Prof. Subir Kumar Saha

Research Areas

Here is an account of my research activities stemmed from my Ph. D at McGill (Canada), Post-doctoral research at Toshiba (Japan) and Univ. of Stuttgart (Germany), funded projects, and student projects (Ph. D/M.S./B. Tech, etc.).

1. Robotics
   • Recursive robot dynamics: Control and Simulation [Books by Tata McGraw-Hill (Introduction to Robotics) and Springer (Dynamics of Tree-type Robotic Systems)  and a software, RoboAnalyzer]
   • Biped, Quadruped, and Hexapod robots [Book by Springer Dynamics of Tree-type Robotic Systems]
   • Robot grippers
   • Parallel robots
   • Flexible robot dynamics and simulation
   • RoCK-BEE (Robotics Competition Based Education in Engineering): Rock-BEE
2. Multibody System Dynamics (Researcher’s comment)
   • Order (n) recursive dynamics algorithms  [Book by Springer Dynamics of Tree-type Robotic Systems]
   • Two-layer recursive dynamics algorithm closed-chain systems [Another book by Springer Dynamics and Balancing of Multibody Systems (Indian Edition is also available)]
   • Recursive algorithm for serial robot type rigid-flexible systems
3. Automotive Systems
   • Characterization of Rack and Pinion Steering (RPS) gear
   • Sensor-actuator based smart RPS gear
   • Optimization of steering linkage
   • Mechanism synthesis for lock protection devices
4. Mechatronics
   • Walking Simulator
   • Stewart Platform
   • Fiber optics based proximity sensor
   • An XY positioning system (like CNC milling table) -- Modeling & verification
   • An Intelligent Conveyor (accepts a product with proper label or reject) -- Modeling & verification
5. Rural Design & MuDRA (Industry comment)
   • Sheep shearing device
   • New machines for carpet industries
   • Collaboation with RuTAG (Rural Technology Action Group) IIT Delhi, and  NIF (National Innovation Foundation), Ahmedabad for design improvement of machines/devices
   • Modeling and Analyses of Rural Engineering Problems
6. Fun Teaching and Learning
   • New games for technical teaching

Sponsored/Consultancy Projects (28, ~Rs. 5.9 crores)

Sponsored Research (19, Rs. 5.6 crores) [For a new faculty/researcher, download a sample project proposal for DST, Govt. of India]

• On-going: 3 (Rs. 1.67 crore)
  • Naren Gupta Chair Professor, MI0728, Funded by Mr. Naren Gupta, USA; Amount: Rs. lakhs; Started: Aug.’10; Duration: 5 years; as PI.
  • Design and Development of 6-DOF Electrical Motion Platform, RP02603, Funded by SDD, Secunderabad; Amount: Rs. 35 lakhs; Started Mar.’12, Duration: 2 yrs; as PI, Co-PI: Prof. P.V.M. Rao,  
  • Adaptive Force Control of an Industrial Robot (KUKA KR-6) Equipped with Force/Torque Sensor(Sub project # 4 under the main project # RP02346), RP02350, Funded BRNS, Govt. of India; Amount: Rs. 1.22 crores; Started: May’10; Duration: 5 yrs.; as PI, Co-PIs: Prof. S. Mukherjee, Prof. I.N. Kar (EE)
• Completed: 16 (Rs. 3.93 crores)
  • Development of 2D Haptic Device for Virtual Reality Based Medical Simulation with Haptics Feedback, RP02161, Funded by DST, Govt. of India; Amount: Rs. 12 lakhs; Completed: Oct.’12; Duration: 4 yrs.; as PI, Collaborator: Dr. M. Manivannan, IIT Madras
  • Evaluation and Standardization of Animal Driven Water-Pump(sub project under RuTAG #RP02202), RP02331, Funded by the Secretary of the Principle Scientific Advisor to the Prime Minister, Govt. of India, Amount: 6.57 lakhs; Completed: July’11, Duration: 18 months, Co-PI: Dr. S.V. Modak, Prof. V.K. Vijay (CRDT)
  • Omni Directional Advanced Simulator for Speed Walking (OASiS) Concept Model, RP02091; Funded by Simulator Development Division, Secunderabad, Amount: 20 lakhs; Completed: Mar.’10, Duration: 2 yrs.; as PI, Co-PI: Prof. S. P. Singh
  • Some Technical Modifications in the Metallic Carpet Looms Developed by IIT Delhi, RP2086; Funded by Development Commissioner (Handicrafts), Min. of Textile, Amount: 12 lakhs; Completed: Nov.’10; Duration: 15 months, as  PI, Co-PIs: Dr. S. Aravindan, Prof. R. Prasad, Dr. H. Chaudhary (MNIT, Jaipur)
  • Mathematical Modeling of 6-DOF Motion Platform, RP02018; Funded by Simulator Development Division, Secunderabad, Amount: 9 lakhs; Completed: Mar.’09; Duration: 1 yr.; as PI, Co-PI: Dr. P.V.M. Rao, Dr. S. Bandyopadhyay (IIT Madras)
  • Design and Development of Sheep Shearing Machine and Its Spare Parts, RP01796; Funded by Central Wool Development Board, Min. of Textiles, Amount: 18.8 lakhs; Completed: Oct.’08; Duration: 3 yrs., as PI, Co-PI: Dr. D. Ravikumar, Prof. R. Prasad, CRDT
  • Dynamics Analyses of Flexible, High Speed Robot Arms, RP01506; Funded by DST, Govt. of India; Amount: 12.95 lakhs; Completed: Mar.’06; Duration: 3 yrs.; as PI, Co-PI: Dr. S.P. Singh.
  • Design, Development and Setting up of Washing and Drying Plant for Carpet Industry of J&K State, RP01574; Funded by J&K Handicrafts; Amount: 34.67 lakhs; Duration: 25 mos.; Completed: Nov.’05; as Co-PI, PI: Prof. R. Prasad, CRDT.
  • Technological Improvement of Tools and Processes used by the Craftsman Engaged in Indian Carpet Industry, Phase II, RP01317; Funded by DC (Handicrafts), Min. of Textile and UNDP; Amount: 78.98 lakhs; Duration: 2.5 yrs.; Completed: Jan.’06; as Co-PI, PI: Prof. R. Prasad, CRDT. [Technology Transferred to Carpet Export Promotion Council, New Delhi: See brochure]
  • Design and Development of Bullock Drawn Electric Generation System, RP01541; Funded by MHRD; Amount: Rs. 7 lakhs; Duration: 2.5 yrs.; Completed: Feb.’06; as Co-PI, PI: Dr. V.K. Vijay, CRDT; Co-PI: Prof. M.L Kothari, EE.
  • Improvement an Technology Transfer for the Carpet Looms, RP01285, Funded by DC (Handicrafts), Min. of Textile and UNDP; Amount: 70.744 lakhs; Duration: 2.5 yrs., Completed: July'05; as Co-PI, PI: Prof. R. Prasad, CRDT. [Technology Transferred to Carpet Export Promotion Council, New Delhi: See brochure]
  • Error Compensation and Shape realization of CNC Machine Components, RP01145; Funded by MIT, Govt. of India, and BHEL, India; Amount: 33 lakhs; Duration: 2 yrs., Completed: Sept.'03; as Co-PI, PI: Dr. P.V.M. Rao.
  • Technological Improvement of Tools and Processes used by the Craftsman Engaged in Indian Carpet Industry, Phase I, RP01218; Funded by DC (Handicrafts), Min. of Textile and UNDP; Amount: 16.38 lakhs; Duration: 1 yr., Completed: July.'02; as Co-PI, PI: Prof. R. Prasad, CRDT
  • Investigations and Optimum Selection of Mechatronic Components, RP0133; Funded by MHRD, Govt. of India; Amount: 8 lakhs; Duration: 2yrs., Completed: Mar.'01; as PI, Co-PIs:  Prof. T.K. Kundra/Dr. S. Mukherjee.
  • Robot Design using Dynamic Motion Study, Funded by DST (Scheme for Young Scientist); Amount: 2 lakhs; Duration: 2 yrs., Completed: Feb.'99; as PI.
  • Design and Development of an Industrial Robot Arm; Funded by IIT Delhi; Amount: 0.5 lakh; Duration: 1.5 yrs., Completed: May'98; as PI.

Consultancy (9, Rs. 42.62 lakhs)

• Completed: 9 (Rs. 45.62 lakhs)
  • Tender Document for Design, Engineering, Fabrication, Supply, Installation, Testing & Commissioning of Moving Tower, CW10705, Funded by Ahmedabad Municipal Corporation, Ahmedabad; Amount: 2.5 lakhs; Duration: 1.5 mos.; Completed: July’09; as PI, Co-PI: Prof. C.V. Ramakrishnan, AM
  • Development of Technology for Protection Device (Shutter) using Magnets for Ignition Locks, FT/05/96/2005; Funded by Minda Huf Ltd., Noida; Amount: 1.25 lakhs; Duration: 6 mos.; Completed: Mar.’06; as PI, Co-PI: Dr. I.N. Kar, EE
  • Analysis and design of rack and pinion gears for improved steering performance, FT/03/1264/2004(A); Funded by Sona Koyo Steering Systems Ltd., Gurgaon; Amount: 7.5 lakhs; Duration: 2.5 yrs.; Completed: Feb.’07; as PI, Co-PI: Dr. I.N. Kar, EE
  • Investigation and development of a sensor-actuator based smart yoke for RPS performances, FT/03/1264/2004(B). Funded by Sona Koyo Steering Systems Ltd., Gurgaon; Amount: 11.25 lakhs; Completed: May’07; Duration: 2 yrs.; as Co-PI, PI: Dr. I.N. Kar, EE
  • Investigation and Improvement of Manual Steering System through Mechatronics and Intelligence, FT/03/1000/2001; Funded by Sona Koyo Steering Systems Ltd., Gurgaon; Amount: 10.5 lakhs; Duration: 1.5 yrs., Completed: Aug.'02; as PI, Co-PIs: Dr. I.N. Kar, EE/Dr. K. Momaya, DMS
  • Data Base and Software Development for an Automatic Rack-bar Straightening Machine, FT/03/16/2000, Funded by Sona Koyo Steering Systems Ltd., Gurgaon; Amount: 2.12 lakhs; Duration: 8 mos., Completed: Jul.'02; as PI, Co-PIs: Dr. I.N. Kar, EE/Dr. K. Momaya, DMS
  • 2nd Training Programme on Mechatronics Technology, FITT, Funded by SAMTEL Color Ltd., Ghaziabad; Amount: 3 lakhs; Duration: 6days; Apr.'03; as Coordinator, Co-coordinator: Dr. I.N. Kar, EE
  • 1st Training Programme on Mechatronics Technology, FITT, Funded by SAMTEL Color Ltd., Ghaziabad; Amount: 2.5 lakhs; Duration: 6days. Jan.'03, as Co-coordinator, Coordinator: Dr. I.N. Kar, EE
  • CNC Glass Cutting and Grinding Machine, FITT; Funded by Asahi India Safety Glass, New Delhi; Amount: 5 lakhs; Duration: 2 yrs., Completed: July'00; as Co-PI, PI: Prof. S.R. Kale, Co-PI: Dr. S. Mukherjee