The SysIDEA Lab engages in a wide range of projects in robotics and allied areas that use basic engineering principles related to the dynamics, control theory, systems theory, and sometimes signal processing and data analysis. The projects often span the entire spectrum from mathematical theory, modelling, & analysis, computational simulations, table-top experiments & validations, and in some cases human subject studies. The lab thus has diverse interests and also attracts a diverse set of people from varying backgrounds and interests (including people who are passionate about experimental work, mathematical work, computational studies, specific applications, and making an impact on the field), and both discovery-driven and invention-driven projects are undertaken in the lab.

Research


Robotics & Exoskeletons

Robotics with force control, Robots for safe interaction and collaboration, Exoskeletons and Human gait trainer

Autonomous Vehicles

Autonomous vehicles and race cars, Preview control

Trackability and Tracking Control

Inversion based control, Command and path following, Trackability, Prioritized tracking

Applications of Control Theory to Human Biomechanics

Intermittent control, Postural balance, Parkinson’s disease, Early-diagnosis

Contact




If you are interested in exploring postdoctoral, doctoral, master-level, or intern positions in the lab, please write to sysidea [at] iitgn.ac.in

People

Harish Palanthandalam-Madapusi

Assoc. Professor, Mechanical Engineering, IITGN

Sujay Kadam

PhD Student

Ranjita Dash

PhD Student

Karanbir Sidhu

M.Tech Student

Shubham Verma

M.Tech Student

Sagar Aryal

M.Tech Student

From left to right: Daniel Jakob, Arup Deka, Biswajit Prusty (sitting), Bhawana Sharma, Ranjita Dash, Amit Jangid (sitting), Harish P. M., Sujay Kadam, and Shail Jadav


Daniel, Ranjita, and Amit have a Mechanical Engineering background
Biswajit, Bhawana, and Sujay have an Electrical Engineering background
Arup has an Agricultural Engineering background
Shail has a Biomedical Engineering background

Lab Publications

  1. Vrutangkumar V. Shah, Sachin Goyal, and Harish J. Palanthandalam-Madapusi, "Comparison of Theories of Rest Tremor Mechanism in Parkinson’s Disease: Central Oscillator (Source-triggered Oscillations) and Feedback-induced Instability in the Sensorimotor Loop (Self-sustained Oscillations)" Journal of Mechanics in Medicine and Biology (accepted), 2019.

  2. Ranjita Dash and Harish J. Palanthandalam-Madapusi, "When to use intermittent control for stabilization", Sixth Indian Control Conference, (accepted) 2019.

  3. Sujay D. Kadam, Roshan A. Chavan, Abhijith Rajiv, and Harish J. Palanthandalam-Madapusi. "A perspective on using input reconstruction for command following." Circuits, Systems, and Signal Processing (2019): [accepted, online]. https://link.springer.com/article/10.1007/s00034-019-01145-7.

  4. Vrutangkumar V. Shah, Sachin Goyal, and Harish J. Palanthandalam-Madapusi, "A Possible Explanation on How High-frequency Stimulation Suppresses Low-frequency Tremors in Deep Brain Stimulation in Parkinson’s Disease." IEEE Transactions on Neural Systems and Rehabilitation Engineering (accepted).

  5. Roshan A. Chavan, Sujay  D. Kadam,  Abhijith Rajiv, and Harish J. Palanthandalam-Madapusi, “An Input Reconstruction Approach for Command Following in Linear MIMO Systems”, arXiv, preprint arXiv: 1704.04900, Apr. 2017.

  6. Sujay D. Kadam, and  Harish J. Palanthandalam-Madapusi, "Revisiting Trackability for Linear Time-Invariant Systems", In American Control Conference (ACC), Seattle, WA,  US, May 24-26, 2017.

  7. Vrutangkumar V. Shah, Sachin Goyal, and Harish J. Palanthandalam-Madapusi, "Clinical Facts Along With a Feedback Control Perspective Suggest That Increased Response Time Might Be the Cause of Parkinsonian Rest Tremor.Journal of Computational and Nonlinear Dynamics 12, no. 1: 011007, 2017.

  8. Gaurav Kumar Singh, Roshan Chavan, Vrutangkumar V. Shah, Ajinkya P. Dahale, and Harish J. Palanthandalam-Madapusi, "Backward-in-time input reconstruction." In American Control Conference (ACC), pp. 1888-1893, 2016.

  9. Vrutangkumar V. Shah, Sachin Goyal, and Harish J. Palanthandalam-Madapusi, "A perspective on the use of high-frequency stimulation in deep brain stimulation for Parkinson's disease." In Indian Control Conference (ICC), pp. 19-24, 2016.

  10. Roshan A. Chavan, and Harish J. Palanthandalam-Madapusi, "Delayed recursive state and input reconstruction." arXiv preprint arXiv:1509.06226 , 2015..

  11. Vrutangkumar V. Shah, Sachin Goyal, and Harish Palanthandalam-Madapusi, "A Biomechanical Approach to Diagnosis and Monitoring of Parkinson’s Disease." In ASME International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference, pp. V006T10A004-V006T10A00, 2015.

  12. Roshan A. Chavan, Harish J. Palanthandalam-Madapusi, and Sachin Goyal, "Estimating constitutive law of a filament from its deformed shapes using input reconstruction." In ASME International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference, pp. V008T13A087-V008T13A087, 2015.

  13. Roshan A. Chavan, Abhijith Rajiv, and Harish J. Palanthandalam-Madapusi, "Command following using an input reconstruction approach." In American Control Conference (ACC), pp. 3175-3180, 2015..

  14. Vrutangkumar V. Shah, Sachin Goyal, and Harish J. Palanthandalam-Madapusi, "Exploration of diagnosis of parkinson's disease before onset of tremor." In Indian Control Conference (ICC), 2015.

  15. Roshan A. Chavan, Katherine Fitch, and Harish J. Palanthandalam-Madapusi,  "Recursive input reconstruction with a delay." In American Control Conference (ACC), pp. 628-633, 2014.

  16. Vrutangkumar V. Shah, Sachin Goyal, and Harish J. Palanthandalam-Madapusi, "Experimental verification of observations relating to Parkinsonian tremor." In American Control Conference (ACC), pp. 2395-2400, 2014.

  17. Gaurav K. Singh, Vrutangkumar V. Shah, and Harish J. Palanthandalam-Madapusi, "Diagnosis of Parkinson's disease: A limit cycle approach." In International Conference on Control Applications (CCA), pp. 252-257, 2013.

  18. Nathaniel Anker, and Harish J. Palanthandalam-Madapusi, "Solving for cantilever equilibria as initial value problem.Journal of Mechanics in Medicine and Biology 13, no. 01: 1320001, 2013.

  19. Adam R. Hinkle, Sachin Goyal, and Harish J. Palanthandalam-Madapusi, "Constitutive-law modeling of microfilaments from their discrete-structure simulations - a method based on an inverse approach applied to a static rod model.Journal of Applied Mechanics 79, no. 5: 051005, 2012.

  20. Abhijith Rajiv and Harish J. Palanthandalam-Madapusi, "An Inverse Model Approach For Estimating Constitutive Laws From Dynamic Planar Deformations of Bio-Filaments", Asian Conference on Mechanics of Functional Materials and Structures, pp. 671-674, 2012.

  21. Sachin Goyal and H. J. Palanthandalam-Madapusi, "Modelling Thermal Fluctuations of Bio-filaments with Kirchhoff Rods", Asian Conference on Mechanics of Functional Materials and Structures, pp. 663-666, 2012.

  22. Swati Verma, Sachin Goyal, and H. J. Palanthandalam-Madapusi, "Simulation based Analysis of Constitutive Behavior of Microtubules", Asian Conference on Mechanics of Functional Materials and Structures, pp. 679-681, 2012.

  23. Harish J. Palanthandalam-Madapusi, and Sachin Goyal. "Is parkinsonian tremor a limit cycle?Journal of Mechanics in Medicine and Biology 11, no. 05, pp.1017-1023, 2011.

PATENT

[1]. Vrutangkumar V. Shah, and Harish J. Palanthandalam-Madapusi, " A Computer Implemented System and Method For Detecting Parkinson’s Disease.”, patent application number: 201821005332.

News

  • Ranjita's paper in the Indian Control Conference 2020 gets accepted (Aug 2019)

  • Vrutang's paper in Journal of Mechanics in Medicine and Biology gets accepted (Aug 2019)

  • Shail visits the ReNeu Robotics Lab at the University of Texas at Austin for the Summer (May-Aug 2019)

  • Sujay is spending five months at the University of Washington at Seattle with Prof. Santosh Devasia (May-Oct 2019)

  • Sujay's paper in Circuits, Systems and Signal Processing gets accepted (May 2019)

  • A SPARC project in collaboration with the University of Texas at Austin on "Study of Locomotor Adaptation Using a Single-degree-of-freedom Bilateral Gait Trainer" is sanctioned (Mar 2019).

  • Vrutang has joined balance disorders lab at OHSU as a postdoc scholar in the Neurology department to work on balance and gait problems in people with neurological disorders with Prof. Fay B. Horak (July 2018)

  • Prof. Ashish Deshpande from ReNeu Robotics Lab at the University of Texas at Austin is spending this semester at IIT Gandhinagar with the SysIDEA Lab (Aug-Dec 2018)

  • SYSIDEA Lab welcomes four summer interns Amit Jangid (IIT Gandhinagar), Biswajit kumar prusty (NIT Rourkela), Bhawana Sharma (NIT Silchar), Daniel Jakob (Texas A&M University). (May 2018)

  • Vrutang has successfully defended his PhD Thesis titled “A Biomechanical View of Parkinsonian Rest Tremor Mechanism and its Implication to Therapy and Early Diagnosis”. (April 2018)

  • Vrutang’s patent application on Presymptomatic Parkinson’s disease has been filed (Feb 2018)

  • Short Course on Nonlinear Control & Applictions held on 26-28 January 2018 at IITGN

  • Shail has joined SysIDEA Lab on 18th October 2017 as Project Associate

  • Vrutang has been selected for participation in Medical Device Innovation Camp (MEDIC), CoEP Pune, 13 -17 September 2017, organized by IIT Bombay

  • Prof. Santosh Devasia from University of Washington is spending a week at IITGN, presenting a seminar on “Convergence of Iterative Co-Learning for Output Tracking”, and teaching a short course on “Inversion-based Feed forward Control for Precision Tracking” (28 August - 1 September 2017)

  • Vrutang's paper on Deep Brain Stimulation has been accepted for publication in IEEE Transactions on Neural Systems & Rehabilitation Engineering (August 2017)

  • Sujay’s paper has been accepted for publication at American Control Conference 2017 at Seattle

  • Prof. Ravi Banavar from Systems and Control Group, IIT Bombay, is spending a semester at IITGN (December 2016 – April 2017)

  • Nidhish Raj, Ph. D. student from Department of Aerospace Engineering, IIT Kanpur is spending a semester at IITGN (January 2017 – April 2017)

  • Vrutang wins grant to visit University of California, Merced for 6 months (September, 2016 - March 2017)

  • Symposium on Control Systems & Applications, IIT Gandhinagar, October 26-27, 2016

  • Vrutang participated in World Parkinson's Congress (WPC), Portland, Oregon, September 20-23, 2016

  • Vrutang & Sujay win Student Awards to visit Indian Control Conference, 2016

  • Winter School on Control & Dynamical Systems, 24-27 January 2016

Lab Alumni

  • Gaurav K. Singh (currently with Ford Motor Company, Dearborn, MI, USA)

  • Abhijit Rajiv (currently at Magic Leap, Boston)

  • Manasa B. (currently at University of Washington, Seattle)

  • Roshan Chavan (currently at University of Kentucky)

  • Utsav Shah (currently with Timetooth Technologies, Delhi)

  • Mohit Garg (currently at IIT Delhi)

  • Sandeep Mishra

  • Rajnikant Ghate (currently with Infosys)

  • Vrutangkumar V. Shah (currently at Oregon Health & Science University)