Dr. Joyjit Mukherjee, Ph.D

IRD Early-Doc Fellow, Control & Automation
Department of Electrical Engineering
IIT Delhi

ABOUT ME

I have recently completed my Ph.D at Control and Automation Group, Department of Electrical Engineering, IIT Delhi. I am working under the supervision of Prof. Indra Narayan Kar (EE) and Prof. Sudipto Mukherjee (ME). My field of research is "Dynamics and Control of Robotics Systems" in which I am working since July, 2012. The title of my thesis is "Maneuvering of Serpentine Robots: An Adaptive Robust Control Approach". I did my B. Tech. in Electrical Engineering from NIT Durgapur. Subsequently, I pursued M. Tech. at IIEST, Shibpur in Mechatronics & Robotics and carried out my M. Tech. Thesis work titled "Control of Nonholonomic Mobile Robot system based on Simultaneous Quadratic Stabilization" at CMERI, Durgapur under the supervision of Dr. S. Nandy and Prof. S. N. Shome.

Research Interest: Robotics, Aerospace systems \& Space Robotics, Adaptive-Robust control, Optimal control, Differential Flatness, Computer Vision, Artificial Intelligence and Machine Learning.

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EDUCATION

Doctor of Philosophy (Ph.D)
Supervisors: Prof. I. N. Kar (EE) & Prof. S. Mukherjee (ME)
Department of Electrical Engineering
IIT Delhi, India.

SEPTEMBER 2019

Master of Technology (M.Tech.)
School of Mechatronics & Robotics
IIEST Shibpur, India.

MAY 2013

Bachelor of Technology (B.Tech.)
Department of Electrical Engineering
NIT Durgapur, India.

MAY 2010



PROJECTS

ALGORITHM DESIGN FOR GUN SIMULATOR
Faros Technologies Private Limited

This work is aimed at the development of an Image Processing based algorithm for detection and localization of a virtual gunshot from a dummy-gun for a simulator. The algorithm includes techniques like segmentation in gray scale, edge detection, circle detection, etc. to effectively localize multiple IR spots on the screen. The algorithm also attempts to estimate the position of the guns and correlate the target and the source position by employing Hough transform based line detection technique.

Ongoing till date


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MANEUVERING OF SERPENTINE ROBOTS: AN ADAPTIVE ROBUST CONTROL APPROACH
Control & Automation Group, Department of Electrical Engineering, IIT Delhi

In this work, we are aiming to utilize Adaptive-Robust approaches to address the tracking problem of planar snake robots in the presence of uncertainties in ground friction. Also, to circumvent the multi-layered controller design methodlology, flatness properties of a snake robot system has been explored. Moreover, a theoretical model of a snake robot moving inside a pipe or channel has been proposed, so that the various aforementioned control techniques can be utilized for efficient control of this system.

September 2019


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CONTROL OF NONHOLONOMIC MOBILE ROBOT SYSTEM BASED ON SIMULTANEOUS QUADRATIC STABILIZATION
Department of Robotics & Automation, CSIR-CMERI, Durgapur

With the increase in the use of wheeled mobile robots in various applications, accurate and precise motion control of these systems is becoming a matter of prime importance. Different control schemes have been used to achieve the same. Simultaneous Quadratic Stabilization is a control scheme that has not been used earlier for these systems. Here a reduced order dynamic equation of the robot system has been formulated and a controller for achieving desired performance of the system has been designed.

May 2013


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POWER SYSTEM STATE ESTIMATION
Department of Electrical Engineering, NIT Durgapur

Estimation of different essential parameters of a system is a happening research topic nowadays. With increase in technological advancements, higher accuracy and performance is being demanded for any power system. For achieving the same, it is very important to estimate the actual values of the states of these systems from the erroneous data of the different sensors. An algorithm was formulated for estimating the power system states from the erroneous sensor data acquired.

May 2010



PUBLICATIONS
JOURNAL

Sliding Mode Control of Planar Snake Robot With Uncertainty Using Virtual Holonomic Constraints
IEEE Robotics & Automation Letters, Vol. 2, No. 2, April 2017.

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A Double-Layered Artificial Delay-Based Approach for Maneuvering Control of Planar Snake Robots
ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 141, No. 4, April 2019.

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CONFERENCE

Adaptive Sliding Mode Control for Head-Angle and Velocity Tracking
IEEE ASCC-2017, Gold Coast, Australia.

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Kinematic Control of Wheeled Mobile Robot: An Error based Differentially Flat system approach
IEEE Indicon-2015, New Delhi, India.

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Simultaneous Quadratic Stabilization of a Nonholonomic Mobile Robot
IEEE iMac4s - 2013, Kerela, India.

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ACHIEVEMENTS

GATE Scholarship
Ministry of HRD, Govt. of India

2010

Ph.D. Scholarship (T.A.)
Ministry of HRD, Govt. of India

2013 - 2018

Best Paper Award
IEEE Indicon, New Delhi

2015

Reviewer
IEEE Indicon, New Delhi

2015

Reviewer
Second ISTA, Jaipur

2016

Reviewer
Control System Letter (L-CSS) & Conference on Decision and Control (CDC)

2017



HOBBIES

Music

Drama

Photography

Sports

Driving

Reading


CONTACT

Email
joyjit.mukherjee@ee.iitd.ac.in

Address
Control & Automation Lab
Room No. 214, Block II
Main Building, IIT Delhi
New Delhi, India
PIN - 110016.

Phone
+91 9718149229

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Created by © Joyjit Mukherjee, IIT Delhi