Pandu Ranga Vundavilli

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This paper deals with the generation of dynamically balanced gaits of a ditch-crossing biped robot having seven degrees of freedom (DOFs). Three different approaches, namely analytical, neural network (NN)based and fuzzy logic (FL)-based, have been developed to solve the said problem. The former deals with the analytical modeling of the ditch-crossing gait(More)
This paper presents the nature-inspired genetic algorithm (GA) and particle swarm optimization (PSO) approaches for optimization of fermentation conditions of lipase production for enhanced lipase activity. The central composite non-linear regression model of lipase production served as the optimization problem for PSO and GA approaches. The overall(More)
Tolerance plays a major role in the manufacturing industry, as it affects product design, manufacturing, and quality of the product. This paper considers product design, manufacturing, and quality simultaneously, and introduces a concurrent approach for tolerance allocation using evolutionary algorithms. A non-linear model that minimizes the combination of(More)
Friction stir welding (FSW) is a solid state welding process, which is used for the welding of aluminum alloys. It is important to note that the mechanical properties of the FSW process depends on various process parameters, such as spindle speed, feed rate and shoulder depth. Two different tool materials, such as High speed steel (HSS) and H13 are(More)
A two-legged robot will have to generate its near-optimal gaits after ensuring maximum dynamic balance margin and minimum power consumption, while moving on the rough terrains containing some staircases and sloping surfaces. Moreover, the changes of joint torques should lie below a pre-specified small value to ensure its smooth walking. The balance of the(More)