Riby Abraham Boby

Assistant Professor, Mechanical Engineering, Indian Institute of Technology Jodhpur, Karwar, Jodhpur, Rajasthan, India

Research Interests:

1. Machine vision

2. Robotics

3. Human Machine Interface

4. Metal Cutting/Forming

5. Pattern Recognition

6. Biometrics

Researchers Profile

1. Google scholar link: https://scholar.google.com/citations?user=W6SLYskAAAAJ&hl=en

2. Scopus ID link: https://www.scopus.com/authid/detail.uri?authorId=36069116200

3. Web of Science profile: https://www.webofscience.com/wos/author/rid/F-9094-2018

Qualifications:

1. Bachelor of Engineering, National Institute of Technology Karnataka, Surathkal, India

2. Master of Science (Research), Indian Institute of Technology Madras, India

3. PhD, Indian Institute of Technology Delhi, India

Earlier Associations:

1. Sandvik Cormonat AB, Dapodi, Pune, Maharashtra, India (Productivity Improvement Engineer)

2. Manufacturing Engineering Section, Dept. of Mechanical Engineering, IIT Madras, Chennai, India (MS(R) Student)

3. Measurement and Sensor Technology, Electrical Engineering, Technical University Munich, Theresienstraße, Munich, Germany (Exchange Student)

4. Biometric Research Laboratory, Department of Electrical Engineering, IIT Delhi, New Delhi, India (Senior Research Fellow)

5. Bio-Robotics & Human-Mechatronics Laboratory, Graduate School of IPS,Waseda University, Kitakyushu, Fukuoka, Japan (Collaboration)

 6. Programme for Autonomous Robotics Lab., Mechanical Engineering, Indian Institute of Technology Delhi, Hauz Khas, New Delhi, India (JRF, PhD student, Project Consultant)

7. Centre for Components in Robotics and Mechatronics components, Innopolis University, Russia (Senior Researcher)

8. Indian Institute of Technology Madras, Chennai, India (Post-Doctoral Researcher)

9. Indian Institute of Information Technology Kottayam, Kottayam. Kerala, India (Assistant Professor)

Research Publications:

Book

A.A. Hayat, S. Chaudhary, Riby Abraham Boby, A. D. Udai, S. Dutta Roy,  S. K. Saha, S. Chaudhury,  Vision based Identification and Force Control of Industrial Robots, Springer, 2022

Journals:

1. R. A. Boby, P. S. Sonakar, M. Singaperumal and B. Ramamoorthy, Identification of defects on highly reflective ring components and analysis using machine vision, Int. J. Adv. Manuf. Tech., 52(1-4), 217-233, 2011.

2. M. Singaperumal, B. Ramamoorthy, S.P. Sureshrao and R. A. Boby,   Identification of defects on highly reflective coated ring components using dark field illumination and image segmentation using simple thresholding technique, Int. J. Auto and Control, 5(1), 79-96, 2011.

3. R. B. Abraham, P.S. Sonakar, M. Singaperumal and B. Ramamoorthy, Identification and classification of defects on highly reflective textile machinery ring components, Int. J. Precision Technoloy, 2(2-3), 172-191, 2011

4. R. A. Boby, R. Prakash, S. K. Saha, T. Matsumaru, P. Sharma, S. Jaitly, Calibration and statistical techniques for building an interactive screen for learning of alphabets by children, International Journal of Advanced Robotic Systems, 14 (3), 172-191, 2017 (online)

5. A. A. Hayat, R. A. Boby, S. K. Saha, A geometric approach for kinematic identification of an industrial robot using a monocular camera, Robotics and Computer-Integrated Manufacturing, 57, 329-346, 2019 (JIF-5.6)

6. Riby Abraham Boby, Kinematic Identification of Industrial Robot using End-effector Mounted Monocular Camera bypassing Measurement of 3D Pose, IEEE/ASME Transactions on Mechatronics, 2022 (JIF-5.3)

7. Riby Abraham Boby, Identification of Elasto-static Parameters of an Industrial Robot using Monocular Camera, Robotics and Computer Integrated Manufacturing, 74, 2021 (JIF-5.6)

8. Riby Abraham Boby, Alexandr Klimchik, Combination of Geometric and Parametric Approaches for Kinematic Identification of an Industrial Robot, Robotics and Computer Integrated Manufacturing, 71, 2021 (JIF-5.6)

9. Riby Abraham Boby, Alexander Maloletov, Alexandr Klimchik, Measurement of pose errors and cable profile of a cable driven robot, Journal of Intelligent & Robotic Systems, 103, 2, 2021 (JIF-2.6) 

10. M. Ahmed, M. Hegazy, A. Klimchik, R. A. Boby; Fusion of Data from Lidar and Camera in Self Driving Cars, Journal of Computer Research and Modeling, 2022

Conferences:

1. R. A. Boby, A. P. Grassi, M. Singaperumal, B. Ramamoorthy and A. W. Koch, Thresholding techniques for detection of defects using dark-field illumination, ISMTII 2011 proceedings, Daejeon, Korea, July 2011 (Selected for DST travel grant).

2. R. A. Boby, M. Hanmandlu, A. Sharma and M. Bindal, Extraction of Fractal Dimension for Iris texture, IEEE/IAPR International conference on Biometrics (ICB), New Delhi, March 2012 (Oral presentation).

3. P. Tiwan,R.A.Boby,S.Dutta Roy,S.Chaudhury, S.K.Saha, Cylindrical Pellet Pose Estimation in Clutter using a Single Robot Mounted Camera, Proc. Advances in Robotics (AIR), Pune, July 2013 (Oral presentation).

4. P. Sharma, R. P. Joshi, R. A. Boby, S. K. Saha and T. Matsumaru, Projectable Interactive Surface Using Microsoft Kinect V2: Recovering Information from Coarse Data to Detect Touch, Proc. IEEE/SICE SII 2015, Nagoya, Dec 2015 (Oral presentation).

5. R. A. Boby and S. K. Saha, Single image based camera calibration and pose estimation of the end-effector of a robot, Robotics and Automation (ICRA), 2016 IEEE International Conference on, Stockholm, May 2016, 2435-2440 (Oral presentation).

6. M. Roy, R. A. Boby, S. Chaudhary, S. Chaudhury, S. D. Roy and S. K. Saha, Pose estimation of texture-less cylindrical objects in bin picking using sensor fusion, Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, Daejeon, September 2016, 2279-2284 (Oral presentation).

7. A. A. Hayat, R. A. Boby, P. Tripathy, G. Sardal, S. Kumar, Kinematic Identification of TAL-BRABO Robot using Vision, Asian Conference on Multibody Dynamics 2018, Xian, China,

8. Aditya Jain, HardeepSingh, Riby Abraham Boby, S. K. Saha, Swagat Kumar; Sumantra Dutta Roy; Repeatability measurement and kinematic identification of LBR iiwa 7 R800 using monocular camera, Advances in Robotics 2019. 

9. Riby Abraham Boby, Hand eye calibration using a single image and robotic picking up using images lacking in contrast, Nonlinearity, Information and Robotics, Dec 3-6, Innopolis-Russia, 2020.

10. Karam Almaghout, Riby Abraham Boby, Mostafa Othman, Abdelaziz Shaarawy and Alexandr Klimchik, Robotic Pick and Assembly Using Deep Learning and Hybrid Vision/Force Control, Non Linearity, Information and Robotics 2021, Innopolis, 2021.

11. Ruslan Damindarov, Cham An Fam, Riby Abraham Boby, Muhammad Fahim, Alexandr Klimchik and Takafumi Matsumaru, A depth camera-based system to enable touch-less interaction using hand gestures, Non Linearity, Information and Robotics 2021, Innopolis, 2021.

12. Mikhail Fadeev, Riby Abraham Boby, Alexander Maloletov, Vision based method for improving position accuracy of four-cable-driven platform, Non Linearity, Information and Robotics 2021, Innopolis, 2021.

13. E. Paul, H. Krishnaswamy Riby Abraham Boby, Sahil Bharti, “Finite Element Analysis to Study the Effect of Tool Deflection in Incremental Forming Process”, IMSD/ACMD 2022, New Delhi , 2022.

14. M. Ahmed; A. Klimchik Riby Abraham Boby,, “Fusion of Data from Lidar and Camera in Self Driving Cars”, NIR 2022 , Innopolis, 24 Aug 2022.

15. M. Hegazy, Riby Abraham Boby, “Localization of a Drone for Landing using Image Based Visual Servoing with Image Moments”, IPRoMM 2022, IIT Dhanbad (Accepted)

16. Eldho Paul, Sahil Bharti, Anandu U, Riby Abraham Boby, Hariharan K, Alexandr Klimchik, Evaluation of deviations due to robot configuration for robot-based incremental sheet metal forming, AIR 2023, Ropar, India (Best Presentation Award Poster session 1)

For more updated list of publications with citations please check Google Scholar Profile and for copies of the papers visit Researchgate Profile

Patents

1. Artur, Shimanovsky, Riby Abraham Boby, “КОНТРОЛЬНО-ИЗМЕРИТЕЛЬНАЯ УСТАНОВКА”, Owner: ANO HE Innopolis University, Russia, (2023). 

a) Software License: Riby Abraham Boby, “A program for automated control of the dimensions of parts and detection of defects on them based on computer vision (translated from Russian)”, Owner: ANO HE Innopolis University, Granted by State registration of rights to RID in the Russian Federation, (2022).

b) Software License: Riby Abraham Boby, M. Ahmed, “A program for automated detection of defects on parts using computer vision (translated from Russian)”, Owner: ANO HE Innopolis University, Russia, Granted by State registration of rights to RID in the Russian Federation, (2022).

PhD Thesis:

R. A. Boby, "Vision based techniques for kinematic identification of an industrial robot and other devices", PhD thesis, Mech.  Eng., IIT Delhi, 2018

MS Thesis:

R. A. Boby, “Identification and Classification of Coating Defects using Machine Vision,” M.S. thesis, Mech. Eng., IIT Madras, Chennai, 2010

Symposiums/Workshops:

1. Riby Abraham Boby and Subir Kumar Saha, Identification of Industrial Robot Using Vision, ISIPS 2013, Fukuoka,2013. (Oral presentation).

2. R. P. Joshi, R. A. Boby, S.K. Saha and T. Matsumaru, SAKSHAR: An Image-projective Desktop Varnamala Trainer (IDVT) for Interactive Learning of Alphabets, ISIPS 2014, Fukuoka,2014. (Oral presentation).

3. Ravi Prakash Joshi, Riby Abraham Boby, Subir Kumar Saha, Takafumi MatsumaruSAKSHAR: An Image-projective Desktop Varnamala Trainer (IDVT) for Interactive Learning of Alphabets, ICRA 2015 Developing Countries Forum, Seattle, 2015 (Oral presentation).

4. Pratyusha Sharma, Vinoth Venkatesan, Ravi Prakash Joshi, Riby Abraham Boby, Takafumi Matsumaru and Subir Kumar Saha, An Economical Version of SAKSHAR-IDVT: Image-projective Desktop Varnamala Trainer,ISIPS 2015, Fukuoka,2015. (Oral presentation).

5. R. P. Joshi, P. Sharma, R. A. Boby, S. K. Saha and T. Matsumaru , Use of Kinect Sensor for Building an Interactive Device, ISIPS 2016, Fukuoka, 2016. (Oral presentation).

6. S. K. Saha and R. A. Boby, Indian side of Indo-Korea Joint Network Centre on Robotics, Indo-Korea joint network centre on robotics, Daejeon, Korea, 2018.

Projects

1. Russian Science Fund, Russia, “RSF-DST: Improving the accuracy of robotic metal forming by evaluating and compensating elastic properties using artificial intelligence methods”, Roubles 21,000,000 (additional Rs. 1,70,00,000 at IIT Madras, India) (Co-PI, 2022-2024).

2. Ministry of Science and Higher Education of the Russian Federation, “Cartesian Stiffness Matrix Analysis and Identification in Parallel Robots Based on Limited Measurements”, Roubles 30,00,000 (Co-PI, 2021).

Awards and Honours

1. Excellent Poster Award for poster titled "IDENTIFICATION OF INDUSTRIAL ROBOT USING VISION" presented at International Collaboration Symposium 2013, Graduate School of IPS, Waseda University, Kitakyushu, Fukuoka Link

2. Excellent Paper Award for paper titled "Use of Kinect Sensor for Building an Interactive Device" presented at International Collaboration Symposium 2016, Graduate School of IPS, Waseda University, Kitakyushu, Fukuoka Link

3. Merit cum Means Scholarship for Class X CBSE Mathematics for being among top 0.1% of passed students

4. DST Travel grant for presenting paper in Korea

Outreach Project for Promotion of Primary Education

Sakshar: IDVT : Device for Teaching Alphabets to children

Brief report of research work done:

Keywords related to Research

1. Robotics

2. Human-Machine Interface

3. Visual Inspection

4. Geometrical Computer Vision

5. Biometrics

6. Roboforming

1. Machine vision application for defect detection: Images taken using a camera was used to detect defects in chrome coating on a textile ring component. The work involved automating the inspection process of the rings, which are produced by Lakshmi Machine Works, Coimbatore, India. Methods of detection and classification of defects were proposed using image processing and pattern recognition techniques. The work was done as part of M.S. (Research) degree at IIT Madras.

2. Texture from image for biometrics applications: Texture was extracted from images of human iris for use in biometrics applications. A new texture by name topothesy was used to classify human iris images. In addition an information theory based texture could also be used for the same application.

3. Kinematic identification of an industrial robot: Identification of kinematic parameters of industrial robot using a single camera mounted on it, was proposed. In addition, calibration of camera and laser scanner mounted on the end-effector was also proposed. Finally the proposed method was used for calibrating a bin-picking system. This was done as a part of PhD thesis work. Video is available at https://youtu.be/Y6LadIfHqW4

4. Building of an interactive device SAKSHAR (IDVT): A new device by name SAKSHAR: Image-projective Desktop Varnamala Trainer was built to teach alphabets to young children. The system consists of a projective display which was converted to an interactive display using a sensor. The generalized calibration process allowed application of the calibration technique for converting other kinds of displays like LCD. Trials of the device has been conducted in a school. Videos available at https://youtu.be/MPy1W8mH3kI, https://youtu.be/6v-MjwPd6pw and https://youtu.be/yEA1LIZh9dA

5. Robotic assembly of a peg inside a tube: An industrial robot KUKA KR5 arc was used to insert a cylindrical pellet inside a cylindrical tube utilizing the measurements from camera for rough positioning and a depth based search for localization. The camera was calibrated and used in such a way that it could be used for both picking up the object from a bin and inserting it in a tube. This was part of a project executed for Department of Remote Handling and Robotics, Bhabha Atomic Research Centre Mumbai. Videos available at https://youtu.be/igPTFHuIzQQ and https://youtu.be/Bjr4cPSMCsA