Swaminath Venkateswaran

@inproceedings{venkateswaran_3329,

title = {A Human-Robot Interaction Platform for Operator Well-Being: A Case-Study},

author = {Swaminath Venkateswaran and Jinan Charafeddine},

url = {http://dx.doi.org/10.1115/IMECE2024-147259},

issn = {978-0-7918-8859-9},

year  = {2025},

date = {2025-01-01},

booktitle = {ASME International Mechanical Engineering Congress and Exposition},

publisher = {American Society of Mechanical Engineers},

address = {Portland, Oregon, United States},

abstract = {This article presents a Human-Robot Interaction (HRI) platform for the assembly process of a condensate pump. An ergonomic analysis using the Rapid Upper Limb Assessment (RULA) is carried out using a simulation package to identify the fatigue levels in the upper-arm region during the assembly process of the pump. From the operator feedback and the RULA score, an HRI platform using a collaborative robot (cobot) is proposed for the assembly process. Based on complexity and dexterity, the screwdriving operation was assigned to the cobot. The RULA analysis was revisited for this platform and it showed an improvement in the ergonomic scores from 7 to 3. The magnitude of fatigue imposed on the upper-arm was then analyzed experimentally using Electromyography (EMG) sensors. By using the Support Vector Machine (SVM) technique, the fatigue levels were interpreted before and after the implementation of the HRI platform. The results suggest that the HRI platform helps to mitigate musculoskeletal problems in the future, thereby promoting a healthier and safer worker environment. By exploiting the capabilities of a cobot, a synergy between humans and automation technologies can be achieved, leading to a sustainable and ergonomic future in manufacturing.},

note = {PDF cannot be uploaded due to copyrights



November 17-21, 2024

IMECE 2024},

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pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{charafeddine_3617,

title = {Neuro-Motor Index for Upper Limb Exoskeleton Control: A Machine Learning Approach},

author = {Jinan Charafeddine and Taha Houda and Swaminath Venkateswaran and Yasin Dhaher},

url = {http://dx.doi.org/10.1109/ICCA62237.2024.10928075},

issn = {979-8-3503-6757-7},

year  = {2024},

date = {2024-12-01},

booktitle = {2024 International Conference on Computer and Applications (ICCA)},

publisher = {IEEE},

address = {Cairo, Egypte},

abstract = {This paper presents a hybrid machine learning model for controlling an upper limb exoskeleton to help children with cerebral palsy. The model integrates Support Vector Regression (SVR) and Long Short-Term Memory (LSTM) networks to predict joint angles based on electromyography (EMG) signals. An important innovation is the introduction of the Neuro-Motor Index (NMI), which combines the Co-Contraction Index (CCI) and kinematic joint data to improve the accuracy of movement prediction. The model was evaluated using cross-validation and showed significant improvements in mean absolute error (MAE), root mean square error (RMSE) and coefficient of determination R2 compared to single models. These results emphasize the potential of the model for improving exoskeleton-assisted rehabilitation. Future work will focus on clinical validation and real-time optimization.},

note = {17-19, December 2024.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{venkateswaran_2961,

title = {A human-robot interaction platform in the context of remanufacturing: A case-study},

author = {Swaminath Venkateswaran and Amar Makhloufi and Yanis Diallo and Bérénice Thomine and Louis Plantey and Athana Kumarakulasingam},

url = {To be communicated after congress},

issn = {To be communicated after congress},

year  = {2024},

date = {2024-07-01},

booktitle = {Springer Proceedings in Business and Economics},

address = {Porto, Portugal},

abstract = {One of the steps involved in remanufacturing is disassembly. This article presents a human-robot interaction (HRI) platform using a collaborative robot (cobot) for the disassembly of a condensate pump post-usage. The disassembly sequence for the pump is outlined and the tasks that could be automated are identified. A HRI platform using a UR5e universal robot is proposed as a solution to carry out the disassembly sequence. Based on the cobot architecture, the unscrewing operation is automated using the cobot and the rest of the tasks are carried out by the operator. This approach not only introduces an initial disassembly sequence of the pump using a cobot but also contributes to the automation of strenuous tasks.},

note = {08-11/07/2024},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{venkateswaran_2304,

title = {Design and analysis of a series-parallel hybrid 3-SPS-U mechanism},

author = {Swaminath Venkateswaran and Damien Charles Chablat and Denis Creusot},

url = {https://event.asme.org/IDETC-CIE},

year  = {2023},

date = {2023-08-01},

booktitle = {Proceedings of the ASME 2023 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference},

address = {Boston, United States},

abstract = {This article presents the design and analysis of a series-parallel hybrid tensegrity mechanism. The mechanism has two stages which consist of a fixed base, an intermediate mobile platform, and a mobile end-effector. Each stage is connected by three tension springs and a universal joint in the center. By correlating to a 3-SPS-U architecture, the geometrical equations for the mechanism are generated in the Euler space and the Tilt & Torsion space. To simplify the computations, the Tilt & Torsion space is employed for the analysis of the mechanism. A stability analysis is carried out initially to identify the design parameters of the mechanism in the static mode through an optimization approach. By employing algebraic methods, the singularity analysis is then carried out on the hybrid mechanism. The results of this analysis helped in identifying the feasible workspace and the maximum tilt limits of the architecture.  A mapping equation that demonstrates the relation between the Tilt & Torsion angles and the Euler angles is then presented using the results of singularity analysis. A numerical simulation is then demonstrated to validate the results of the analysis. The mechanism under study is then proposed to be integrated into a piping inspection robot for passing through elbows and T-sections.},

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pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{nohra_1814,

title = {Impact of automation during innovative remanufacturing processes in circular economy},

author = {Perla Nohra and Helmi Ben Rejeb and Swaminath Venkateswaran},

url = {https://ieeexplore.ieee.org/document/10033231},

issn = {978-1-6654-8817-4},

year  = {2023},

date = {2023-02-01},

booktitle = {2022 IEEE 28th International Conference on Engineering, Technology and Innovation (ICE/ITMC) & 31st International Association For Management of Technology (IAMOT) Joint Conference},

publisher = {IEEE},

address = {Nancy, France},

abstract = {With the increasing demand of raw materials nowadays, and the decrease in supplies, the industrial sector is suffering, while the environment and the society are also indirectly affected. The goal to reach a sustainable development imposes several studies on the economic, environmental and community level. The aim of this paper is to provide an overview of the existing literature on automating remanufacturing, and its impacts on the three pillars of sustainability. The outcomes of this study will reveal the impacts of remanufacturing on sustainability and will conceptualize the impact of using automation and cobots, which are among the key concepts in industry 4.0. The investigation that covers each part of the remanufacturing process will help in formalizing an approach about the automation of such processes and improve the remanufacturing sector towards a more sustainable industry.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{venkateswaran_1843,

title = {Stability analysis of tensegrity mechanism coupled with a bio- inspired piping inspection robot},

author = {Swaminath Venkateswaran and Damien Charles Chablat},

url = {https://www.tandfonline.com/doi/epdf/10.1080/10255842.2022.2116885?needAccess=true&role=button},

issn = {1025-5842},

year  = {2022},

date = {2022-10-01},

booktitle = {47th Congress of the society of Biomechanics, Monastir, Tunisia},

address = {Monastir, Tunisia},

abstract = {Piping inspection robots play an essential role for industries as they can reduce human effort and pose a lesser risk to their lives. Generally, the locomotion techniques of these robots can be classified into mechanical and bioinspired. By using slot-follower leg mechanisms, DC-motors, and control units, a rigid caterpillar type inspection robot was designed and developed at LS2N, France. This rigid prototype helped in identifying the static forces required to

accomplish good contact forces with the pipeline walls. In order to work inside curvatures, a tensegrity mechanism that uses three tension springs and a passive universal joint was introduced between each module of this robot. The optimal parameters of the robot assembly were identified by considering a preload of the cables, which ensured the stability of the entire robot. However, under static conditions, there exist some forces on the robot,

especially on the tensegrity mechanism when one end of the leg mechanism is clamped with the pipeline walls. These forces are dominant when the orientation of the pipeline is horizontal. The objective of this article is to understand the effect of the stiffness of

the spring on the static stability of the tensegrity mechanism under the self-weight of the robot assembly.},

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pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{venkateswaran_2698,

title = {Trajectory Planning for a 3-SPS-U Tensegrity Mechanism},

author = {Swaminath Venkateswaran and Damien Charles Chablat},

url = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-abstract/IDETC-CIE2021/V08BT08A004/1128230},

issn = {978-0-7918-8545-1},

year  = {2021},

date = {2021-11-01},

booktitle = {ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},

address = {Virtual, Online},

abstract = {This article presents the actuation strategy of a 2-DOF tensegrity type mechanism that employs three tension springs and a passive universal joint. This mechanism is proposed to be incorporated as an articulation unit for a piping inspection robot in order to overcome pipe bends and junctions. In the event of a junction, external actuations are required to allow the mechanism as well as the robot to follow a certain direction. Using DC-motors coupled with encoders, experiments are carried out on a test bench of the tensegrity mechanism. The actuation of the mobile platform is performed using cables that pass through each spring. By correlating the architecture to a 3-SPS-U parallel mechanism, the singularity-free workspace of the mechanism is analyzed to identify the tilt limits. A closed-loop PID controller is implemented using a microcomputer to perform a linear trajectory within the singularity-free workspace. The Inverse Kinematic Problem (IKP) is solved by passing input tilt angles to the controller. With the help of a force control algorithm, the experiments are carried out under no-load conditions for vertical and horizontal orientations of the mechanism. The error data of the joint positions and the motor torques are then interpreted for both orientations of the mechanism.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{venkateswaran_2696,

title = {Design of a Piping Inspection Robot by Optimization Approach},

author = {Swaminath Venkateswaran and Damien Charles Chablat and Pol Hamon},

url = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-abstract/IDETC-CIE2020/V010T10A018/1090128},

issn = {978-0-7918-8399-0},

year  = {2020},

date = {2020-10-01},

booktitle = {ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},

address = {Virtual, Online},

abstract = {This article presents an optimization approach for the design of an inspection robot that can move inside variable diameter pipelines having bends and junctions. The inspection robot uses a mechanical design that mimics the locomotion of a caterpillar. The existing prototype developed at LS2N, France is a rigid model that makes it feasible for working only inside straight pipelines. By the addition of a tensegrity mechanism between motor units, the robot is made reconfigurable. However, the motor units used in the prototype are oversized to pass through pipe bends or junctions. An optimization approach is employed to determine the dimensions of motors and their associated leg mechanisms that can overcome such bends. Two optimization problems are defined and solved in this article. The first problem deals with the determination of motor sizing without leg mechanisms. The second problem deals with the determination of sizing of the leg mechanism with respect to the dimensions of motor units obtained from the first problem. A 3D model of the optimized robot design is then realized using CAD software.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{venkateswaran_2693,

title = {Design and Analysis of a Tensegrity Mechanism for a Bio-Inspired Robot},

author = {Swaminath Venkateswaran and Damien Charles Chablat and Philippe Wenger},

url = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-abstract/IDETC-CIE2019/V05AT07A026/1070020},

issn = {978-0-7918-5923-0},

year  = {2019},

date = {2019-11-01},

booktitle = {ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},

volume = {Volume 5A: 43rd Mechanisms and Robotics },

publisher = {ASME},

address = {Anaheim, California},

abstract = {Piping inspection robots are of greater interests in industries such as nuclear, chemical and sewage. The design of such robots is highly challenging owing to factors such as locomotion inside pipes with varying diameters, cable management, and complex pipe bends (or) junctions. A rigid bio-inspired caterpillar type piping inspection robot was developed at LS2N, France. By introducing tensegrity mechanisms and four-bar wheel mechanisms, the design of this robot is modified into a reconfigurable system. The tensegrity mechanism employs a passive universal joint with three tension springs and three cables for actuation. The positioning of the end effector with respect to the base of the mechanism plays an important role in determining the maximum tilt angle (or) bending limit of the system. By workspace analysis of three case studies, the best solution is chosen which generates the maximum tilt. A static force analysis is then performed on the mechanism to determine its stability under the influences of preload. By the modification of design parameters, stable configurations are determined followed by which cable actuation of mechanism is analyzed for estimating applied forces.},

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pubstate = {published},

tppubtype = {inproceedings}

}