Underwater Launcher Design. The objectives of this project are to identify and demonstrate a method to launch a cylindrical body from the launch tube utilizing an electromagnetic scheme. It was found that the solenoid coil launching mechanism was the most effective for an underwater launcher. It was found that the solenoid coil launcher could effectively expel a payload with ample exit velocity, low noise, and could be reloaded several times within a minute.
Embedded Files
Christian Corwel, Abhishek Dutta et al. Design and Control of an Underwater Launch System. IEEE Access 8: 38633-49, 2020.
Robust Design of Drone. This research introduces the methodology of systematic robust design of a multirotor vehicle as an example of how to carry out the robust design of a physical system. Robustness in aerial vehicles is highly desirable as it guarantees a desired level of performance even under environmental uncertainties. Thus far, robustness has been considered in terms of active control in the space of multirotor vehicles, but exploration of the design space itself is lacking. In this work, a conceptual design followed by a robust design is performed to come up with the specifications that lead to least uncertain performance of the multirotor vehicle with respect to stochastic wind disturbances.
Abhishek Dutta. Robust design of a multirotor aerial vehicle. Scientific Reports, 11(1):1–13, Nature Portfolio, 2021.
Robot Learning. A deep learning policy network outputs a continuous sequence of 6 joint torque action probabilities based on a 18 dimensional observational state to maximize the rewards proportional to the distance moved forward and an entropy measure. Policy gradient moves towards actions that have an advantage in terms of value functions.
Abhishek Dutta, et al. Model-based and model-free learning strategies for wet clutch control. Mechatronics 24.8: 1008-1020, 2014.
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