• A haptic device is a system that displays tactile sensations based on contact force, consisting of a texture module, actuators, a position control module, and an impedance control module.
• The texture module displays tactile sensations based on a contact force, and the actuators simulate vibrations or shapes based on the selected texture and geometric shape.
• The position control module creates a virtual environment with shape, shear, and texture, while the impedance control module provides stiffness based on the contact force.
• The device generates feedback based on stiffness, texture, shear, or shape.
• A grasper is a part of the device, with a first and second segment with finger access, allowing the user to exert force on the textures.
• The device also has a position control module and an impedance control module, enabling the user to generate actions based on stiffness, texture, shear, or shape.

• The invention comprises a device adapted to be fitted to an unmanned aerial vehicle (UAV), the device comprising of a suspension system fixed to the base of the UAV, a payload regulator attached below the suspension system, a robotic arm connected to the suspension system that is adapted to receive the payload through it
• The robotic arm has a rack and pinion mechanism to extend the arm to desired length, and a control system
• The control system is connected to motors powered by a power source and adapted to operate the payload regulator, suspension system, and the robotic arm.
• The system connecting the arm to the drone uses simple springs that locks/unlocks by means of a scotch-yoke mechanism that helps in stabilizing the drone while carrying suspended load.
• The drone would fly over arable barren landscapes and first gauge the soil parameters using a penetrometer and prepare the soil while deciding the appropriate seeds before carrying out the seeding process.
• A multicompartment seed box is used with sensors helps in mass afforestation by dropping seeds with mechanism to scoop the soil and sow the seeds

• The UASV comprises of sensors for surveillance of marine environments and a communication system to transmit data such as parameters and health data of the vehicle in real time to a remote station
• Sensors comprise echo sounder, multi beam apparatus, water current meter, Acoustic Doppler Current Profiler (ADCP), Conductivity, Temperature and Depth (CTD) sensor, a side scan Sound Navigation and Ranging (SONAR), a submerged density meter, a sound velocity sensor, a weather station, a distance sensor, a camera, a sound velocity meter, a motion sensor, and a Global Navigation Satellite System (GNSS) receiver.
• The electric power is stored in battery units through one or more of photovoltaic panels, an Alternating Current (AC) power source, and a Direct Current (DC) bus panel.
• The electric propulsion system provides thrust force to the surveillance vehicle in a controlled manner. the surveillance vehicle is operated in one of a differential steering mode, an azimuth steering mode, and an azimuth differential steering mode through a multiphase electric drive controller, a navigation controller, and a centralized controller.
• The navigation module is configured to detect presence of an obstacle in the pre-defined trajectory to be followed by the surveillance vehicle, determine, using a distance sensor, a distance relative direction between the surveillance vehicle and the obstacle through a collision avoidance and annunciation system, and alter the pre-defined trajectory
• The distance sensor is one or more of a Light Detection and Ranging (LiDAR) sensor and a Radio Detection and Ranging (RADAR) sensor interfaced to collision avoidance and annunciation system.
• The communication system transmits near real-time post processed data by acquiring nearby tide in form of tide data from an Automatic Tide Gauge (ATG) using Message Queuing Telemetry Transport (MQTT) and File Transfer Protocol (FTP) through the Smart Telemetry System (STS).

• Conventional equipment cannot navigate the stepped and sloped terraces, leading to reduced farming productivity and manual labor.
• Current climbing technologies are complex, bulky, expensive, and lack stability and adaptability for steep slopes.
• Autonomous agricultural robots are effective only on flat terrains and do not address the unique challenges of step farming.

• The problem statement discussed in the present invention is how to provide device/system to test & inspect underwater assets, & floors or reservoirs without complex & difficult operation including additional instruments and control system.
• Hence, there is a need to address the issue & said invention provides the solution efficiently.

• In the automobile manufacturing process the steering column rack is centered prior to installation of the steering wheel to ensure that it is positioned in a neutral rotary orientation when the vehicle is travelling straight.
• Currently the centering of the steering rack is done manually by operators based on a combination of estimated number of turns and visual references. This process is prone to operator error and risks damaging the clock spring unit.
• There is a need for an automated steering centering system that aids the operators, reduces process time and meets the process requirements

• The conventional maintenance of the railway tracks, it become highly difficult and unreasonably costly to manually go and check for cracks in railway tracks.
• Further if it left undetected, which may lead to derailments.
• Derailments are a serious challenge for railways and cause great loss of life .
• Hence, it is needed to address the issues.
• Present invention addresses above challenges & provide solutions efficiently.

• Underwater ROVs face significant challenges in stability and control due to the complex interactions between the manipulator and the ROV, compounded by buoyancy, fluid pressure, wave interactions, and drag forces.
• Conventional manipulators are too large and heavy to be effectively used on miniature ROVs, limiting their applicability in confined underwater environments.
• Traditional electric motor and hydraulic actuators are unsuitable for small ROVs due to their size and weight, while flexible manipulators, though lighter, still pose installation challenges.

• Inefficient Propulsion: Conventional ROVs use rotary propellers that consume more power for required maneuverability, leading to lower propulsive efficiency.
• Complex Control Systems: Bio-inspired underwater vehicle designs offer higher efficiency but suffer from complex control system designs.
• Limited Battery Life: Efficient propulsion and maneuverability are crucial for autonomous underwater observation vehicles with limited battery capacity.

• Use of boats for survey of water bodies is labor intensive and cumbersome for large areas while risking lives of people. Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) help overcome these challenges
• However, conventional single hull torpedo shaped robots require a longer single body design to accommodate several components this impacts maneuverability in constrained spaces.
• There is a need for a split hull under water inspection robot that that can operate as an ROV as well as AUV with easy maneuverability.

• Robots with rigid links require adjustable joint elasticity for interaction with humans, robots, and the environment.
• Active methods require expensive sensors or torque-controlled motors, causing time lag and potential damage to robot structures.
• Passive compliance control uses passive elements like springs or elastic materials to maintain stiffness.
• Conventional devices use continuously powered actuators to change joint angle and stiffness.
• The stiffness adjusting architecture is determined by application, with spring properties changing to vary joint stiffness.
• The disclosure describes a device and apparatus for varying stiffness, addressing limitations in existing compliance control systems for robotic joints, adjusting elasticity based on task requirements.

• The underwater robots are being employed for various operations at higher depths, where human reach is impossible in wide applications range from search & rescue, inspection & deployment of pipes, & underwater structures, sampling of the ocean & its resources, etc. Thereby, it is required underwater remotely operated vehicles which are equipped with manipulators. Manipulators are usually serially linked rigid arms with each arm individually actuated using electric or hydraulic motors. Sealing of motors to operate at higher depths is a challenging task & the system becomes bulkier. The existing underwater vehicles, variable buoyancy system/engine is an integral part designed along with other subsystems, having other issues.
• Hence there is a need to address the issues.

• The prior art fire fighting method involves the fire fighters to manually put out the fire from a certain distance.
• Said prior art methods are ineffective in controlling the spreading of fire under such circumstances.
• To extinguish the fire quick & effectively, there is a requirement for the tip of the conventional fire fighting hose to be in close proximity to the origin of fire to effectively dispense the extinguisher at the site of the fire.
• Further said fire fighter robots lack the sense of discretion that human posses & remotely operated system have to carry a lot of system.
• Hence there is a need to address the issues.

• Hot wire machines with CNC Controller cut Expanded polystyrene (EPS) by melting the material while moving through the material.
• The heat produced by the hot wire needs to be controlled
• If the heat is more, then accuracy of the final object will reduce because of over melting. Conversely, with low heat bowing of wire occurs while cutting.
• There is need for an intelligent system to control the power to the heating element as per the feed rate of cutting to achieve precise shapes and curvatures.

• Existing wheeled robotic platforms lack stability in lateral and longitudinal directions over uneven terrain.
• There is a demand for a solution that can enhance stability enabling wheeled robots to navigate challenging terrains reliably and efficiently.
• The primary goal of the design is to obtain postural stability in all-terrain rovers with the least number of actuators possible, which will reduce overall cost and result in a less sophisticated control strategy.

• Generally, manual scavenging of septic tanks is most dangerous practice which has taken many lives during operation.
• Based on technical survey, the prior art used sphere of robotics trying to replace the manual scavenging.
• Said prior art robotic system has an issue like limitations to pipeline crawlers.
• Further the prior art robotics system includes other issues, related to unable to swim through water in case of higher sewage volume, failure of propulsion.
• Hence, there is a need to address above issues and present invention provides solution in efficient manner.

• There are many limitations of manual laparoscopic surgery such as limited dexterity of movement, limited field of view, fatigue of surgeon during extended operation procedure, inversion of hand movement and lack of tremor compensation.
• Various patents and publications on robotic training systems are referenced to address the limitations of manual laparoscopic surgery.
• Robotic systems with 7 Degrees of Freedom (DOF) are available, providing improved dexterity and surgical outcomes. However, these systems are expensive and training on them is costly.
• Simulation-based training platforms exist but do not fully prepare surgeons for commercial robotic systems. A seamless transition is needed between training and using actual systems.
• The instant innovation includes a tele-operated robotic surgical trainer of master arm with 6 DOF and strategically distributed masses for balance, a compliant grasper mechanism, and optimized tether guides that aims to facilitate the training of new robotic surgeons, overcoming the cost & skill acquisition associated commercial systems.

The instant invention discloses novel systems, devices and methods of designing a tele-operated robotic surgical system that is aimed at training surgeons those are new to robotic surgery.

Method:

A method of maintaining equilibrium in the master arm assembly of a surgical robotic training system comprising (Refer FIG 1 & 2) at least a pair of master arm assemblies, a pair of slave arm assemblies, comprising an adjustable passive arm assembly comprising a parallelogram based remote center of motion (RCM) module, an L-arm mounting the parallelogram based RCM module and a surgical tool placed in a first face of the RCM module and attached at a distal end, a central controller, and a camera arm assembly.

The method comprising the steps of:

• obtaining by the central controller a movement from the master arm thereof;
• obtaining a one or more joint currents in the master arm assembly;
• obtaining one or more joint positions and a grasper position in the master arm assembly;
• calculating the total force on the grasper that is a function of the joint current;
• calculating the imbalance force on the grasper based on the force of gravity on one or more joint positions and grasper position;
• identifying that movement is unintentional when the total force on the grasper is in a range of values closer to the imbalance force on grasper or identifying that movement is intentional otherwise;
• calculating the direction of motion of the grasper if the movement is intentional;
• actuating the motors to assist motion of the master arm; and
• actuating the joints using motor drives; and
• locking joints with the motor torque if movement is unintentional.

• Dishwashers are machines used for automatic dish cleaning, using hot water and scrubbing mechanisms.
• Manual dishwashing relies on physical scrubbing, while dishwashers use hot water spray.
• Dishwashers are not very popular in India due to cost, space requirements, & pre-rinsing dishes.
• Also, they are not efficient in removing tough stains from oil & spices of Indian cooking.
• By getting motivation for potential Time, Water, and Energy saving, an eco-friendly & efficient automatic dishwasher is disclosed in this present patent.

The instant invention discloses a dishwasher for cleaning utensils comprising:

• a first cleaning assembly for cleaning one or more flat utensils arranged vertically in a horizontal plane of dishwasher,
• a second cleaning assembly for cleaning one or more flat utensils arranged horizontally in a vertical plane of the dishwasher,
• a third cleaning assembly for cleaning one or more curved utensils

Each of the first, second & third cleaning assembly comprises of a pressure exerting member for imparting pressure to the scrubbing member in a pre-determined direction. Refer: Fig 1 & 2.

• Existing variable buoyancy systems for underwater vehicles lack precise control over depth positioning and often suffer from inefficiencies in adjusting buoyancy, leading to suboptimal performance and limited applicability.
• A need for a precise and efficient variable buoyancy system that can control the depth of underwater vehicles and systems with high accuracy.
• The versatile buoyancy control solution that can function as both a standalone system for sensor station depth control and as an add-on for various underwater vehicles, enhancing their maneuverability and performance.

Actuated Buoyancy:

• The invention employs bellows with linear actuators for precise buoyancy control in underwater systems.

Depth Precision:

• Actuation at neutral position achieves accurate positive or negative buoyancy for precise depth manipulation.

Customized Bellows:

• The design incorporates bellows parameters determine expansion and compression, tailoring buoyancy changes.

Integrated Hull Design:

• Rigid hull integrates actuators, ensuring system stability and restricting pitch and roll movements.

Modular Scalability:

• Incorporates multiple bellows and actuators for higher buoyancy levels, adaptable to AUVs, ROVs, and submarines.

Advantages of the invention:

1. Since the variation in buoyancy is momentary, the power consumed to actuate the linear actuator is very less.
2. The Linear actuator can be made nonback-drivable by design, in which case, the force on the bellow due to external pressure cannot compress the bellow. This makes the bellow operable at larger depths.
3. The heave velocity depends on the difference between weight and the buoyancy of the system. With this invention the buoyancy can be increased or decreased to a larger extent which will make the system move faster in the depth column.
4. Since this is a standalone variable buoyancy system, it can be used as an add-on to the existing underwater vehicles to vary the buoyancy.
5. Manipulation of underwater systems for precise movement and positioning can be easily achieved.

• Generally, it is noted that existing fire-fighting systems that replace humans include mobile self-contained & remote-controlled robots which are capable of safely operating in a combustible atmosphere.
• Such robots in general include non-sparking & non-arcing electro-mechanical & electronic components including a positively pressurized enclosure that houses the electro-mechanical & electronic components to prevent intrusion of the combustible atmosphere into the enclosure.
• However, these clamping mechanisms are not flexible enough to adapt to different object dimensions for providing a precise grip over the objects and existing robots do not provide accurate and better gripping of the objects on the robot’s path.
• Hence, there is a need to mitigate above challenges & provide efficient solution.

• The present invention describes an intelligent and autonomous fire-fighting robot and method for moving in a hazardous field, detecting fires, and thereby extinguishing the fires.
• Said fire-fighting robot comprises a motion unit to move around in the hazardous field, a camera unit with multiple cameras to capture multiple frame images, and

  a fire sensing unit to detect the presence & depth of fires, & a control unit with artificial intelligence that activates at least one robotic arm and fire extinguishing unit based on inputs received from the camera unit & the fire sensing unit. (Refer fig.1)

• Said method is used for detecting and extinguishing fire & is capable of removing obstacles during the operation from the robot’s path without human intervention, shown in Fig.2. The intelligent & autonomous fire-fighting robot is shown hereinbelow: