Lecture Notes in Mechanical Engineering

Vilas R. KalamkarKatarina Monkova   Editors

Advances in Mechanical EngineeringSelect Proceedings of ICAME 2020

Lecture Notes in Mechanical Engineering

Series Editors

Fakher Chaari, National School of Engineers, University of Sfax, Sfax, Tunisia

Mohamed Haddar, National School of Engineers of Sfax (ENIS), Sfax, Tunisia

Young W. Kwon, Department of Manufacturing Engineering and AerospaceEngineering, Graduate School of Engineering and Applied Science, Monterey, CA,USA

Francesco Gherardini, Dipartimento Di Ingegneria, Edificio 25, Università DiModena E Reggio Emilia, Modena, Modena, Italy

Vitalii Ivanov, Department of Manufacturing Engineering Machine and Tools,Sumy State University, Sumy, Ukraine

Lecture Notes in Mechanical Engineering (LNME) publishes the latest develop-ments in Mechanical Engineering - quickly, informally and with high quality.Original research reported in proceedings and post-proceedings represents the coreof LNME. Volumes published in LNME embrace all aspects, subfields and newchallenges of mechanical engineering. Topics in the series include:

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Vilas R. Kalamkar • Katarina MonkovaEditors

Advances in MechanicalEngineeringSelect Proceedings of ICAME 2020

123

EditorsVilas R. KalamkarDepartment of Mechanical EngineeringVisvesvaraya National Instituteof TechnologyNagpur, India

Katarina MonkovaFaculty of Manufacturing TechnologiesTechnical University of KosicePresov, Slovakia

ISSN 2195-4356 ISSN 2195-4364 (electronic)Lecture Notes in Mechanical EngineeringISBN 978-981-15-3638-0 ISBN 978-981-15-3639-7 (eBook)https://doi.org/10.1007/978-981-15-3639-7

© Springer Nature Singapore Pte Ltd. 2021This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or partof the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmissionor information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilarmethodology now known or hereafter developed.The use of general descriptive names, registered names, trademarks, service marks, etc. in thispublication does not imply, even in the absence of a specific statement, that such names are exempt fromthe relevant protective laws and regulations and therefore free for general use.The publisher, the authors and the editors are safe to assume that the advice and information in thisbook are believed to be true and accurate at the date of publication. Neither the publisher nor theauthors or the editors give a warranty, expressed or implied, with respect to the material containedherein or for any errors or omissions that may have been made. The publisher remains neutral with regardto jurisdictional claims in published maps and institutional affiliations.

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Preface

It is our pleasure and honour to bring you these findings of research and innovationfrom the International Conference on Advances in Mechanical Engineering(ICAME 2020) held on 10 and 11 January 2020 organized by the Department ofMechanical Engineering, Visvesvaraya National Institute of Technology, Nagpur,India. This conference was the beginning of a year-long Diamond Jubilee yearcelebrations of VNIT Nagpur’s foundation day. ICAME 2020 provided an inter-national forum where researchers, academicians and scientists from interdisci-plinary fields presented their synergistic solutions to frontier issues of mechanicalengineering.

We received around 200 research manuscripts from various domains like thermalengineering, CFD, machine design, sustainability, IoT, robotics, manufacturingengineering, biomechanics, machine learning, machine vision, optimization,industrial engineering and many other allied domains. During 12 technical sessionsspread over two days, the conference witnessed the presentations by participantsfrom different NITs, IITs and universities in India as well as abroad. Out of 200 plusreceived papers, only 101 manuscripts are accepted for inclusion in this proceedings.The keynote talks, technical sessions and panel discussions of the conference werefocused on holistic contributions of mechanical engineering concerning the societyin general and industry in particular.

We are highly grateful to the authors for their contributions and all the expertreviewers for their valuable advice. We take this opportunity to thank the membersof the organizing committees for their unwavering commitment.

We are indebted to TEQIP-III, MSME-DI Nagpur, DST-SERB New Delhi,MOIL Nagpur, SBI VRCE Branch Nagpur and many other industries, establish-ments and agencies in India for their generous sponsorship and support for theconference.

v

We extend our heartfelt gratitude to Springer Nature for its professional assis-tance and particularly Mr. Akash Chakraborty and Ms. Rini Christy who supportedthis publication.

Nagpur, India Prof. Vilas R. KalamkarPresov, Slovakia Prof. Katarina Monkova

vi Preface

Contents

Dual Quaternion-Based Kinematic Modelling of SerialManipulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1Mohsin Dalvi, Shital S. Chiddarwar, Saumya Ranjan Sahoo,and M. R. Rahul

Performance Analysis of Corrugated Inclined Basin Solar DistillationSystem Coupled with Parabolic Trough Collector . . . . . . . . . . . . . . . . . 9Sandeep Joshi, Shubham Tagde, Aboli Pingle, Nikhil Bhave,and Tushar Sathe

Mechanical Design of Omnidirectional Spherical WallTraversing Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17Yogesh Phalak, Rajeshree Deotalu, Onkar, and Sapan Agrawal

Fabrication and Performance Analysis of a Device to TransformVibration Energy on an Automobile . . . . . . . . . . . . . . . . . . . . . . . . . . . 25Dheeraj H. Bonde, Nitin K. Panche, Hrishikesh S. Meshram,Vrushabh W. Dhongade, Atul V. Dharmik, Jayesh D. Parate,Mangesh G. Pardhi, and Vinit S. Gupta

Robust Backstepping Controller for an Omniwheeled Mobile Robotwith Uncertainties and External Disturbances . . . . . . . . . . . . . . . . . . . . 35Zeeshan Ul Islam, Saumya Ranjan Sahoo, Mohammad Saad,Uddesh Tople, and Amrapali Khandare

Micro-mechanical Analyses of Particle Reinforced ex situ BulkMetallic Glass Matrix Composites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43S. Gouripriya and Parag Tandaiya

Life Estimation of Circumferentially Notch Round BarsUsing J Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51Richa Agrawal, Rashmi Uddanwadiker, and Pramod M. Padole

vii

Placement of Heated Blocks Under Forced Convection for EnhancedHeat Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59Shankar Durgam, Shakkottai Venkateshan, Thirumalachari Sundararajan,Milankumar Nandgaonkar, Pravin D. Sawarkar, and Aaryan Durgam

Analysis of Track Vibration for Metro Rail . . . . . . . . . . . . . . . . . . . . . . 67Chaitanya V. Bhore, Atul B. Andhare, Pramod M. Padole,and Mayur D. Korde

Localization of a Four-Wheeled Omnidirectional Mobile RobotUsing Sensor Data: A Kalman Filter Approach . . . . . . . . . . . . . . . . . . . 75Saumya Ranjan Sahoo, Shital S. Chiddarwar, Mohsin Dalvi,and M. R. Rahul

Capacitated Vehicle Routing Problem with Interval Type-2Fuzzy Demands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83V. P. Singh and Kirti Sharma

Kinematic, Dynamic and Stiffness Analysis of an Asymmetric2PRP-PPR Planar Parallel Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . 91Deep Singh, Rutupurna Choudhury, and Yogesh Singh

CFD Analysis for Heat Transfer Enhancement of Microchannels HeatSink Using Nanofluid Flow in Case of Electronics Device . . . . . . . . . . . 99Sushant Suresh Bhuvad, Arvind Kumar Patel, and S. P. S. Rajput

Burr Registration and Trajectory Planning of 3D WorkpieceUsing Computer Vision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107M. R. Rahul, Rohini Y. Bhute, Shital S. Chiddarwar, Mohsin Dalvi,and Saumya Ranjan Sahoo

In-situ Microwave-Assisted Casting of ASTM B23 Tin-BasedBabbitt Alloy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115Sameer S. Gajmal and Dadarao N. Raut

Optimization of Heat Transfer Behavior of Industrial RefrigerantsThrough Different Cross-Section Microchannels . . . . . . . . . . . . . . . . . . 127Gourab Chakraborty, Shubhankar Sarkar, and Arunabha Chanda

Evaluation of Two-Body Abrasive Wear Using FIS and ANN . . . . . . . . 139Mehar Amit Kumar

Computational Analysis of Dual Expander Aerospike Nozzle . . . . . . . . 151Aswith R. Shenoy, T. S. Sreekumar, Pranav Menon, and Gerogi Alex

A Study on Performance and Emission Characteristics of DieselEngine for Lower Blends of Karanja Biodiesel . . . . . . . . . . . . . . . . . . . 159V. R. Patil, S. S. Sane, and S. S. Thipse

viii Contents

Experimental Comparison Between Friction Stir Weldingand Underwater Friction Stir Welding on Al6061 Alloys . . . . . . . . . . . . 169Hiten J. Mistry, Piyush S. Jain, and J. Vaghela Tinej

Wear Particle Analysis Using Fractal Techniques . . . . . . . . . . . . . . . . . 179Puja P. More and M. D. Jaybhaye

Strategies for Low Engine Speed Torque Enhancement of NaturalGas Engine Used for Commercial Vehicles: Observationswith Compression Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189Pritesh J. Suple, Chandrakant R. Sonawane, S. S. Thipse, J. P. Mohite,and N. B. Chougule

In-house Fabrication and Calibration of Silver Thin Film Gauge . . . . . 197Akash Jadhav and Ravi K. Peetala

Study of Shock Wave Boundary Layer Interaction in HypersonicFlows Using Various Turbulence Models . . . . . . . . . . . . . . . . . . . . . . . . 205Aniruddha Kane and Ravi K. Peetala

Study of Effect on Engine Performance Using 15% HCNG BlendVersus CNG Using a Simulation Approach . . . . . . . . . . . . . . . . . . . . . . 213K. P. Kavathekar, S. S. Thipse, S. D. Rairikar, S. B. Sonawane, P. S. Sutar,and D. Bandyopadhyay

Behaviour of NiTi Based Smart Actuator for the Developmentof Planar Parallel Micro-Motion Stage . . . . . . . . . . . . . . . . . . . . . . . . . . 221Deep Singh, Yogesh Singh, and Manidipto Mukherjee

Multi-objective Optimization of Inconel 718 Using CombinedApproach of Taguchi—Grey Relational Analysis . . . . . . . . . . . . . . . . . . 229Manav Sheth, Kunj Gajjar, Aryan Jain, Vrund Shah, Het Patel,Rakesh Chaudhari, and Jay Vora

The Effect of State Variables on Nucleation of EarthquakeUsing the Rate and State Friction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237Nitish Sinha, Arun K. Singh, and Avinash D. Vasudeo

Finite Element Analysis of Type I and Type II Fracture with PFNImplant—A Comparative Study . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243Sandeep Rathor, Jayamalya Jena, Rashmi Uddanwadikar,and Ashutosh Apte

Postural Evaluation of Construction Labourers Engagedin Excavation Work Using Newly Developed NERPA Methodand Its Validation Through REBA and WERA Methods . . . . . . . . . . . . 253Manoj T. Gajbhiye, Debamalya Banerjee, and Saurav Nandi

Contents ix

Influence of Stress Bar Length on the Response of a Stress Wave ForceBalance Using Finite Element Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . 263Sushmita Deka, Ramesh Babu Pallekonda, and Maneswar Rahang

Relative Power Variation in Frequency Sub-bands of the EEG SignalDuring Painful Stimuli . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271Sameer Raj Singh and Ashish B. Deoghare

A Study on the Effect of GTAW Input Current on Surface Distortionof Thin CRNO Electrical Steel Sheets . . . . . . . . . . . . . . . . . . . . . . . . . . 279Bhushan Y. Dharmik and Nitin K. Lautre

Heat Transfer and Pressure Drop Inside Duct with DifferentSurface Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289P. P. Shirpurkar, V. M. Sonde, P. T. Date, and T. R. Badule

A Hybrid Process Monitoring Strategy for Steel Making Shop . . . . . . . 299Ashish Kumar, Anupam Das, and Swarnambuj Suman

Analysis of Electrolyte Flow in IEG During ElectrochemicalGrinding of MMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307Nisha Gupta, Avanish Kumar Dubey, and Dhruv Kant Rahi

Static Structural Analysis of Roll Cage of an All-Terrain Vehicle . . . . . 317Sushant Satputaley, Karan Ksheersagar, Bijay Sankhari, Rahul Kavishwar,and Kshitij Waghdhare

Design of Motorcycle Handlebar for Reduction of VibrationsUsing Tuned Mass Damper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329Sumit S. Khune and Amit R. Bhende

Development of a Diagnostive Tool for Prediction of Severityof Coronary Artery Disease . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337Pooja Jhunjhunwala, Pramod M. Padole, and S. B. Thombre

Design, Modelling and Optimization of Artificial Limbfor Lower-Extremity Amputees Based on CATIA . . . . . . . . . . . . . . . . . 345Smit V. Motghare

An Experimental Study on Surface Roughness in Slicing TungstenCarbide with Abrasive Water Jet Machining . . . . . . . . . . . . . . . . . . . . . 353Ranjan Singh, Virendra Singh, and T. V. K. Gupta

Energy Absorption Characteristics of Single and Double-WalledSquare Tubes Subjected to Axial Crushing . . . . . . . . . . . . . . . . . . . . . . 361Sanjay S. Toshniwal and Raghu V. Prakash

Field Data Analysis Using Work Measurement Techniquesin a Packaging Industry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371Chinmay M. Salkar, Gaurao J. Tapare, Mayank A. Murkute,Chetan R. Zingre, Hansraj A. Mohod, and Vinit S. Gupta

x Contents

Comparative Study of Nanofinishing of Si (100) Using DDMAFand Allied Processes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377Kheelraj Pandey, Ajendra Kumar Singh, and Gaurav Raj Pandey

Optimization of Thickness of Hollow Punch–Die for ProposedSolar-Assisted Leaf Plate and Cup Making Machine . . . . . . . . . . . . . . . 385Abhay Nilawar, Pravin Potdukhe, and Deepak V. Bhope

Development of Briquette Cum Pellet Making Machine . . . . . . . . . . . . . 391Yeshwant M. Sonkhaskar, Gajanan R. Nikhade, Saket Dharmik,Utkarsh Deshmukh, and Pramod Dhote

Towards the Development of Low-Cost Vacuum Setup for CustomizedImplant Manufacturing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399Sanjay Randiwe, Dheeraj Bhiogade, and Abhaykumar M. Kuthe

Simulation Study on Effect of Variable Curvature on the ModalProperties of Curved Cantilever Beams . . . . . . . . . . . . . . . . . . . . . . . . . 407Aqleem Siddiqui, Girish Dalvi, Akshay Patil, and Surabhi Chavan

Variation in the Properties of Spot Weldments of Cold Rolled MildSteel Welded with Filler Metal by Annealing Treatment . . . . . . . . . . . . 415Sushil T. Ambadkar and Deepak V. Bhope

Comparison of Metro Track Vibration with Federal TransitAdministration Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425Chaitanya V. Bhore, Atul B. Andhare, and Pramod M. Padole

Effect of Moisture Content and Fiber Orientation on the MechanicalBehavior of GFRP Composites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433Alok Behera, M. M. Thawre, Atul Ballal, Prathamesh Babrekar,Pratik Vaidya, Satya Vijetha, and Tushar Sawant

Experimental Investigation and Simulation of Modified EvaporativeCooling System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441Manju Lata and Dileep Kumar Gupta

Effects of Different Vegetable Oils and Additives in GearboxOperation and its Condition Monitoring . . . . . . . . . . . . . . . . . . . . . . . . 449Anupkumar Dube and M. D. Jaybhaye

Study and Analysis of Various Parameters of Bio-mechanizationPlant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457Deepak Patil, Rahul Barjibhe, Lakhan Meghani, Omkar Nanaware,Tejas More, and Aditya Pujari

Robust Sliding Mode Controller (RSMC) for an Omniwheeled MobileRobot with Uncertainties and External Perturbations . . . . . . . . . . . . . . 465Mohammad Saad, Uddesh Tople, Amrapali Khandare,and Zeeshan Ul Islam

Contents xi

The CFD Analysis of Convection Heat Transfer with Magnetic Fieldin the 2D Domain Using OpenFOAM . . . . . . . . . . . . . . . . . . . . . . . . . . 473Ranjit J. Singh and Trushar B. Gohil

Design of a Remote Racking Module for Racking Operation . . . . . . . . . 481Alex Sherjy Syriac and M. R. Rahul

A Coupled Heat Transfer and Artificial Neural Network Based Modelfor Accelerated Direct Cooling of Steel Plate . . . . . . . . . . . . . . . . . . . . . 487Sagar Dave, Sirshendu Chattopadhyay, and Deepak Gupta

Effect of Air Distribution on Cooling of Photovoltaic Paneland Its Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495Someshwar S. Bhakre and Pravin D. Sawarkar

Numerical Investigations of Photovoltaic Phase Change MaterialsSystem with Different Inclination Angles . . . . . . . . . . . . . . . . . . . . . . . . 503Tushar Sathe, A. S. Dhoble, Sandeep Joshi, C. Mangrulkar,and V. G. Choudhari

Edge Feature Based Classification of Breast Thermogramfor Abnormality Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511Shawli Bardhan and Sukanta Roga

Analytical Approach to Develop a Robust Mechanism for On-OrbitGimballing of Satellite Antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519V. Sri Pavan RaviChand, Anoop Kumar Srivastava, Abhishek Kumar,H. N. Suresha Kumar, and K. A. Keshavamurthy

Impact of Rock Abrasivity on TBM Cutter-Discs During Tunnellingin Various Rock Formations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527N. N. Sirdesai, A. Aravind, and S. Panchal

Tool Condition Prediction Using Acoustic Signal Processing andLearning-Based Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535Pranjali S. Deole and Priya M. Khandekar

Finite Element Simulation of Ballistic Response of Metallic SandwichStructures with Aluminium Foam Core . . . . . . . . . . . . . . . . . . . . . . . . . 543Nikhil Khaire, Vivek Bhure, and Gaurav Tiwari

Crushing Behavior of Thick Circular High Strength Aluminum TubeAgainst Quasi-static Axial Loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551Vivek Patel, Sanket Suresh Kalantre, Gaurav Tiwari,and Ravikumar Dumpala

Estimation of Burr Dimensions Using Image Processing for RoboticDeburring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559Rohini Y. Bhute and M. R. Rahul

xii Contents

Study of Structural and Mechanical Behaviour of Severe PlasticallyDeformed Al–Mg(AA 5052) Alloy Processed by Constrained GroovePressing Technique . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 567Jaya Prasad Vanam, Vinay Anurag Potnuri, and Sree Vidya Sravya Nallam

Shear Rate Dependent Frictional Behavior of the Granular Layer . . . . 577Pawan Kumar Soni and Arun K Singh

Mathematical Overview on Omnidirectional Spherical WallTraversing Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583Yogesh Phalak, Rajeshree Deotalu, Onkar, and Sapan Agrawal

Finite Element Analysis of Ballistic Impact on Monolithicand Multi-layered Target Plate with and Without Air Gap . . . . . . . . . . 591Rohit Kumar, Manoj Kumar, and Pramod Kumar

Additive Manufacturing Process Selection Using MCDM . . . . . . . . . . . . 601Vishwas Dohale, Milind Akarte, Shivangni Gupta, and Virendra Verma

Evaluation and Improvement of Makespan Time of Flexible Job ShopProblem Using Various Dispatching Rules—A Case Study . . . . . . . . . . 611Mohan Bihari and P. V. Kane

The Impact of Building Orientation on Microhardness and SurfaceRoughness of Direct Metal Laser Sintered Inconel Alloy . . . . . . . . . . . . 619Ajay Kumar Maurya and Amit Kumar

Investigation on Elevated Temperature Tribological Performanceof Alloy 718 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629S. Anand Kumar, Ravikumar Dumpala, K. Uday Venkat Kiran,and R. Gnanamoorthy

Digital Twin for Shell and Tube Heat Exchanger in Industry 4.0 . . . . . 637Himanshu Singh, Utkarsh Mishra, Prateek Saxena, Ganesh Shetiya,and Y. M. Puri

Model-Based Synchronized Control of a Robotic Dual-ArmManipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 645Akshay Katpatal, Ajinkya Parwekar, and Alok Kumar Jha

Prioritizing the Travelling Criteria for Customer-Centric BusinessModel of Public Transport System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 655Prasad Lanjewar and Dhananjay A. Jolhe

Effect of Friction Stir Processing on the Sliding Wear Characteristicsof AZ91 Mg Alloy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 663Hemendra Patle, K. Uday Venkat Kiran, B. Ratna Sunil,and Ravikumar Dumpala

Contents xiii

Effect of Varying In-Plane Loads and Cutout Size on BucklingBehavior of Laminated Panels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 671K. S. Subash Chandra, K. Venkata Rao, and T. Rajanna

Effect of Machining Parameters on Surface Roughness and Tool FlankWear in Turning of Haynes 25 Alloy . . . . . . . . . . . . . . . . . . . . . . . . . . . 679Atul B. Andhare, K. Kannathasan, and Manoj Funde

Performance Appraisal of Cryogenically Treated Tool in Dry, MQLand Cryogenic Machining of Inconel 718 . . . . . . . . . . . . . . . . . . . . . . . . 687Yogesh V. Deshpande, Atul B. Andhare, and Pramod M. Padole

Finite Element Simulation for Turning of Haynes 25 Super Alloy . . . . . 695Atul B. Andhare, K. Kannathsan, and Manoj Funde

Optimization of Machining Parameters for Turning of Haynes 25Cobalt-Based Superalloy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 703Atul B. Andhare, K. Kannathasan, and Manoj Funde

A Compact Hinge Mechanism for Radial Rib Antenna . . . . . . . . . . . . . 711Rahul Ghatak, Milind Undale, Mariya Ratlami, Prakher Singhal,G. Ravi Teja, N. S. Murali, and K. A. Keshavamurthy

Suntracker on Rocker-Bogie Mechanism . . . . . . . . . . . . . . . . . . . . . . . . 719Shruti Murarka, Aditya Wadichar, Shravar Tanawde, Abhijit Rehpade,Dhruv Agrawal, Mohammad Saad, and Sharan Bajjuri

Market Basket Analysis: Case Study of a Supermarket . . . . . . . . . . . . . 727Anup R. Pillai and Dhananjay A. Jolhe

Experimental Investigation of Effect of Nanoparticle Concentrationon Thermo-physical Properties of Nanofluids . . . . . . . . . . . . . . . . . . . . . 735Prashant Maheshwary, C. C. Handa, K. R. Nemade,and N. N. Gyanchandani

A Framework for Robot Programming via Imitation . . . . . . . . . . . . . . . 743Abhishek Jha, Shital S. Chiddarwar, and Sanjay G. Sakharwade

Optimizing EDM Parameters for Machining Cu102 and FindingRegression Equation of MRR and Surface Finish . . . . . . . . . . . . . . . . . 751Amit Motwani, Y. M. Puri, and Gangadhar Navnage

Multidisciplinary Solution Avenues in Mechanical Engineering . . . . . . . 759Pradnya Gharpure

OLSAC: Open-Source Library for Swarm Algorithmsand Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 769Harshad Zade, Mayuresh Bhoyar, Mayuresh Sarode, Neha Marne,Unmesh Patil, Ajinkya Kamat, and Vedant Ranade

xiv Contents

Development of Crank–Connecting Rod Attachment for ElectricDischarge Machining of Curved Holes . . . . . . . . . . . . . . . . . . . . . . . . . . 777Diwakar Makireddi, Y. M. Puri, and V. D. Ghuge

Effect of Crack Angle on Stress Shielding in Bone and OrthopedicFixing Plate Implant: Design and Simulation . . . . . . . . . . . . . . . . . . . . . 785Ratna Raju Lam, V. V. Kondaiah, Y. Naidubabu, Ravikumar Dumpala,and B. Ratna Sunil

IoT-Based Ambiance Monitoring System . . . . . . . . . . . . . . . . . . . . . . . . 793Hritwik Singh Parihar, Rajesh Nagula, Mayank Bumb, Danish Gada,Sharan Bajjuri, Rishesh Agarwal, and Simran Chauhan

Hand Gesture Control of Computer Features . . . . . . . . . . . . . . . . . . . . 799Rishabh Runwal, Shivraj Dhonde, Jatin Pardhi, Suraj Kumar,Aadesh Varude, Mayuresh Sarode, Mayuresh Bhoyar, Simran Chauhan,and Neha Marne

Industry 4.0 Applications in Agriculture: Cyber-Physical AgriculturalSystems (CPASs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 807Rohit Sharma, Shreyanshu Parhi, and Anjali Shishodia

Person Following Mobile Robot Using Multiplexed Detectionand Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 815Khush Agrawal and Rohit Lal

Sliding Wear Characteristics of Silver Particles IncorporatedElectroless Nickel Phosphorus Composite Coatings . . . . . . . . . . . . . . . . 823Bijoy Ramakrishnan, K. Uday Venkat Kiran, B. Ratna Sunil,and Ravikumar Dumpala

Investigations on Engine Emission Using Biodiesel with DifferentCompression Ratios . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 831Mohd Zeeshan and Sanjay K. Sharma

Investigation of Thermal Desalination System Using Heat Recovery . . . 839Rajan K. Petkar, Chandrakant R. Sonawane, and Hitesh N. Panchal

Contents xv

About the Editors

Dr. Vilas R. Kalamkar is a professor and head of mechanical engineeringdepartment of Visvesvaraya National Institute of Technology, Nagpur, India. Hereceived his PhD in aerodynamics from the Indian Institute of Technology Bombay.His areas of research are CFD and turbo machinery. He has more than 20 years ofteaching experience. Apart from several research articles in journals and conferenceproceedings, he has also filed 2 patents. He has undertaken 4 research projects andmany consultancy projects. He was invited to deliver keynote lectures at variousinternational conferences in places like Korea, Malaysia and Dubai. He was con-ferred with the best teacher award, research fellowships and best paper award forhis contribution in teaching and research.

Dr. Katarina Monkova is a full professor of Faculty of ManufacturingTechnologies with the seat in Presov, Slovakia. She is a scientific researcher attechnical university with pedagogical activities like computer-aided technicaldevices design, analysis and simulation, cellular material. She has done PhD inmanufacturing technologies and metallurgy. She has more than 300 publicationswith 20 invited presentations at international conferences. She is also a leader of 7national scientific-research projects and 1 international project and member of morethan 20 national projects with educational and scientific grants. She is a recipient ofvarious awards like Rector’s award and Dean’s Award.

xvii

Dual Quaternion-Based KinematicModelling of Serial Manipulators

Mohsin Dalvi , Shital S. Chiddarwar , Saumya Ranjan Sahoo ,and M. R. Rahul

Abstract In this paper, a dual quaternion-based methodology for computing theforward and inverse kinematic models for a serial manipulator is presented. A dualquaternion-based forward kinematics model is developed for the Kuka LBR IIWA7 R800 cobot. An inverse kinematics model is developed that uses dual quaterniondifferential kinematics and includes Jacobian transpose and damped least squaresmethods for determining Jacobian pseudo-inverse. Implementation of these methodson a given trajectory shows that, compared to damped least squares, the Jacobiantranspose method is faster, but is less immune to singularity and gives more jerkymotions.

Keywords Cobot · Dual quaternions · Differential motion operator · Jacobiantranspose · Damped least squares

1 Introduction

During robot programming, the orientation and position of robot end-effector mustchange as smoothly as a human hand. Quaternions, initially developed as a gener-alization of complex numbers for three dimensions, are robust than the popularlyused Euler angles and rotation matrices for representing orientations. They are com-pact, computationally efficient, immune to gimbal lock and mathematical singular-ities, and also provide natural orientation interpolation [1]. However, using vectorsand quaternions for representing simultaneous translations and rotations leads toinconsistencies [2].

A dual quaternion (DQ) uses dual numbers to unify rotations and translationsinto a single state instead of defining separate vectors for them [3]. DQs have beenused for kinematic modelling and pose control of serial manipulators [4, 5]. The

M. Dalvi (B) · S. S. Chiddarwar · S. R. Sahoo · M. R. RahulDepartment of Mechanical Engineering,Visvesvaraya National Institute of Technology, Nagpur, Maharashtra 440010, Indiae-mail: md87.raml@gmail.com

© Springer Nature Singapore Pte Ltd. 2021V. R. Kalamkar and K. Monkova (eds.), Advances in Mechanical Engineering,Lecture Notes in Mechanical Engineering,https://doi.org/10.1007/978-981-15-3639-7_1

1

2 M. Dalvi et al.

available literature on modelling with quaternions and DQs shows that there areambiguities in representation (Hamiltonian and NASA-JPL), handedness (right andleft) and reference frames (global and body) [6].

Differential kinematics is a widely used approach for inverse kinematics (IK)modelling. DQ and Plucker coordinates have been used to derive the geometricalJacobian for serialmanipulators [7]. DQs and quaternion exponentialmaps have beenused to solve IK problems by considering joint limits [8]. Unlike the DQ differentialoperator, dealing with Jacobian matrix is well discussed in the literature.

The flow of the paper is as follows: Sect. 2 introduces dual quaternions, whichis used in Sect. 3 to develop the forward and inverse kinematic models for a serialmanipulator. The approach is applied for Kuka LBR IIWA 7 R800 cobot in Sect. 4.The results are discussed in Sect. 5, followed by conclusion in Sect. 6.

2 Mathematical Preliminaries

In this work, quaternions use Hamiltonian representation in right-handed coordi-nates. A quaternion is represented as p = [

p0, p] = p0 + p1 i + p2 j + p3k, where

p ∈ H, p0 ∈ R is a scalar and p = (p1, p2, p3) ∈ R3 is a vector. The orthogo-

nal unit vectors i, j , k satisfy the quaternion property i2 = j2 = k2 = i j k = −1.This property is used to define quaternion algebra. Addition and multiplicationare given by p + q = [

p0 + q0, p + q]and p ⊗ q = [

p0q0 − p · q, p0q + q0 p+p × q

], respectively. Multiplication is non-commutative, but follows distributive

and associative properties. The multiplicative inverse is given by p−1 = p∗/ ‖p‖2,where p∗ is the conjugate, defined as p∗ = [

p0, − p], and ‖p‖ is the norm, given

by ‖p‖ = √p ⊗ p∗ =

√[p20 + p · p, 0

]. The identity quaternion is 1 = [1, 0].

A dual number has the form a = ar + εad where a ∈ D, ar ∈ R is the real part,ad ∈ R is the dual part. The dual unit ε, satisfying ε �= 0, ε2 = 0 is used to definedual number algebra. Higher-order terms get removed during Taylor series expansionof dual function about real part to give f (a + εb) = f (a) + εb f ′(a). This givesrelations such as cos (a + εb) = cos a − εb sin a, and

√a + εb = √

a − ε b2√a.

A dual quaternion is written as p = pr + εpd , where pr , pd ∈ H and p ∈ DH.Addition and multiplication are given by p + q = (pr + qr ) + ε (pd + qd) andp ⊗ q = pr ⊗ qr + ε(pr ⊗ qd + pd ⊗ qr ), respectively. ADQ has three conjugates,

namely dual conjugate(p = pr − εpd

), quaternion conjugate

(p∗ = p∗

r + εp∗d

),

and dual quaternion conjugate(p∗ = p∗

r − εp∗d

). The identity DQ is 1 = [1, 0] +

ε[0, 0]. The inverse p−1 = p−1r − εp−1

r ⊗ pd ⊗ p−1r exists if pr �=0. The DQ norm is

obtained from∥∥∥p

∥∥∥ = √p ⊗ p∗ =

√‖pr‖2 + ε 2

[pr0 pd0+ pr · pd , 0

]. If ‖pr‖ = 1

and pr0 pd0 + pr · pd = 0, then p is a unit DQ.

Dual Quaternion-Based Kinematic Modelling of Serial Manipulators 3

3 Kinematic Modelling of Serial Manipulator

The unit quaternion r = [cos θ

2 , u sinθ2

]represents rotation by angle θ about unit

vector u. The quaternion t = [0, t] depicts translation t = (tx , ty, tx

). Then, the com-

posite transformation of rotation r followed by translation t is given by the unit DQ

p = t ⊗ r = (1 + ε 1

2 t) ⊗ (

r + ε0) = r + ε

2 t ⊗ r

= [cos θ

2 , sinθ2 u

] + ε 12

[−sin θ2 (t · u), cos θ

2 t + sin θ2 (t × u)

](1)

For a given unit DQ p = pr + εpd , quaternions r and t are obtained using r = pr andt = 2pd ⊗ p∗

r = 2pd ⊗ r∗. For rotational quaternion r = [r0, r], rotation parametersθ and u are obtained as θ = 2 cos−1(r0) and u = r/ sin θ

2 . When a vector v0 issubjected to transformation p, the new vector v1 is obtained from v1 = [1, 0] +ε[0, v1] = p ⊗ ([1, 0] + ε[0, v0]) ⊗ p∗.

3.1 Forward Kinematics (FK) Modelling

A link i of a serial manipulator as seen in Fig. 1 has frames {i − 1} and {i}attached to joints i and i + 1 present at its ends by following DH notations [9].In order to coincide frame {i − 1} with frame {i}, an intermediate frame

{i ′}

is defined at intersection of Zi−1 and Xi axes. Then, using Eq.1, screw trans-forms qZ

i= [

cos θi2 , 0, 0, sin θi

2

] + ε[− di

2 sin θi2 , 0, 0, di

2 cos θi2

]about Zi−1 axis and

qXi

= [cos αi

2 , sin αi2 , 0, 0

] + ε[− ai

2 sin αi2 , ai

2 cos αi2 , 0, 0

]about Xi axes are carried

out. Let Cθ = cos θi2 , Sθ = sin θi

2 , Cα = cos αi2 , Sα = sin αi

2 , A = ai2 and D = di

2 .Then, the DQ that maps frame {i} to frame {i − 1} is given by

i−1qi= qZ

i⊗ qX

i= [CθCα, Cθ Sα, Sθ Sα, SθCα] + ε [−DSθCα−ACθ Sα,

−DSθ Sα+ACθCα, DCθ Sα+ASθCα, DCθCα−ASθ Sα, ] (2)

For n-degree serial manipulator, transformation DQ is 0qn

= 0q1⊗ · · · ⊗ n−1q

n.

3.2 Inverse Kinematics (IK) Modelling

Differential kinematics involves mapping differential change in joint parametersθ to differential change in pose q by means of Jacobian matrix J as q = Jθ .For non-square Jacobian, pseudo-inverse is determined by using JT q = JT Jθ to

obtain θ = (JT J

)−1JT q . One way to deal with

(JT J

)−1is to approximate it to

4 M. Dalvi et al.

Fig. 1 Screw motions for frame transformation

α =⟨q, JJT q

⟩

⟨JJT q, JJT q

⟩ [10], where 〈·, ·〉 is a dot product operator. This is called the Jaco-

bian transpose (J T ) method. To further reduce the chances of JT J losing rank, thedamped least squaresmethod (DLS) is used [10].Here, a damping constant δ ≈ 0.001in the diagonal elements modifies the expression to θ = (

JT J − δ2I)−1

JT q . The i th

column of Jacobian J is∂

∂θi(0q

n) where n = number of joints.

For given pose q = qr + εqd , linear velocity v ∈ R3 and angular velocityw ∈ R

3,

the DQ differential operator is q = 12ξ ⊗ q where ξ = [0,ω] + ε [0, v + t × ω] is

twist in world frame [11] and [0, t] = 2qd ⊗ q∗r . Then, the DQ differential operator

becomes q = 12 ([0,ω] + ε [0, v + t × ω]) ⊗ (qr + εqd).

For initial pose q0of a serial manipulator, let corresponding joint parameters be

θ0. Now, for some J (θ k) and qk , when θ k is obtained from IK model, then θ k isupdated to θ k+1 = θ k + θ k , and updated pose from FK model becomes XF (θ k+1).However, due to various reasons such as linearization, this does not match the nextpose q

k+1= q

k⊗ q

k. The pose error, given by (q

k)E = XF (θ k+1)

∗ ⊗ qk+1

, is fedback to the next differential pose q

k+1.

Dual Quaternion-Based Kinematic Modelling of Serial Manipulators 5

4 Application to Kuka LBR IIWA 7 R800 Cobot

The classical DH convention [9] is used to assign coordinate frames to the 7-dofKukaLBR IIWA 7 R800 cobot (or collaborative robot) and derive the robot architectureas seen in Fig. 2.

A library for dual quaternions is developed in Python 3.6 for implementing thealgorithms. The tests are performed on a Windows 8 PC with Intel i5-4570 3.2GHzprocessor, 8 GB DDR3 RAM and GeForce 625 graphics card. The DQ outputs offorward kinematics model for a series of joint inputs are tallied with results from

(a) (b)

Joint i ai (m) αi (deg) di (m) θi (deg)1 0 −π/2 0.34 θ12 0 π/2 0 θ23 0 −π/2 0.4 θ34 0 π/2 0 θ45 0 −π/2 0.4 θ56 0 π/2 0.4 θ67 0 0 0 θ7

(c)

Fig. 2 Cobot under study (a) with frame assignment (b) and DH parameters [9] (c)

Fig. 3 Closed trajectoryshowing orientation frames

6 M. Dalvi et al.

RoboAnalyzer software. The two IK models are applied to the trajectory shown inFig. 3. The red, green and blue arrows correspond, respectively, to the X , Y and Zaxes of the end-effector coordinate frame.

5 Results and Discussion

The DQ FK model results matched perfectly with those obtained from the homoge-neous transform matrix (HTM) FK model and RoboAnalyzer software. The DQ FKmodel required 224 additions and 312 multiplications as opposed to 234 additionsand 356 multiplications needed in HTM. It is seen that using DQs over HTMs savedcomputational time, the savings being up to 50% in some cases.

Applying the J T andDLSmethods on the trajectory shows that J T gives solutionsfaster, but also gives more jerky motions. For J T , mean solution time ranges from16 to 33ms, whereas for DLS, the same ranges from 27 to 66ms. It is also observedthat the DLS method outperforms the Jacobian transpose method when not nearsingularity. The graphs of twoDQcomponents in Fig. 4 show that fluctuations inDLSmethod are less compared to those in J T method. It is seen that the trajectory loopdid not get closed in either method, which means pose error is not eliminated evenwhen feedback is used. This makes a case for exploring more feedback controllers.

6 Conclusion

In this work, dual quaternions (DQs) were used to develop the forward and inversekinematics models for a serial manipulator. The DQ differential operator and twomethods of solving inverse differential kinematics with DQs were discussed. Theapproach was implemented on the Kuka LBR IIWA 7 R800 cobot, and error duringsimulation of tracing a loop trajectory was studied. Though DQs seem unintuitive

Fig. 4 Comparison of deviations in trajectory traced with J T and DLS IK algorithms taking firstand sixth DQ elements as example

Dual Quaternion-Based Kinematic Modelling of Serial Manipulators 7

to humans, they lend themselves well to working with elaborate trajectories. Futureworks include velocity and acceleration control, as well as DQ implementation offaster IK algorithms such as FABRIK.

References

1. Shoemake K (1985) Animating rotation with quaternion curves. In: ACM SIGGRAPH com-puter graphics, vol 19. ACM, pp 245–254

2. Banerjee P, Zetu D (2001) Virtual manufacturing. Wiley3. Jia YB (2013) Dual quaternions. Technical report, Iowa State University4. Daniilidis K (1999) Hand-eye calibration using dual quaternions. Int J Robot Res 18(3):286–

2985. Pham HL, Perdereau V, Adorno BV, Fraisse P (2010) Position and orientation control of robot

manipulators using dual quaternion feedback. In: 2010 IEEE/RSJ international conference onintelligent robots and systems, pp 658–663

6. Sommer H, Gilitschenski I, Bloesch M, Weiss S, Siegwart R, Nieto JI (2018) Why and how toavoid the flipped quaternion multiplication. CoRR

7. Özgür E, Mezouar Y (2016) Kinematic modeling and control of a robot arm using unit dualquaternions. Robot Auton Syst 77:66–73

8. Kenwright B (2013) Inverse kinematics with dual-quaternions, exponential-maps, and jointlimits. Int J Adv Intell Syst 6(1, 2):53–65

9. Siciliano B, Sciavicco L, Villani L, Oriolo G (2009) Robotics: modelling. In: Planning andcontrol. Springer, London

10. Aristidou A, Lasenby J (2009) Inverse kinematics: a review of existing techniques and intro-duction of a new fast iterative solver. Technical report, University of Cambridge

11. Wang X, Han D, Yu C, Zheng Z (2012) The geometric structure of unit dual quaternion withapplication in kinematic control. J Math Anal Appl 389(2):1352–1364

Performance Analysis of CorrugatedInclined Basin Solar Distillation SystemCoupled with Parabolic Trough Collector

Sandeep Joshi, Shubham Tagde, Aboli Pingle, Nikhil Bhave,and Tushar Sathe

Abstract Several designs of solar distillation system have been built over the pastcentury. However, the development of an economical system with high productivityis a major challenge. Various researchers worked to improve the productivity ofsolar distillation system by improving the rate of evaporation and/or the rate ofvapor condensation. In the current work, the evaporation rate is enhanced by basinmodification and using a secondary heating medium. An inclined corrugated basinsolar still is designed and fabricated and coupled with a parabolic trough collector.Experimental study was carried at Nagpur (21.14° N, 79.0882° E) during the monthsof April and May, and results indicate 13.58% increase in the thermal efficiency.Further, CFD analysis is carried out by using RNG (k − ε) turbulence model inANSYS Fluent. The CFD results were found to be in good agreement with theexperimental results, thus validating the CFD model to carry out any modificationsin the future.

Keywords Inclined basin solar still · CFD analysis · Corrugated basin · Parabolictrough collector

1 Introduction

Water is one of the basic human needs. Water treatment amounts for about 8%of global energy consumption [1]. The use of solar still for water treatment anddistillation is one of the most popular renewable energy solutions. However, lowproductivity of solar stills has been a matter of concern.

Several researches have suggested various methods to enhance the productivityof the solar still with the use of fins, multi-basin, energy storage materials [2], wick[3, 4] reflectors [5–7], and coating the absorber surface with different films [8]. Also,

S. Joshi · S. Tagde · A. Pingle (B) · N. BhaveShri Ramdeobaba College of Engineering and Management, Nagpur, Indiae-mail: pingleak@rknec.edu

T. SatheVisvesvaraya National Institute of Technology, Nagpur, India

© Springer Nature Singapore Pte Ltd. 2021V. R. Kalamkar and K. Monkova (eds.), Advances in Mechanical Engineering,Lecture Notes in Mechanical Engineering,https://doi.org/10.1007/978-981-15-3639-7_2

9

10 S. Joshi et al.

increasing the absorber area is suggested to help improve the performance of solarstill which can be achieved by providing corrugations of V-shaped [9], wave-shaped[10], covered absorber plate with copper chips [8], etc. Some investigators have alsoused the solar collectors like flat plate collector [11, 12], evacuated tube collector[13], tracked parabolic trough collector [14], etc., as secondary heating source.

The present work focuses on the improvement of rate of evaporation. An inclinedcorrugated basin solar still coupled with a parabolic trough collector is designed andfabricated. The performance of the system is simulated using CFD technique andvalidated using experimental analysis. The experiments are performed at Nagpur(21.14° N, 79.08° E) in the month of April and May. The details of simulation andexperimental studies are discussed in the subsequent text.

2 Working Principle

The schematic diagram of themodified system of inclined corrugated basin solar stillcoupled with parabolic trough collector is shown in Fig. 1. In the modified system,the corrugated basin receives heat from two sources, viz. incident solar radiationsand the parabolic trough collector.

The parabolic trough collector acts as the secondary heating source which heatswater, and the heat of the water is then passed through the corrugated channel inthe basin. This water is recirculated in the heating water circuit of parabolic troughcollector. The raw water to be distilled is circulated over the basin via header pipe.The header pipe is drilled at specific interval in such a way that the raw water fallsdrop by drop over the basin and thus get heated and evaporates. The evaporatedwater is condensed as it encounters the top glass, and thus, the distilled condensateis collected. The corrugated basin is modified by providing well-designed V-shapedcorrugations and orienting it in inclined position to increase the surface area of theabsorber plate.

Fig. 1 Schematic diagram of the inclined corrugated basin solar still coupled with parabolic troughcollector

Performance Analysis of Corrugated Inclined Basin Solar … 11

Fig. 2 Experimental system of conventional and corrugated inclined basin still coupled withparabolic trough collector

3 Experimental Analysis

The experimentation setup consists of conventional horizontal basin, corrugatedbasin, evacuated tube collector, and parabolic trough collector as shown in Fig. 2.Adequate piping arrangement has been done to circulate the heated water from theparabolic trough collector to the basin of solar still.

During experiments, the basin temperature of both the solar stills, glass tempera-ture, temperature of inlet water and outlet water from the parabolic trough collectorwere recorded throughout the period. The productivity of both the solar still wasrecorded by measuring the distillate output time to time.

4 Computational Analysis

Geometry of corrugated inclined basin solar still was created in CATIA simulationsoftware. The geometry file was then imported in ANSYS Fluent. The rectangularmeshing was generated by AUTOMESH. Average value of the solar irradiance atthe given location and average estimated temperature values were given as input.Glass front, and back wall temperatures were constant. Heat flux, opaque thermal,and semitransparent conditions were implemented on; front, side, and back walls ofcorrugated absorber plate and glass, respectively.

The k − ε turbulence model is the most common model used in CFD to simulatemeanflowcharacteristics for turbulent flow conditions.However, RNG (k− ε)modelis selected for analysis as it gives a general description of turbulence by two transportequations. The turbulent kinetic energy Eq. (1) is same as in case of k − ε turbulencemodel; however, there is an additional term in its ε Eq. (3) which is significant inimproving the accuracy for rapidly strained flows.

12 S. Joshi et al.

Equation of turbulent kinetic energy (k)

∂(ρk)

∂t+ ∂

(ρkx j

)

∂x j= ∂

∂x j

[μt

σk

∂k

∂x j

]+ 2μt Ei j Ei j − ρε (1)

Equation of rate of dissipation of turbulent kinetic energy (ε) in (k − ε) model

∂(ρε)

∂t+ ∂(ρεui )

∂x j= ∂

∂x j

[μt

σk

∂k

∂x j

]− C1ε

ε

k2Ciε

ε

k2μt Ei j Ei j − C2ερ

ε2

k(2)

Equation of rate of dissipation of turbulent kinetic energy (ε) in RNG (k − ε)model

∂(ρε)

∂t+ ∂(ρεui )

∂x j= ∂

∂x j

[μt

σk

∂k

∂x j

]− C1ε

ε

k2Ciε

ε

k2μt Ei j Ei j − C2ερ

ε2

k− Rε

(3)

4.1 CFD Analysis

The temperature contours of the inclined corrugated solar still and glass cover areshown in Fig. 3a, b, respectively. It is observed that the mean temperature of theinclined corrugated basin is 335 K.

Fig. 3 a Temperature contour for corrugated inclined basin solar still, b temperature contour forglass cover

Performance Analysis of Corrugated Inclined Basin Solar … 13

Fig. 4 Average distillate output of conventional and corrugated solar still at a given radiationintensity and time of the day

It is observed that the mean temperature of the glass cover is around 302 K. Basedon the CFD analysis, the productivity of the modified solar still is calculated to beequal to 279 ml/h.

5 Result and Discussion

5.1 Experimentation Results

Figure 4 shows the variation of average distillate output of conventional and corru-gated solar still along with variation in solar radiation intensity with respect to thetime of the day.

It observed that corrugated inclined solar cell provided higher productivity thanthe conventional system irrespective of the time of the day. It can be observed that thehighest output for conventional and corrugated solar still was found to be 204 ml/hand 232 ml/h, respectively, at 1300 h.

The variation of average instantaneous experimental and theoretical efficienciesof conventional and corrugated basin solar still with respect to time is shown inFig. 5. The efficiency of corrugated solar still was found to be higher, i.e., 32.9% ascompared to that of conventional solar still which was just 23.62%.

14 S. Joshi et al.

Fig. 5 Average instantaneous theoretical and experimental efficiency of conventional and inclinedcorrugated solar still

6 Conclusion

The present work focuses on the productivity improvement of the solar still byimproving its rate of evaporation. An inclined corrugated basin solar still is designed.The inclined basin is modified as a corrugated channel, and it is coupled with aparabolic trough collector. The heat from the parabolic trough collector is trans-ferred to the modified basin using suitable flow arrangement. Thus, the basin surfacereceives heat from direct solar radiations as well as from the coupled parabolic troughcollector.

The performance of the system is simulated using CFD technique. The simulationresults show the improved performance of the modified system over conventionalone. The CFD results are validated by the experimental analysis. The modified solardistillation system is fabricated. The experiments are performed at Nagpur (21.14°N,79.08° E) in the month of April and May. The current work, solar still basin modifi-cation, and secondary heating source are used to enhance the overall productivity ofsolar still. Based on the experimental study, it was observed that the productivity ofthe conventional solar still was found to be 204 ml/h and that by modified solar stillwas 232 ml/h thus giving a clear indication of productivity improvement. Also, theefficiency of corrugated solar still was found to be higher, i.e., 32.9% as compared tothat of conventional solar still which was just 23.62%. The CFD simulation showsgood agreement with the experimental results, thus validating the CFD model tocarry out further modification in the system.