Research Publications

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 (forthcoming)

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)

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

Patents

1. Riby Abraham Boby, M. Ahmed, “Method of control and measurement of samples by optical means (translated from Russian)”, Owner: ANO HE Innopolis University, Russia, Submitted to State registration of rights to RID in the Russian Federation, (2022).

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.