Welcome to my publication page. Here, you'll discover a curated collection of research articles, studies, and documents I've authored and published. Dive into my contributions to the world of knowledge by exploring the links and documents below 

#1 Title: Environment-adaptive and Multi-modal Mobile Robot  

Abstract: This research work introduces a prototype mobile robot designed to overcome obstacles on a preset path using artificial intelligence and neural networks. It has two locomotion systems: the primary is a chained tracked wheel with independent suspension for superior traction and control on amorphous terrains and slopes between 30-70 degrees. The secondary system includes four independent, flying supporting arms, each fitted with a small tracked unit, allowing movement in high friction terrains and serving as a self-recovery unit. This secondary system can rotate the robot 360 degrees both vertically and horizontally, adapting to environmental conditions. The prototype’s features can be customized based on specific mission requirements, and the robot can analyze obstacles' physical properties to select the optimal locomotion system for progress.. 

Paper Link: https://iafastro.directory/iac/author/Nijanthan/paper/47894/

Published year and Forum: 69th International Astronautical Congress 2018 ,1-5 October 2018, Bremen, Germany  

 Role: Main Author.

#2 Title: Experimental Study of Impact of the Rear Wheel in Three-Wheeled Triangular Structured Omnidirectional Robot

Abstract: This research work introduces a prototype mobile robot designed to overcome obstacles on a preset path using artificial intelligence and neural networks. It has two locomotion systems: the primary is a chained tracked wheel with independent suspension for superior traction and control on amorphous terrains and slopes between 30-70 degrees. The secondary system includes four independent, flying supporting arms, each fitted with a small tracked unit, allowing movement in high friction terrains and serving as a self-recovery unit. This secondary system can rotate the robot 360 degrees both vertically and horizontally, adapting to environmental conditions. The prototype’s features can be customized based on specific mission requirements, and the robot can analyze obstacles' physical properties to select the optimal locomotion system for progress.. 

Paper Link: https://dl.acm.org/doi/10.1145/3352593.3352603

Published year and Forum:  AIR 2019: Proceedings of the Advances in Robotics  July 2019

 Role: Co Author.

#3 Title: Swarm robotics based Cubesats for Removing Large Space Junk in Low Earth Orbit 

Abstract: This paper introduces a concept called KamikazSats to address the growing problem of space junk. The European Space Agency reports over 34,000 large debris objects in orbit as of January 2019. KamikazSats aims to economically and efficiently remove large space debris in Low Earth Orbit (LEO), such as rockets and dysfunctional satellites, using low-cost CubeSats equipped with swarm robotics technology. These CubeSats form a constellation in LEO and have predetermined trajectories to intercept targeted space junk, based on data from remote sensing ground stations. Each CubeSat, equipped with a robotic arm and an independent propulsion system, will seize the debris and carry it to lower altitudes for atmospheric entry, leading to the total disintegration of both the debris and the CubeSat. The concept aims to be more effective compared to past proposals and includes redundancy to reduce mission failure risk. 

Paper Link: https://iafastro.directory/iac/author/Nijanthan/paper/54191/

Published year and Forum: 70th International Astronautical Congress 2019 ,21-25 October 2019, Washington D.C , USA  

 Role: Main Author.

#4 Title: System Design and Analysis of CubeSat for Active Debris Removal in LEO using Artificial Swarm intelligence 

Abstract: The increment of space programs inevitably creates enormous space junks in the Low earth orbit (LEO). So, an effective debris removal method is required to solve this issue. As Space debris poses a potential threat to the safety of the missions, it is, therefore, necessary to eliminate them. An affordable and adaptive solution to address the problem becomes a need now. This research paper assesses an active debris removal method utilizing artificial swarm intelligence assisted CubeSats that enables autonomous rendezvous with space debris in LEO by capturing and deorbiting it. The dimensions and the physical structure of the target get identified using the Artificial Intelligence (A.I) method employed in the CubeSat. As the CubeSats function with artificial swarm intelligence, this aids them in autonomously maneuvering around the debris to form a pattern to tether them. This debris removal model differs individually for each space debris object pursued. This paper studies the technical elements such as the mathematical model of the Artificial Intelligence technology used for target acquisition, efficient orbit maneuvering, and deorbiting the target. In addition, the mechanical model that allows tethering without creating additional debris, the electrical system design of the CubeSats, and the economic viability of the concept were discussed in this paper.  

Paper Link: https://iafastro.directory/iac/author/Nijanthan/paper/68574/

Published year and Forum: 73rd International Astronautical Congress 2022 ,18-22 September 2021, Paris, France  

 Role: Main Author.

#5 Title: Earth Observation satellites combined with in situ data for modelling the environmental and anthropogenic water stressors in Chennai, India 

Abstract: Water security is a pressing global issue, influenced by factors like climate change, population growth, economic development, and inefficient water management. Traditional methods of assessing water resources are labor-intensive and expensive. This study demonstrates the use of satellite data, specifically from Sentinel-2A/B and CHIRPS, combined with local data from Chennai's water board and the Indian Meteorological Department, to provide comprehensive insights into water stressors in Chennai, India. By integrating space-based and ground-based data, a hybrid hydrologic model is created, offering near-real-time insights into Chennai's water capacity. This unified approach provides a more holistic view than fragmented models, aiding in timely decision-making for water management. Such strategies align with the United Nations' Sustainable Development Goal (SDG) 6, promoting sustainable water resource management. 

Paper Link: https://iafastro.directory/iac/author/Nijanthan/paper/70467/

Published year and Forum: 73rd International Astronautical Congress 2022 ,18-22 September 2021, Paris, France  

 Role: Corresponding Author.

#6 Title: System Design and Analysis of an AI-Assisted Multi-Model Locomotion for Mars Exploration 

Abstract: The exploration of Mars is a priority for global space agencies, and artificial intelligence (AI) is set to enhance the efficiency of these missions. This study introduces a multi-model locomotion system for rovers, designed to adapt to Mars' diverse terrains. Using a deep neural network, a reinforcement learning algorithm optimizes the rover's movement based on past and current experiences. Additional AI technologies, such as computer vision and natural language processing, further enhance the rover's capabilities in object recognition, navigation, and communication. Simulations, based on Martian terrain data, demonstrate that this AI-assisted system outperforms traditional rovers in energy efficiency and adaptability. The AI-driven approach not only improves mobility but also enables advanced scientific investigations through data analysis. As the system gathers more data, its self-optimizing capabilities grow, promising continuous advancements. In essence, this AI-enhanced locomotion system offers a significant leap in Mars exploration, potentially revolutionizing our understanding of the red planet. 

Paper Link: https://iafastro.directory/iac/author/Nijanthan/paper/80335/

Published year and Forum: 74th International Astronautical Congress 2018 ,2-5 October 2023, Baku, Azerbaijan 

 Role: Main Author.

#7 Title: Active Space Debris Removal with Artificial Intelligence Assisted CubeSats using Robot Technology and Swarm Intelligence for Trajectory Prediction, Debris Capture, and Deorbiting in Low Earth Orbit 

Abstract: The accumulation of space debris in Low Earth Orbit (LEO) poses significant risks to space missions. This research introduces a novel Active Debris Removal (ADR) method using CubeSats equipped with Artificial Swarm Intelligence (ASI) and robotics to autonomously detect and deorbit space debris. By integrating swarm robotics, computer vision, and communication networks, these CubeSats can efficiently track and collect debris. Simulations in realistic LEO conditions show that ASI-assisted CubeSats outperform traditional ADR methods in debris removal. The system's adaptability offers enhanced mission efficiency, while the use of CubeSats provides a cost-effective deployment solution. Despite challenges like computational demands of the ASI algorithm, the technology holds promise for future space missions. In essence, the ASI-assisted CubeSats present a groundbreaking approach to address the LEO space debris issue, paving the way for safer and more sustainable space operations.  

Paper Link: https://iafastro.directory/iac/author/Nijanthan/paper/80349/

Published year and Forum:74th International Astronautical Congress 2018 ,2-5 October 2023, Baku, Azerbaijan 

 Role: Main Author.

#8 Title: Developing an AI-Enabled Cybersecurity Model to Protect Satellite Systems from Cyber Threats 

Abstract: The 2019 Galileo attack highlighted the pressing need for enhanced satellite cybersecurity, especially with the proliferation of IoT devices. This paper introduces an AI-driven satellite cybersecurity model that utilizes deep learning to analyze satellite telemetry data, detecting abnormal behaviors and potential cyber threats in real time. The model incorporates AI-based intrusion detection, firewalls, and endpoint security to thwart unauthorized access, malware, and other cyber threats. Daily updates ensure the system remains current against new vulnerabilities. Simulations confirm the model's efficacy in real-time threat detection and response. The approach aims to bolster security for satellites, spacecraft, and ground control stations, safeguarding vital infrastructure. The paper advocates for the integration of AI in cybersecurity measures and suggests further research into its application across various space systems and critical infrastructures. Future considerations include threat intelligence, network segmentation, and cloud security. 

Paper Link: https://iafastro.directory/iac/author/Nijanthan/paper/80363/

Published year and Forum: 74th International Astronautical Congress 2018 ,2-5 October 2023, Baku, Azerbaijan 

 Role: Main Author.

#9 Title: A History of Space Food : items, attributes, and candidates. 

Abstract: Space food has been evolving and continuously improving since the first human spaceflight. Beginning with squeeze tubes and bite-sized cubes, contemporary space food has been made as similar as possible to food consumed on Earth, with fresh food supplied to station crews periodically. A myriad of efforts has been made to not only keep astronauts well fed, but also to provide nutrition and as much as possible delectability. Food is imperative for survival. There are clear links between good nutrition and human physical and mental health and quality of life. In a high-risk situation in a hostile environment such as spaceflight missions, the importance of qualitative and quantitative food is magnified. However, the space environment also poses significant challenges for the design and development of food. It is necessary to consider many elements when developing space food, including safety, stability, nutrition, reliability, palatability, variety, and resource minimization. During the 20th Space Generation Congress in Paris, a working group of 19 delegates representing 15 countries discussed and suggested solutions to challenges pertaining to space food and how their solutions can be reused on earth. One of the focus areas was on the best food items and their attributes for consumption in space. By tracing the evolution of space food from its beginnings to its current state, these space food items and characteristics can be identified. This paper aims to provide a comprehensive review of food that has been developed for spaceflight applications, so as to serve as a basis of understanding for current and future space food development. 

Paper Link: https://iafastro.directory/iac/author/Nijanthan/paper/75898/

Published year and Forum: 74th International Astronautical Congress 2018 ,2-5 October 2023, Baku, Azerbaijan 

 Role: Corresponding Author.

#10 Title: Food production systems and methods towards food security and sustainability in space and on earth. 

Abstract: Space food, while designed with nutrition and shelf-life in mind, often overlooks taste, cultural significance, and sustainability. This leads to the generation of non-recyclable waste and poses challenges for extended space missions. At the Space Generation Congress 2022, representatives from 15 countries pinpointed two primary challenges: enhancing space food production systems and leveraging space food innovations on Earth to combat hunger, ensure food security, and reduce inequalities, in line with the UN's SDG 2 and SDG 10. To address these challenges, the delegates proposed enhancing the communal experience of meals, focusing on nutritional needs, and minimizing packaging waste. Additionally, they suggested efficient waste management, harnessing space technology to bridge global inequalities, and identifying optimal food items beneficial for both space and Earth. This abstract serves as a roadmap for organizations like the UN, Space Generation Advisory Council, and various space agencies to take informed actions. 

Paper Link: https://iafastro.directory/iac/author/Nijanthan/paper/75899/

Published year and Forum: 74th International Astronautical Congress 2018 ,2-5 October 2023, Baku, Azerbaijan  

 Role: Corresponding Author.

#11 Title: Design and Fabrication of an Augmented Reality-Enabled, AI-Assisted Autonomous Mobile Robot with Dual Six-Axis Robotic Arms for Advanced Object Manipulation 

Abstract: This thesis project presents the design, fabrication, and analysis of an autonomous mobile robot. Equipped with dual 6-axis robotic arms, artificial intelligence, and a new Augmented Reality (AR) feature for advanced object manipulation, this robot stands at the cutting edge of technology. The AR feature allows for the interactive manipulation of objects, offering a more intuitive and immersive control over the robot's tasks. The robot uses mecanum wheels for omnidirectional locomotion, alongside Simultaneous Localization and Mapping (SLAM) and Light Detection and Ranging (LiDAR) technologies to secure precise, efficient, and safe operations. The mobility and maneuverability granted by the mecanum wheels are invaluable in cluttered and unpredictable environments. SLAM and LiDAR are jointly utilized to maintain precision and efficiency, constructing a real-time map of the environment while tracking the robot's location and aiding in object detection, avoidance, and navigation. The wide-ranging practical implications of this research are applicable to numerous industries such as manufacturing, logistics, healthcare, and more, where the demand for sophisticated autonomous robotic solutions is on the rise. Furthermore, this research's methods and findings could propel advancements in robotics, artificial intelligence, automation, and augmented reality fields.

Work Link: Thesis

Published year and Forum: 2023, Master Thesis , Drexel University

Status: Thesis Successfully Defended

#12 Title: The Importance of the Fourth wheel in a Four-wheeled Omni Directional Mobile Robot -An Experimental Analysis

Abstract: A four-wheeled Omni Directional Robot may travel in any direction without turning its wheels. In this research work, four Omni-directional wheels have been placed at 90°. This four-wheeled, omnidirectional mobile robot appears to be a square design from the top view, with its wheel axes at 90 degrees. Power is given to the front wheel using a DC motor and that wheel alone will rotate. All other three wheels (Right, Left and Back) are kept in neutral positions. These wheels can move based on the front wheel's rotation. No power given to these wheels. Three different practical analyses have been done. In this first experimental analysis, the back wheel is kept as an Omni direction wheel. In this Second experimental analysis, the back wheel is kept as a Roller wheel. In this Third experimental analysis, the back wheels are removed and the other three wheels are kept and analysis is done. The importance of the back wheel in the four-wheeled Omni Directional Robot is demonstrated in this research work. 

Work Link: The Importance of the Fourth wheel in a Four-wheeled Omni Directional Mobile Robot-An Experimental Analysis - IOPscience 

Published year and Forum: IRMAS 2023 for publication in IOP Conference Proceedings : Journal of Physics (Scopus indexed) 

Status: Corresponding Author

#13 Title: Development and Empirical Evaluation of a Biomimetic Autonomous Robotic Arm for Manipulating Objects with Diverse geometries

Abstract: This paper discusses the design and development of a biomimetic robotic arm, elaborating on the experiments conducted with the developed arm to handle objects of diverse geometries, as well as evaluating its agility during grasping tasks. When automating fruit harvesting, it is crucial to minimize damage to leaves, as they play an essential role in the photosynthesis process. Thus, a versatile prehensile design is imperative for grasping fruits with various shapes. Existing technologies for harvesting fruit meant for processing are limited to soft, fresh fruit due to the risk of mechanical damage. As an alternative, a robotic system that emulates human fruit picking can improve fruit quality while maintaining efficiency. Consequently, a robotic hand with deformable fingers inspired by the human arm is developed. The robotic system must also be cost-effective. A single-gear motor is utilized to control the arm's functions and ensure agile responsiveness when grasping objects with different shapes, incorporating a self-adaptive mechanism. During the development process, several grasping tests are conducted to evaluate the arm's ability to handle basic shape primitives such as spheres and cylinders. The goal is to offer an alternative to manual fruit picking by creating a system capable of identifying, locating, and detaching fruit without causing damage to the fruit or tree. The robot is also equipped with A. In technology such as object detection and manipulation, the model is trained using a convolutional neural network for grasping the objects with appropriate pressures. 

Paper Link: Development and Empirical Evaluation of a Biomimetic Autonomous Robotic Arm for Manipulating Objects with Diverse geometries - IOPscience 

Published year and Forum: IRMAS 2023 for publication in IOP Conference Proceedings : Journal of Physics (Scopus indexed) 

 Role: Corresponding Author.

#14 Title: Thermal Imaging for Robotic Joining Operations using Machine Learning 

Abstract: Ultrasonic welding is a favored method in manufacturing for its efficiency and eco-friendliness, especially in bonding microsystems like MEMS and biomedical devices. However, its application in rapid prototyping, such as joining 3D-printed components, is challenging due to the need for customized fixtures and specific process parameter optimization. We suggest using robotics to position parts, reducing the need for fixtures, and employing thermal imaging combined with machine learning for quicker, automated optimization. This approach offers an integrative learning opportunity for engineering students, blending machine vision, thermal imaging, AI, robotics programming, and materials testing. 

Paper Link:https://asmedigitalcollection.asme.org/IMECE/proceedings-abstract/IMECE2023/87653/V008T09A043/1196045?redirectedFrom=PDF

Published year and Forum: ASME, 2023

 Role: Main Author.