paper presents design issues of parallel-jaw gripper mechanism for maintenance of first wall... more This paper presents design issues of parallel-jaw gripper mechanism for maintenance of first wall armor protection tiles of fusion reactor vessel in tile-screwing tasks. The mechanism of wrist provides compactness and high torque capacity in gripping. The wrist has pitch and roll as two degrees of freedom. The holding task is guided by using a bell-crank lever-slider mechanism operated with a low-torque rating motor providing sliding motion to fingers. The gripper is considered as a class of unknown nonlinear discrete-time system. The gripper mechanism is implemented for unscrewing a square headed screw on the wall-tiles of a fusion reactor vessel. Various stages of this handling task are explained in detail with theoretical modeling.

Research paper thumbnail of Visual Servoing and Motion control of a robotic device in inspection and replacement tasks

Abstract-This paper presents a generalized framework of an image-based visual servoing of an arti... more Abstract-This paper presents a generalized framework of an image-based visual servoing of an articulated arm which has to be deployed inside a simulated reactor vessel environment. Wall tiles of the vessel idealized as rectangular grids on a surface are to be inspected and an attempt is made to replace the damaged tiles during shutdown periods of the machine. The vision sensing methodology of the proposed arm is explained. The arm has a camera located at the wrist (eye-in-hand) and the control action has to be taken place at joint level. The preliminary results are only illustrated.

Research paper thumbnail of Gripper consideration for In-vessel handling Tile handling task in a fusion reactor vessel

This paper presents design issues of parallel-jaw gripper mechanism for maintenance of first wall... more This paper presents design issues of parallel-jaw gripper mechanism for maintenance of first wall armor protection tiles of fusion reactor vessel in tile-screwing tasks. The mechanism of wrist provides compactness and high torque capacity in gripping. The wrist has pitch and roll as two degrees of freedom. The holding task is guided by using a bell-crank lever-slider mechanism operated with a low-torque rating motor providing sliding motion to fingers. The gripper is considered as a class of unknown nonlinear discrete-time system. The gripper mechanism is implemented for unscrewing a square headed screw on the wall-tiles of a fusion reactor vessel. Various stages of this handling task are explained in detail with theoretical modeling.

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