Dr. Ashish Singla

Dr. Ashish Singla

     

Designation:

Associate Professor

Specialization:

Robotics, Controls, Underactuated Systems, Exoskeletons, Dynamics of Multi-Body Systems, Flexible Manipulators, Vibrations

Email:

ashish.singla@thapar.edu

Contact No.

2393132

Biography

Dr. Ashish Singla is an active researcher in the area of flexible manipulators, underactuated systems, assistive and wearable devices. He has more than 10 years of experience in industry, teaching and research. He received his doctoral degree in the field of flexible manipulators from IIT Kanpur in 2012. Since 2010, he is working as an Assistant Professor in the Department of Mechanical Engineering, Thapar Institute of Engineering & Technology, Patiala. Dr. Singla visited University of Gävle, Sweden in 2015 as a Visiting Researcher and in 2017, he worked as a Visiting Assistant Professor in the Department of Mechanical Engineering, State University of New York, Stony Brook, USA to do research in the field of wearable and assistive devices. Dr. Singla is involved in many national and international collaborations and published many journal and international conference publications. He has supervised more than 20 Master students in the area of robotics and control. Recently, Dr. Singla (as PI along with three Co-PIs) has received a DST SERB grant of 64 lacs to develop a three-link flexible manipulator.

Academic Profile

  • PhD in Flexible Robotic Manipulators, IIT Kanpur
    • 2005-2012
  • M.E. in CAD/CAM and Robotics, Thapar Institute of Engineering & Technology, Patiala
    • 2000-2002
  • B.E. in Mechanical Engineering, SLIET Longowal
    • 1995-2000

Teaching and Work Experience

  • Visiting Assistant Professor, State University of New York (SUNY), Stony Brook, USA
    • June 2017-July 2017
  • Visiting Researcher, University of Gävle, Sweden
    • June 2015-July 2015
  • Assistant Professor, Thapar Institute of Engineering & Technology, Patiala, India
    • Dec 2010 – Till Date
  • Sr. Project Associate, Centre for Robotics, IIT Kanpur, India
    • July 2004 – July 2005
  • Lecturer, Chitkara Institute of Engineering and Technology, Rajpura, Punjab
    • July 2003 – July 2004
  • Design Engineer Trident Group, Barnala, Punjab
    • Jan 2002 – July 2003

Deion of Research Interests

  • Robotics:  Flexible manipulators, underactuated systems, medical robots
  • Exoskeletons and wearable robotics
  • Redundant manipulators: Redundancy resolution, task priority, obstacle avoidance
  • Dynamics and control of multi-body systems
  • Mechanical vibrations, command shaping

Research Projects

Year of Funding Sponsoring Organisation Title of Project Amount of Grant (in Lakhs) Co-Investigators (if any)
2017-2020 DST Design and Development of a Three-Link Rigid-Flexible Manipulator for High Speed Operations 64.2 Dr. A Singla (PI)
Dr. T K Bera (Co-PI)
Dr. S.K. Saha (Co-PI)
Dr. S.P. Singh (Co-PI)
2017-2020 UGAV Development of a CVT-based hybrid mechanism for torque variation in Lower Body Exoskeleton. (Indo-Swedish project on technology exchange and joint guidance of PhD and ME students) 14 Dr. A Singla (PI)
Dr. Magnus Isaksson (PI-Swedish Side)

Membership of Professional Institutions, Associations, Societies

  • Robotics Society of India
  • Punj-Robotics

Publications and other Research Outputs

SCI 08, Non-SCI 08, Conference Papers 20

Journal Papers: SCI/SCIE

  • Ishan Chawla, Ashish Singla, “Real-Time Control of a Rotary Inverted Pendulum using Robust LQR Based ANFIS Controller”, International Journal of Nonlinear Sciences and Numerical Simulation.
  • Baltej Singh Rupal, Sajid Rafique, Ashish Singla, Ekta Singla, Magnus Isaksson and Gurvinder Singh Virk, “Lower-Limb Exoskeletons: Research Trends and Regulatory Guidelines in Medical and Non-medical Applications”, Sage - International Journal of Advanced Robotic Systems (IJARS), Impact Factor – 0.987 (Accepted-2017).
  • Amanpreet Singh, Ekta Singla, Sanjeev Soni and Ashish Singla, “Kinematic Modeling of a 7-DOF Spatial Hybrid Manipulator for Medical Surgery”, Sage - Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, Impact Factor – 1.005, 2017 (Accepted).
  • Ashish Singla and Gurminder Singh, “Real-Time Swing-up and Stabilization Control of a Cart-Pendulum System with Constrained Cart Movement”, International Journal of Nonlinear Sciences and Numerical Simulation, De Gruyter, England (Accepted), Impact Factor: 0.89, August, 2017
  • Amanpreet Singh, Ashish Singla, Sanjeev Soni, “Extension of D-H Parameter Method to Hybrid Manipulators used in Robot-Assisted Surgery”, Sage: Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, Vol. 229, No. 10, pp. 703-712, Impact Factor – 1.005, 2015, DOI – 10.177/0954411915602289
  • Ashish Singla, Ashish Tewari and Bhaskar Dasgupta, “Vibration Suppression during Input Tracking of a Flexible Manipulator using a Hybrid Controller”, Springer: SADHANA - Academy Proceedings in Engineering Science, Vol 40, No 6, pp. 1865-1898, Impact Factor – 0.465, 2015, DOI - 10.1007/s12046-015-0392-4
  • Ashish Singla, Ashish Tewari and Bhaskar Dasgupta, “Command Shaped Closed-loop Control of Flexible Robotic Manipulators”.  Advances in Vibration Engineering (Now renamed as Journal of Vibration Engineering and Technologies), Vol. 4, No. 2, pp. 97-110, Impact Factor: 0.33, April 2016 
  • Amanpreet Singh, Ashish Singla, “Kinematic Modeling of Robotic Manipulators”, Springer: Proceedings of the National Academy of Sciences, India Section A: Physical Sciences, Vol. 87, No. 3, pp. 303-319, Impact Factor: 0.425, August 2016, DOI - 10.1007/s40010-016-0285-x.

Journal Publications: Non-SCI

  • Ashish Singla, Baltej Singh Rupal and Gurvinder Singh Virk, “Optimization of stepped-cone CVT for Lower-Limb Exoskeletons”, Elsevier: Perspectives in Science, Vol. 8, pp. 592-595, July, 2016.
  • Ashish Singla, Gurminder Singh and Gurvinder Singh Virk, “Matlab/SimMechanics Based Control of Four-Bar Passive Lower-Body Mechanism for Rehabilitation”, Elsevier: Perspectives in Science, Vol. 8, pp. 351-354, April 2016, DOI - 10.1016/j.pisc.2016.04.072
  • Baltej Singh Rupal, Ashish Singla and Gurvinder Singh Virk, “Lower Limb Exoskeletons: A Brief Review”, International Journal for Scientific Research and Development, pp. 18-24, Vol- COMET-2016, Jan 2016.
  • Saurav Dhand, Ashish Singla, “Sensitivity Analysis and Optimal Production Scheduling as a Dual Phase Simplex Model”, Indian Journal of Science and Technology (E-SCI Journal), Vol 9, No. 39, pp. 1-6, Oct 2016.
  •  Shakti Singh, Ashish Singla, Amanpreet Singh, Sanjeev Soni and Sanjeev Verma, “Kinematic Modeling of a Five-DOFs Spatial Manipulator used in Robot-Assisted Surgery”, Elsevier: Perspectives in Science, Vol. 8, pp. 550-553, July 2016.
  • Ashish Singla, Saurav Dhand and Gurvinder Singh Virk, “Mathematical Modeling of a Hand Crank Generator for Powering Lower-Limb Exoskeletons”, Elsevier: Perspectives in Science, Vol. 8, pp. 561-563, July 2016.
  • A. Kumar, A. Tondon, S. Paul, A. Singla, S. Kumar, P. Vijay and U. D. Bhangale, “Influence of Tyre’s Dimensional Characteristics on Tyre-Pavement Noise Emission”, Physical Review and Research International, Vol 1 No 4, pp. 124-137, 2011
  • Ashish Singla, Sandeep Kumar, Prasad Kulkarni, Bhaskar Dasgupta, “High-Index Norm Redundancy Resolution Scheme for Kinematically Redundant Robot Manipulators”, International Journal of Computational Science (IJCS), Vol 1 No 4, pp. 351-370, (2007).

Conference Papers

  • Jyotindra Narayan, Ashish Singla, “ANFIS Based Trajectory Tracking of a SCARA Robot”, IEEE 4th International Conference on Signal Processing, Computing and Control (ISPCC 2017) at Jaypee University of Information Technology, Solan, HP, India, Sept 21-23, 2017 (Accepted)
  • Gurminder Singh, Ashish Singla, “Modeling, Analysis and Control of a Single Stage Linear Inverted Pendulum”, IEEE International Conference on Power, Control, Signals and Instrumentation Engineering (ICPCSI-2017), 21-22 Sept, 2017, Chennai, Tamil Nadu, India (Accepted).
  • Abhishek Kathpal, Ashish Singla, “SimMechanicsTM Based Modeling, Simulation and Real-Time Control of Rotary Inverted Pendulum”, 11th IEEE International Conference on Intelligent Systems and Control (ISCO-2017), 5-6 Jan, 2017, Coimbatore, Tamilnadu, pp. 166-172, 2017.
  • Sukhdeep Singh, Ashish Singla, Jaspreet Singh, “Compatibility of glass materials with silicon during anodic bonding for diaphragm based MEMS capacitive sensor", 5th International Conference on Advancements in Engineering and Technology (ICAET-2017), 24-25 March, 2017, BGIET, Sangrur, pp. 590-592, 2017.
  • Baltej Singh Rupal, Ashish Singla and Gurvinder Singh Virk, “Lower Limb Exoskeletons: A Brief Review”, Conference on Mechanical Engineering and Technology (COMET-2016), Jan 15-17, 2016, IIT (BHU), Varanasi, India, pp. 130-140, 2016.
  • Saurav Dhand, Ashish Singla, and Gurvinder Singh Virk, “A Brief Review on Human-Powered Lower-Limb Exoskeletons”, Conference on Mechanical Engineering and Technology (COMET-2016), IIT (BHU), Varanasi, Jan 15-17, 2016, IIT (BHU), Varanasi, India, pp. 117-123, 2016.
  • Gurminder Singh, Ashish Singla, and Gurvinder Singh Virk, “Modeling and Simulation of a Passive Lower-body Mechanism for Rehabilitation”, Conference on Mechanical Engineering and Technology (COMET-2016), IIT (BHU), Varanasi, Jan 15-17, 2016, IIT (BHU), Varanasi, India, pp. 124-129, 2016.
  • Amanpreet Singh, Ashish Singla and Sanjeev Soni, “Gravity Balancing of a Seven-DOFs Hybrid Manipulator”, 2nd International and 17th National Conference on Machines and Mechanisms (iNaCoMM-2015), Dec 16-19, IIT Kanpur, India (2015).
  • Amanpreet Singh, Ashish Singla and Sanjeev Soni, “D-H Parameters Augmented with Dummy Frames for Serial Manipulators containing Spatial Links,” The 23rd IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2014), pp. 975-980, August 25-29, 2014, Edinburg, Scotland, UK (2014). (DOI: 10.1109/ROMAN.2014.6926379)
  • Ashish Singla, “High Index Norm Approach: A Redundancy Resolution Scheme For Inverse Kinematics of Redundant Serial Manipulators”, Proceedings of 6th International IEEE Conference on Robotics and Mechatronics (ROBMECH-2013), pp. 40-45, Oct 30-31, 2013, Durban South Africa (2013). (DOI: 10.1109/RoboMech.2013.6685489)
  • Ashish Singla, “Vibration Suppression of a Cart-Flexible Pole System Using a Hybrid Controller”, Proceedings of the 1st International and 16th National Conference on Machines and Mechanisms (iNaCoMM2013), pp. 375-382, Dec 18-20, 2013, IIT Roorkee, India (2013)
  • Ashish Singla, Ekta Singla, “Input Shaped Open-Loop Control for Vibration Suppression of Lightweight Flexible Manipulators”, Proceedings of International Conference on Emerging Technologies – Micro to Nano (ETMN-2013), pp 69-70, Feb 23-24, 2013, BITS Goa (2013).
  • R. Singh, R. S. Panwar, O. P. Pandey, A. Singla and P. Sharma, “Electric discharge machining parameter selection for Al/Zr composite using Taguchi L27 orthogonal design”, Proceedings of 4th International Conference on Recent Advances in Composite Materials (ICRACM-2013), Feb 18-21, 2013, IIT BHU, GOA (2013).
  • Ashish Singla, “Vibration Control of a Cart-Flexible Pole System using a ZVD Shaper”, Proceedings of 26th International Conference on CAD/CAM, Robotics and Factories of Future (CARs&FOF-2011), July 26-28, pp 777-788, Kuala Lumpur, Malaysia (2011).
  • Ekta Singla, Ashish Singla, “Performance Indices for Serial Robotic Manipulators”, Proceedings of 26th International Conference on CAD/CAM, Robotics and Factories of Future (CARs&FOF-2011), July 26-28, pp 747-754, Kuala Lumpur, Malaysia (2011).
  • Ekta Singla, Ashish Singla and Bhaskar Dasgupta, “A Posteriori Analysis Tool for Redundant Manipulators”, Proceedings of the 2nd Indo-Russian Joint Workshop on Computational Intelligence and Modern Heuristics in Automation and Robotics, September 10-12, Novosibirsk, Russia (2011).
  • Ashish Singla, Bhaskar Dasgupta, Ashish Tewari, “Modeling and Control of Underactuated Redundant Manipulators”, Proceedings of International Conference on Automation, Robotics and Control Systems (ARCS-09), July 13-16, pp. 16-23, Orlando, FL, USA. (2009). (ISBN: 978-1-60651-008-7Publisher: ISRST)
  • Vikash Gupta, Ashish Singla, Bhaskar Dasgupta and Anjali Kulkarni, “Design and Development of an 8-R Snake-like Manipulator”, IISc Centenary – International Conference on Advances in Mechanical Engineering (IC-ICAME), July 2-4, IISc Bangalore, India (2008).
  • Ashish Singla, Sandeep Kumar, Prasad Kulkarni, Bhaskar Dasgupta, “Redundancy control of robot manipulators using task priority”, Proceedings of International Conference on Advances in Control and Optimization of Dynamical Systems (ACODS'2007), IISC Bangalore, Feb 1-2, pp. 72-78 India (2007).
  • Anand Vaz, Anil Singla, Sukhjinder Singh, T P Singh, Ashish Singla, “Development of single axis manipulator for robotic applications”, National Conference on Recent Developments in  Mechanical Engineering (NCME-2003), Oct 31 - Nov 1, pp. 424-431, TIET Patiala, India (2003).

Ongoing Research Collaborations

S. No. Name of Collaborative Agency Area Person Research Outcomes
1. CSIR-CSIO Lab, Chandigarh Medical Robotics Dr. Sanjeev Soni
Biomedical Instrumentation Division
CSIR CSIO Chandigarh
  • Two SCI Journal Publication
  • One Non-SCI Journal Publication in Elsevier
  • Two Publications in International Conferences
  • Joint guidance of two
    ME theses
2. State University of New York (SUNY), Stony Brook, USA Assistive Robotics Dr. Anurag Purwar
Research Associate Professor at Department of Mechanical Engineering
  • One Indo-USA Project (Submitted)
  • Two papers (under process)
  • Host, summer-term at SUNY
  • GIAN Course
3. University of Gävle, Sweden Wearable Robotics Dr. Gurvinder Singh Virk
Former Professor of Robotics and the Built Environment, University of Gävle, SE-801 76 Gävle, SWEDEN
  • One SCI Journal Publication
  • Four Non-Sci Journal Publications
  • Three Publications in International Conferences
  • Three SCI Journal Publications (Under Review)
4. IIT Delhi Robotics Dr. S K Saha
Professor and Head
Mechanical Engg. Dept. 
IIT Delhi
  • One DST Project 
  • Joint guidance of two UG students for 6-months summer training at IITD
5. IIT Ropar Panj-Robotics and 
Modular Robots		 Dr. Ekta Singla
Assistant Professor
SMMEE
IIT Ropar
  • One Project (Submitted)
  • Two SCI Journal Publications
  • One-Day workshop of Punj-Robotics on May 23, 2016 at TIET, Patiala
  • Three Publications in International Conferences.

Courses of Interest

  • Robotics: Kinematics, dynamics and controls
  • Modern control of dynamic systems
  • Dynamics of multi-body systems
  • Mechanical vibrations
  • Mechatronics
  • Applied optimization: unconstrained and constrained (classical methods)
  • Applied mathematics: Linear algebra, ODEs, Numerical methods, Scientific computing
  • CAD, ICG, Engineering graphics, Machine drawing
  • Communication skills

ME Thesis Guided

20 (Twenty)

Invited Talks

  1. Expert Talk on Robotics in Healthcare during Research Colloquium on Robotics and Control: Emerging Technologies and Trends,  March 27-29, 2017, College of Engineering, Kidangoor, Kottayam, Kerala. [2017]
  2. Expert Talk on Simulation Learning Through Matlab on  20, 2016 during GIAN Course on Robotic Systems: Design, Analysis and Fabrication, Dec 20-30, 2016, IIT Ropar [2016]
  3. Expert Talk on Simulation Learning Through Matlab on Dec 20, 2016 during GIAN Course on Robotic Systems: Design, Analysis and Fabrication, Dec 20-30, 2016, IIT Ropar [2016]
  4. Expert Talk on NXT Programming on Dec 22, 2016 during GIAN Course on Robotic Systems: Design, Analysis and Fabrication, Dec 20-30, 2016, IIT Ropar [2016]
  5. Expert Talk on Dynamic Modeling and Analysis on Dec 26, 2016 during GIAN Course on Robotic Systems: Design, Analysis and Fabrication, Dec 20-30, 2016, IIT Ropar [2016]
  6. Expert Talk on Robot Control Strategies on Dec 26, 2016 during GIAN Course on Robotic Systems: Design, Analysis and Fabrication, Dec 20-30, 2016, IIT Ropar [2016]
  7. Expert Talk on Simulation and Real-Time Control of Robotic Systems Dec 26, 2016 during GIAN Course on Robotic Systems: Design, Analysis and Fabrication, Dec 20-30, 2016, IIT Ropar [2016]
  8. Expert Talk on Modeling, Simulation and Real-Time Control of Robotic Systems on Dec 20, 2016 during STTP on Robotics and Control, Nov 21-26, 2016, BVM College, Vidyanagar, Gujarat [2016]
  9. Expert Talk on Flexible Manipulators at QIP Short Term Course on Modelling and Control of Robots, July 11-15, 2016, IIT Roorkee. [2016]
  10. Expert Talk on Matlab Based Robot Programming at QIP Short Term Course on Modelling and Control of Robots, July 11-15, 2016, IIT Roorkee. [2016]
  11. Expert Talk on Dynamics and Control of Unstable Systems at Two-Day Workshop on Recent Trends in Vehicle Dynamics, Feb 26, 2016, Thapar Institute of Engineering & Technology, Patiala. [2016]
  12. Talk on Networking and Research Directions in Robotics during PunjRobotics Meet, Jan 16, 2016, IIT Ropar [2016]
  13. Talk on Research Directions in Robotics with Korean delegates at University of Gavle, Sweden on July 03, 2015 [2015]
  14. Talk on Research Directions in Robotics at a SAATH Workshop at IIT Kanpur, Feb 16, 2015 [2015]
  15. Talk on Advances in Robot Control during Robo-Week, Organized by Robotic Society of Thapar Institute of Engineering & Technology, Patiala on Feb 5, 2015. [2015]
  16. Expert Talk on Technical Document Writing with LATEX, Workshop on Research Methodology, CDAC, Mohali, September 20, 2013 [2013]
  17. Expert Talk on Matlab Platform: A Research Perspective, TEQIP-II sponsored National Short term training programme (STTP) on “Aspects and Applications of Research Methodology in Science and Engineering (AARMSE)” UIET, Chandigarh, July 8- 13, 2013 [2013]
  18. Expert Talk on Flexible Manipulators, Short Term Training Programme on Advanced Robotics (STTPAR-2013), Thapar Institute of Engineering & Technology, March 21-23, 2013. [2013]
  19. Expert Talk on Redundant Manipulators, Short Term Training Programme on Advanced Robotics (STTPAR-2013), Thapar Institute of Engineering & Technology, March 21-23, 2013. [2013]
  20. Two Expert Talks on Scientific Computing with MATLAB, FDP on Recent Tools in Research: Matlab, Latex and Evolutionary Algorithms, Rayat Bahra Institute of Engineering and Nanotechnology for Women, Hoshiarpur, Punjab, July 2-6, 2012. [2012]
  21. Two Expert Talks on Technical Document Writing with LATEX, FDP on Recent Tools in Research: Matlab, Latex and Evolutionary Algorithms, Rayat Bahra Institute of Engineering and Nanotechnology for Women, Hoshiarpur, Punjab, July 2-6, 2012. [2012]
  22. Lecture on Solution of nonlinear equations and systems, short-term course, IIT Kanpur [2009]
  23. Tutorial on Stability of dynamic systems, short-term course, IIT Kanpur [2008]
  24. Tutorial on Basic methods of numerical integration, short-term course, IIT Kanpur [2008]

Reviewer

  • ASME Journal of Vibrations and Acoustics
  • Sadhana - Academy Proceedings in Engineering Science
  • Nation Academy of Science (NASA), Section – A, Physical Sciences, Springer
  • 1st International and 16th National Conference on Machines and Mechanisms (iNaCoMM2013)

Professional Responsibilities

  • President, Mechatronics and Robotics Society (MARS) , Thapar Institute of Engineering & Technology, Patiala
  • UG Coordinator – BE Mechatronics (2012 – 2016)
  • Lab Incharge: to develop Mechatronics Lab (2011 – Till Date)
  • Member, Curriculum Review Committee of ME CAD/CAM (2013)
  • Collected three year publication record for NBA/ABET/TCD team
  • Member of e-Yantra Team, an IIT Bombay Project
  • Member  DPPC, MED, Thapar Institute of Engineering & Technology, Patiala

 

Foreign Visits

S. No. Country University Year Contacted Person
1. USA SUNY, New York 2017 Prof. Anurag Purwar
2. Switzerland ETH, Zurich 2015 Prof. Roland Siegwart
3. Sweden KTH, Stockholm 2015 Prof. Gurvinder S Virk
4. Sweden University of Gävle, Gävle 2015 Prof. Gurvinder S Virk
5. Netherlands University of Eindhoven 2015 Dr. Gagan Deep Bansal
6. South Africa University of Kwazulu-Natal, Durban 2013 Dr. Riaan Stopforth
7. Singapore NUS, Singapore 2011 Prof. Marcelo H Ang.
8. France ISIR, Paris 2010 Dr. Vincent Padois
9. USA Wayne State University, Detroit, Michigan 2009 Dr. Vishal Gupta
10. USA Stanford University 2009 Prof J C Latombe
11. Germany Technical University, Berlin 2006 Prof Guenter Hommel

Awards and Honours

  1. Visiting Assistant Professor, State University of New York (SUNY) at Stony Brook, USA
  2. Visiting Researcher, University of Gävle, SWEDEN
  3. State govt. (PSEB) scholarship at metric level.
  4. Best paper award at COMET-2016, IIT (BHU), Varanasi.
  5. Best paper presentation (session) award, ACODS-2007, IISc Bangalore
  6. Invited as an Expert Speaker at many places like IIT Kanpur, IIT Roorkee, IIT Ropar, BVM Vidyanagar, College of Engg. Kidangoor (Kerala), UIET Chandigarh, CDAC Mohali