Prof. Prasanna S. Gandhi

Department of Mechanical, IIT Bombay

Publications

Journal Papers

 

1. Gandhi, P.S., and Ghorbel, F., "High-Speed Precision Tracking with Harmonic Drives Systems Using Integral Manifold Control  Design", International Journal of Control.  Vol. 78, No 2, Jan 2005.

2. Dhaouadi R., Ghorbel F.H., and Gandhi P.S., "A New Dynamic Model of Hysteresis in Harmonic Drives", IEEE Transactions on Industrial Electronics, Vol. 50, No. 6, Dec 2003.

3. Gandhi, P.S., and Ghorbel, F., "Closed-Loop Compensation of Kinematic Error in Harmonic Drives for Precision Control Applications", IEEE Transactions on Control Systems Technology, Vol.10, No. 6, November 2002.

4.   Ghorbel, F., Gandhi, P.S., Altpeter, F., "On the Kinematic Error in Harmonic Drive Gears", Transactions of the ASME, Journal of Mechanical Design, pp. 90-97 Vol. 123, March 2001.

 

Conference Papers   

 

1. S. P. Desmukh, S. Dubey, and Gandhi P.S.,"Optical Analysis of scanning Microstereolithography Systems" Proceedings of the SPIE Symposium on MOEMS-MEMS Micro & Nanofabrication, San Jose, CA USA, January 2006. (to appear)

2. Nalawade V.S., Maiti S.K., Gandhi P.S., “Analysis of Microcantilever Sensors Subjected to Nonuniform Surface Stress“,  Proceedings of the International Conference on Computational and Experimental Engineering and Sciences, IIT Madras, Dec 2005.

3. Digvijay D. Odhekar, Gandhi P.S. and Keyur B. Joshi., "Novel Methods for Slosh Parameter Estimation Using Pendulum Analogy," Proceedings of AIAA Atmospheric Flight Mechanics Conference and Exhibit August 15-18,2005, San Fransisco, California.

4. Gandhi P.S., Rane T.D., Nalawade V.S., “Modeling and Simulation of Cantilever  Biosensor (for MI) based on Molecular Electrostatic Interactions” Proceedings of the SPIE Symposium on MOEMS-MEMS Micro  & Nanofabrication (Microfluidics, BioMEMS and Medical Microsystems III), San Jose, CA USA, Jan 2005.

5. P.S. Gandhi and F.H. Ghorbel, "Control of Hysteresis and Kinematic Error Nonlinearities in Harmonic Drive for High Precision Control Applications," to be published in the Proc. of American Control Conference, Boston, USA, June 2004.

6. Mahulkar V., Gandhi, P.S., and Banavar R.N., "Dynamic Tracking and Friction Compensation in a 3R Underactuated Manipulator," Proc. of the the 23rd IASTED International Conference on Modeling, Identification and Control, MIC 2004, Grindelwald, Switzerland, Feb 2004.

7. Gandhi, P.S. and Venkatakrishnan S., "Design and Analysis of a Scanning MSL system with an Off-axis Laser Beam", in the Proceedings of the 3^rd National Conference on Precision Engineering (COPEN 2003), CMTI, Bangalore, Dec. 2003.

8. Gandhi, P.S., and Ghorbel, F., Dabney J. "Modeling, Identification, and Compensation of Friction in Harmonic Drives", Proc. of IEEE 41st Conference on Decision and Control, Las Vegas, Nevada, December 10-13, 2002.

9. Raghavan A., Seshu P., and Gandhi, P.S., "Hysteresis Modeling in Piezoceramic Actuator Systems", Proceedings of ISSS-SPIE 2002, International Conference on Smart Materials, Structures, and Systems, Bangalore, India, December 2002.

10. Apte P.R., Chandorkar S., and Gandhi, P.S., "2-D Simulation of Multilayered MEMS Structures", Proceedings of ISSS-SPIE  2002, International Conference on Smart Materials, Structures, and Systems, Bangalore, India, December 2002.

11. Gandhi, P.S., and Ghorbel, F., "Closed Loop Compensation of Kinematic Error in Harmonic Drives for Precision Control  Applications", Proc. of the IEEE 36th Conference on Decision and Control, Phoenix, Arizona, December 7-10, 1999.

12. Ghorbel, F.H., and Gandhi, P.S., Modeling and Control of Nonlinear Transmission Attributes in Harmonic Drives", Proc. of the Tunisian-German Conference on Smart Systems and Devices, pp. 145-152, 27-30 March 2001 Hammamet, Tunisia.

13. Dhaouadi, R. , Ghorbel, F., and Gandhi, P. "Modeling and Analysis of Hysteresis in Harmonic Drive gears", Proceedings of 16th IMACS World Congress, August 21-25, 2000, Lausanne, Switzerland.

14. Gandhi, P.S., and Seth B., "Acceleration Feedback Control of Flexible Beam Attached to a Rigid Parallel Five Bar Mechanism", Proceedings of Fourth International Conference on Robotics, Automation, Control and Vision (ICARCV '96) , Dec 96, Singapore.

15. Gandhi, P.S., and Seth B., "Control of Flexible Beam Attached to a Rigid Parallel Five Bar Mechanism," National Seminar on Aerospace and Related Mechanisms , Nov 96, VSSC, Trivendram.

 

 

Invited Lectures

1. Gandhi, P.S.,"Micro Electro-Mechanical Systems (MEMS) and Mechatronics" CEP on Pyrodevices and mechanisms, RCI, Hyderabad Oct 2002.

2. Gandhi, P.S., "Elements of Mechatronic Systems," National Seminar on Mechatronics for Quality and Productivity , Apr 2002, Bhopal, India.

3. Gandhi, P.S., "Introduction to Micro Electro-Mechanical Systems (MEMS)," National Seminar on Mechatronics for Quality and Productivity , Apr 2002, Bhopal, India.

 

 

Patents

1. Ghorbel, F., and Gandhi, P.S., "Closed Loop Compensation of Kinematic Error in Harmonic Drives for Precision Control Applications," U.S. Patent # 6,459,940. Assignee: Rice University.

 

 

Reports and Thesis

1. Gandhi, P.S., "Modeling and Control of Nonlinear Transmission Attributes in Harmonic Drive Systems," Ph.D. Thesis, Rice University , May 2001, Houston, TX. (Guide: Prof. F.Ghorbel)

2. Gandhi, P.S., "Control of Flexible Manipulators," M.Tech Dissertation, Indian Institute of Technology, Bombay , Feb 1996, Powai, Mumbai. (Guide: Prof. B.Seth)

3. Gandhi, P.S., "Design and Fabrication of a Microprocessor Controlled Robotic Arm with Gripper" B.E. Dissertation, University of Bombay , May 1994, Mumbai. (Guide: Prof. V. Raul)