Publications & Patents

1. Anwar, M. Z., Tobalske, B. W., Agrawal, S., Luo, H., & Cheng, B. Aero-Inertial Counter Torque Enables Hummingbirds to Reject Roll Disturbances with Robust Timing under Phase-Constrained Active Control. (Under Preparation)

2. Anwar, M. Z., Tobalske, B. W., Agrawal, S., Mongeau, J. M., Luo, H., & Cheng, B. (2023). Hummingbirds rapidly respond to the removal of vision and control a sequence of rate-commanded maneuvers in milliseconds. bioRxiv, 2023-12.

3. Agrawal, S., Tobalske, B. W., Anwar, Z., Luo, H., Hedrick, T. L., & Cheng, B. (2022). Musculoskeletal Wing-Actuation Model of Hummingbirds Predicts Diverse Effects of Primary Flight Muscles in Hovering Flight. Proceedings of the Royal Society B.

1. Zafar Anwar, J.P. Khatait, & Sudipto Mukherjee (2022). Design of Post Curing Inflator using Bi-Stable Locking Mechanism. In: Kumar R., Chauhan V.S., Talha M., Pathak H. (eds). Machines, Mechanism, and Robotics. Lecture Notes in Mechanical Engineering. Springer, Singapore. [DOI: 10.1007/978-981-16-0550-5_82]

2. Zafar Anwar, Nilanjan Sen, J.P. Khatait, & Sudipto Mukherjee (2022). Mechanical Design Calculations of Flywheel Generator. In: Kumar R., Chauhan V.S., Talha M., Pathak H. (eds). Machines, Mechanism, and Robotics. Lecture Notes in Mechanical Engineering. Springer, Singapore. [DOI: 10.1007/978-981-16-0550-5_54]

1. S. Mukherjee and Z. Anwar, Litter Picker Device with Flexible Arm, India Patent (Granted IN Patent 496276).

2. S. Mukherjee, J.P. Khatait, & Z. Anwar, Post-Curing Inflation of Tire, India Patent (Granted IN Patent 449620).

3. S. Mukherjee, J.P. Khatait, & Z. Anwar, Post-Curing Inflation of Tire, India Patent (Granted IN Patent 457106).

4. J.P. Khatait, N. Sen, Z. Anwar, A. C. Iyer, V. V. Rao, & S. Mukherjee (2021). Rotor Assembly for High-Speed Permanent Magnet Rotary Machine, DRDO & IIT Delhi, India Patent 202111044718

5. G. R. Nitin and Z. Anwar (2016), Motorcycle Dolly, Indian Patent.

1. Zafar Anwar, J.P. Khatait, & Sudipto Mukherjee (2019). Design of Post Curing Inflator using Bi-Stable Locking Mechanism. 4th International and 19th National Conference on Machines and Mechanisms, iNaCoMM 2019, 07 pages, December 5-7, 2019, IIT Mandi, India.

2. Zafar Anwar, Nilanjan Sen, J.P. Khatait, & Sudipto Mukherjee (2019). Mechanical Design Calculations of Flywheel Generator. 4th International and 19th National Conference on Machines and Mechanisms, iNaCoMM 2019, 07 pages, December 5-7, 2019, IIT Mandi, India. 

3. R. Kumar, Z. Anwar and S. Mukherjee, Analysis of Force Bandwith of Feedback in Laparoscopic Graspers. In Industrial Problems on Machines & Mechanisms(IPRoMM), AMM India-IFToMM, Nagpur, 2016 

1. Anwar, Z., Tobalske, B., Agrawal, S., Luo, HX. & Cheng, B. (2023, January). Decision-making and control in hummingbird's escape maneuver in response to light removal. In Society of Integrative and Comparative Biology. 

2. Anwar, Z., Tobalske, B., Agrawal, S., Luo, HX. & Cheng, B. (2023, January). Kinematics and dynamics analysis of hummingbirds hovering under external torque. In Society of Integrative and Comparative Biology.

3. Anwar, M. Z., Agrawal, S., Cheng, B., Tobalske, B. W., & Luo, H. (2021, March). Escape maneuvers in calliope hummingbirds with visual feedback removed at varied timings. In Society of Integrative and Comparative Biology (Vol. 61, pp. E22-E23).

4. Agrawal, S., Anwar, Z., Song, J., Hedrick, T., Tobalske, H., & Cheng, B. (2021, March). Functional modeling of hummingbird musculoskeletal system via optimization-based synthesis of wing skeletal model, motion kinematics, and muscle forces. In Society of Integrative and Comparative Biology. 

Design of Post Curing Inflator using Bi-Stable Locking Mechanism (Best Paper Award)

Publication date Dec 05, 2019  

4th International and 19th National Conference on Machines and Mechanisms (iNaCoMM 2019), AMM India-IFToMM

Abstract: Bi-stable systems have two distinct stable states, where the system stays without any application of external power. In this paper, stable states of the buckled beam are used along with a four-bar mechanism to design a locking for the post-curing inflator. Post curing of tires is necessary to avoid deformation in nylon fabric during cooling. Current setups, available in the market, use external force loop for the application of pressure during the process causing significant bending stresses in the frame. Hence making the design bulky. Further, such conventional setup limits the number of simultaneous operations on a shop floor. In this paper, we propose a bi-stable structure based locking mechanism, where, loading elements are in tension instead of bending. Which makes the whole setup compact. We also discussed the scope of pseudo-bi-stability for design consideration. 

Mechanical Design Calculations of Flywheel Generator 

Publication date Dec 05, 2019  

4th International and 19th National Conference on Machines and Mechanisms (iNaCoMM 2019), AMM India-IFToMM

Abstract: Flywheels generator is suited where a pulsed current generation is required. It has a higher energy density as compared to capacitor banks. This paper focuses on design calculations related to flywheel energy storage systems (FESS) being developed at IIT Delhi. The flywheel rotor, filament wound carbon fibre/epoxy composite, will have storage capacity 10 MJ of energy @ 17000 rpm with Energy storage density of 77.5 J/g and power density of 1.94 kW/g. At such a high speed, issues related to air drag, inertial forces on a rotor, dynamic forces on bearings and vibration become critical. In this paper, we analysed these is-sues and proposed appropriate solutions. 

Analysis of Force Bandwith of Feedback in Laparoscopic Graspers

Publication date Dec 22, 2016  

Industrial Problems on Machines & Mechanisms(IPRoMM), AMM India-IFToMM

Abstract: In a Laparoscopic or Minimal Invasive Surgery (MIS), graspers are used to manipulate body organs. However, the tactile feedback of these tools is limiting and this makes invasive procedure challenging for the surgeon. Simulation has been carried out to identify the limitations imposed by manufacturing tolerances in the laparoscopic tools for tactile sensation. The methodology incorporates energy loss due friction and backlash due to joint tolerances (clearances) in the tool. Methods to quantify the responses, by determining the decay slopes and bandwidth of the outputs have been described. Conclusions regarding the coupling between the feedback force bandwidth and manufacturing tolerance have been extended.

ROTOR ASSEMBLY FOR HIGH-SPEED PERMANENT MAGNET ROTARY MACHINE

Filed Oct 01, 2021 (DRDO & IIT Delhi)

 Application number:- in202111044718(Published on April 07, 2023)

Patent description: A rotor assembly for a high-speed permanent magnet rotary machine is disclosed. The rotor assembly includes a hollow demagnetization shield that has a plurality of recesses formed circumferentially on an outer surface. The rotor assembly also includes a plurality of arc magnets adapted to be disposed in the plurality of recesses of the demagnetization shield such that a circumferential force is transmitted between the plurality of arc magnets through the walls of the demagnetization shield. In addition, the rotor assembly includes a lower retaining sleeve positioned to surround the plurality of arc magnets and an upper retaining sleeve positioned to surround the lower retaining sleeve. Further, the demagnetization shield, the lower retaining sleeve, and the upper retaining sleeve are coaxially positioned. 

LITTER PICKER DEVICE WITH FLEXIBLE ARM

Filed Aug 25, 2018 

 Application number:- in201811031894(Published on February 28, 2020)

Patent description: A Litter picker device with flexible arm comprising of a flexible link wrapped over a stretchable reel a platform pivoted to the couplers at three pivots, plurality of couplers pivoted to a rotary motor at one end a spear-tip is attached to the distal end of the flexible link to grab the trash, wherein, the flexible link can deployed or retracted to vary the effective sweep length and, wherein, the combined mechanism of couplers, platform and rotary motors forms a 3RRR parallel manipulator, and wherein the required torque is applied through the rotary motors and the spear-tip attached to the flexible link reach the trash location and grab it.