ABHAYA PAL SINGH

E1202, Kunal Iconia, Mamurdi ⋄ Pune, Maharashtra 412101⋄ Currently @ Ås, Norway
+39 3483883814 ⋄ DoB: 08/Arril/1989 ⋄ abhaya.aps@gmail.com ⋄ Google Scholar ⋄ Research Gate

PROFILE
• Highly self-motivated with demonstrated research expertise in modeling and controller design for robotic
systems and 8.10 years of experience in teaching.

EDUCATION
• Researcher/Forsker November 2022–Present
Researcher, Faculty of Science and Technology, Department of Mechanical Engineering and Technology
Management, REALTEK, NMBU, Norway.
Project: GentleMAN– Gentle Robotic Manipulation of 3D Compliant Objects.
Supervisor(s): Main supervisor: Prof. Alex Mason, NMBU; Co-supervisor: Dr. Ekrem Misimi, SINTEF
Ocean.
• Doctor of Philosophy November 2019
Ph.D. in Engineering (Control Systems Engineering), Symbiosis International University, Pune, India.
Ph.D. Thesis Title: Fractional Modeling and Controller Design for Robotic Manipulators.
Supervisor: Dr. Himanshu Agrawal, Lecturer, Curtin University, Australia, and Dr. Dipankar Deb,
Professor, Electrical Engineering Department, IIT-RAM, Ahmedabad, India.
Examiner: Prof. Radhakant Padhi, Professor, Department of Aerospace Engineering, Indian Institute of
Science (IISc), Bangalore.
• Master of Technology July 2012
M.Tech. in Control Systems Engineering, VJTI, Mumbai, 9.3/10 (CGPA)
M.Tech Thesis Title: Dynamics and Control of Under-actuated Robotic Systems Using Fractional Order
Calculus
Supervisor: Dr. Faruk A S Kazi, Dean Research and Professor, Electrical Engineering Department, VJTI
Mumbai
• Bachelor of Technology June 2009
B.Tech. in Electronics and Communication Engineering, ITM, Gida, Gorakhpur, 69.88%

ENGINEERING RESEARCH EXPERIENCE

University of Sannio, Benevento, Italy May 2021 - October 2022
• Precision Agriculture using Drones
My work is also associated with the University of Sannino, Benevento, Italy, and working on the VERITAS
project under the supervision of Prof. Luigi Glielmo. The main goal of which is to develop a system based on
crop growth dynamics for treatment and intervention on the farm. The primary goal is to use an unmanned
aerial vehicle to track the variability in a vineyard (through drones).
Symbiosis International (Deemed University), Pune July 2014 - Nov. 2019
• Mathematical Modeling of Dynamical Systems
During the Ph.D. course, I have used the concept of Fractional Calculus to find the mathematical model
of different robotic systems. I proposed an algorithm that can give a more accurate fractional-order model
of a dynamical system. The performance merit of the proposed algorithm is validated on some existing
fractional-order models and found that, by using the proposed algorithm, a more accurate model was ob-
tained. Furthermore, using the algorithm, a fractional-order equivalent model of a 2 DOF Serial Flexible
Link Robotic Manipulator, and a 2 DOF Serial Flexible Joint Robotic Manipulator is proposed.
 • Controller Design for Robotic Systems
During the Ph.D. course, based on the system model obtained by the above-proposed algorithm, different
control schemes have been designed based upon PID control, model predictive control (MPC), Adaptive
control, and control design by pole placement method for the various robotic system models. The performance
of the acquired system model was tested on the Quanser experimental setups of Robotic Manipulators and
found that when a fractional-order controller is designed for the fractional-order model of these robotic
systems, then the performance is improved significantly.
VJTI, Mumbai Aug. 2010 - July. 2012
• Fractional Order-Controller Design for Under-Actuated Systems
During the Master’s course, I gained knowledge of different control systems subjects. I proposed a Fractional
PID control design scheme for Under-actuated systems which were published in reputed conferences like
IEEE ICARCV’2012 and IFAC FDA’2012.

TEACHING EXPERIENCE
Assistant Professor, Electronics and Telecommunication Engineering, Symbiosis Institute of Tech-
nology, Pune August 2012 - June 2021
• Involved in setting up Robotics Lab in the department.
• Graduated 4 Master’s students.
• Developed the Course Curriculum Pack for Basic and Advance Electronics, Modern Control Systems, Robotics
etc.
• Subjects Taught- Robotics, Circuit Analysis, Signals and Systems, Control Systems, Basic
Electrical and Electronics, Non-linear Systems, Electromagnetic Field Theory.
• Attended various FDPs and Workshops.
• AICTE Institute incharge.
• Departmental Internationalization in charge.
• Member of Industry connects and Anti-Ragging Committee of the institute.
• Organized various technical and cultural events.
• Conducted Internal & External Oral /Practical Exam at the University.
Teaching Assistant, VJTI, Mumbai August 2010 - July 2012
Involved in taking lectures and tutorials of B.Tech and Diploma students.

RESEARCH INTERESTS
• Fractional Order Control.
• Optimal Control and Model Predictive Control.
• Mathematical modeling of Mechatronic Systems.
• Fractional modeling and control of Robotic Systems.
• Precision Agriculture.

KNOWLEDGE AND SKILLS

• Software Skills: MATLAB, LaTeX, Mathematica, MS Office.
• Experimental Setups: (i) 2DOF Serial Link Robotic Manipulator, (ii) 2DOF Serial Joint Robotic Manip-
ulator, (iii) Quarter Car Models used for research work, and UR10 at NMBU.
PUBLICATIONS

Book(s)
1. Abhaya Pal Singh et al., Fractional Modeling and Controller Design of Robotic Manipulators - With
Hardware Validation. Intelligent Systems Reference Library, Springer Nature, 194, July 2020. (Link)

Journal(s)
2. Kishore Bingi, B Rajanarayan Prusty, Abhaya Pal Singh. A Review on Fractional-order Modelling and
Control of Robotic Manipulators. Fractal and Fractional, 2023.(Link)
3. Abhaya Pal Singh, Amol Yerudkar, Davide Liuzza, Yang Liu, Luigi Glielmo. An optimal decision support
system based on crop dynamic model for N-fertilizer treatment. Sensors, 2022.(Link)
4. Abhaya Pal Singh, Amol Yerudkar, Valerio Mariani, Luigi Iannelli, Luigi Glielmo. A Bibliometric Re-
view of the use of Unmanned Aerial Vehicles in Precision Agriculture and Precision Viticulture for Sensing
Applications. Remote Sensing, 2022.(Link)
5. Gupta, Sagar, Abhaya Pal Singh, Dipankar Deb, and Stepan Ozana. Kalman Filter and Variants for
Estimation in 2DOF Serial Flexible Link and Joint Using Fractional Order PID Controller. Applied Sciences,
2021.(Link)
6. Abhaya Pal Singh et al., Modeling and Control of Robotic Manipulators: A Fractional Calculus Point of
View. Arabian Journal of Science and Engineering, doi.org/10.1007/s13369-020-05138-6, 2021.(Link)
7. Javed, Sayeed, Paresh Nasikkar, Abhaya Pal Singh, Stepan Ozana, Capacitive Load-based Smart OTF for
High Power Rated SPV Module. Energies, vol. 14, no. 3: 788., 2021. (Link)
8. Tomas Docekal, Stepan Ozana, Abhaya Pal Singh, Aleksandra Kawala, Closed-loop swing-up and stabi-
lization of inverted pendulum by finite-horizon LQR applied in 2-DOF concept, Control and Cybernetics,
vol. 49, No. 1, 2020. (Link)
9. Aniket Gunjal, Abhaya Pal Singh, A Brief Bibliometric Survey on Circularly Polarized Antennas for
Mobile Communication, Library Philosophy and Practice, 2020. (Link)
10. Abhaya Pal Singh et al., On Selection of Improved Fractional Model and Control of Different Systems with
Experimental Validation. Communications in Nonlinear Science and Numerical Simulation, 2019. (Link)
11. Abhaya Pal Singh et al., A Robust Fractional Model Predictive Control (FMPC) Design. Progress in
Fractional Differentiation and Applications, 5(3), pp 217-223, 2019. (Link)
12. Abhaya Pal Singh et al., A Fractional Model Predictive Controller Design for 2-D Gantry Crane System.
Journal of Engineering Science & Technology, 13(7), pp. 2224-2235, 2018. (Link)
13. Abhaya Pal Singh et al., Robust Fractional Model Predictive Controller (FMPC) Design for Underactuated
Robotic Systems. International Journal of Control & Automation, 11(7), pp. 109-118, 2018. (Link)
14. Abhaya Pal Singh et al., Fractional Order Controller Design and Analysis for Crane System. Progress in
Fractional Differentiation and Applications, 3(2), pp 155-162, 2017. (Link)
15. Abhaya Pal Singh et al., Fractional Order Controller Design for Inverted Pendulum On A Cart System
(POAC). Wseas Transactions On Systems And Control, 10, pp-172-178, 2015. (Link)
16. Srivastava Trisha, Abhaya Pal Singh, and Himanshu Agarwal. Modeling the Under-Actuated Mechan-
ical System with Fractional Order Derivative. Progress in Fractional Differentiation and Applications An
International Journal. 1(1), pp57-64. 2015. (Link)
17. Pritesh Shah, S.D Agashe, Abhaya Pal Singh. Fractional Order Modelling Using State Space Theory.
International Journal of Engineering and Technology, 5(3) , page 2891-2894, 2013. (Link)
 Book Chapter(s)
18. Abhaya Pal Singh et. al., Predictive Controller Design to Control angle & Position DIPOAC. Advances
in Intelligent Systems and Computing, Springer, pp. 453-460, 828, 2018. (Link)
19. Abhaya Pal Singh et. al., On Modeling and Analysis of Launch Vehicle System. Lecture Notes in Electrical
Engineering, 396, pp 273-279, Springer, 2016. (Link)

Conference(s)
20. Pallavi Srivastava, Edwin Chung, Abhaya Pal Singh. Deterministic completion detection technique for
asynchronous circuits using bundled data protocol, in AIP Conference Proceedings (Vol. 2519, No. 1, p.
030047). AIP Publishing LLC, 2022. (Link)
21. Ozana, S., Krupa, F., Nemcik, J., Takacs, G., Mozaryn, J., Beremlijski, P. Abhaya Singh & Kawala-
Sterniuk, A.. Design and Implementation of Adaptive NMPC in industrial applications: case study, in 2022
23rd International Carpathian Control Conference (ICCC), pp. 12-18, 2022. (Link)
22. S. Joshi and Abhaya Pal Singh. Comparison of the performance of controllers for under-actuated systems.
IEEE Conference on Power Electronics, Intelligent Control and Energy Systems, pp. 1-5, 2016. (Link)
23. Abhaya Pal Singh et. al., Fractional Equations of Motion Via Fractional Modeling of Underactuated
Robotics System. IEEE International conference ICARET, 2013 India.
24. Pritesh B. Shah, Prof. S D Agashe, Abhaya Pal Singh. Design of Fractional Order Controller for Un-
damped Control System. 4th Nirma University International Conference on Engineering, 2013. (Link)
25. Abhaya Pal Singh et. al., PI α Dβ Controller Design for Underactuated Mechanical Systems. 12th IEEE
International Conference on Control , Automation, Robotics and Vision ICARCV’2012, page 1654 – 1658,
2012. (Link)
26. Abhaya Pal Singh et. al., Fractional Order Controller Design for Underactuated Mechanical Systems.
The 5th IFAC Symposium on Fractional Differentiation and Its Applications-FDA’2012, 2012, China.

ACHIEVEMENTS
• 265 Google Scholar Citations and h-index 10 (202 Scopus Citation and h-index 8)
• Best Paper Award in Systems track of ICSNCS 2016
• Offered IASc-INSA-NASI Summer Research Fellowship-2013 by Indian National Science Academy for 2
months
• GATE-MHRD India Scholarship for two years from August 2010 to July 2012 to pursue Masters’s Degree

WORK STYLE
• Willing to perform basic tasks and move on to solve complex problems
• Able to learn new knowledge and adapt to new environments quickly
• Strong independent work style and excellent teamwork skills
• Well-organized and passionate

EDITORIAL EXPERIENCE(S)

• Guest Editor of the Special Issue on Applications of Fractional-Order Calculus in Robotics, Fractal and
Fractional (ISSN 2504-3110), IF : 3.577, Q1.
• Editorial Board Member (Review Editor) of the Journal - Frontiers in Control Engineering, 2021.
 • Special Session on Developments in Fractional Order Modeling and Control, 7th International Conference on
Control, Decision and Information Technology, 2020 in Prague, Czech Republic sponsored by IEEE Systems,
Man, and Cybernetics Society.

ACTIVE REVIEWER OF PEER REVIEWED JOURNALS

• Reviewer IEEE Transactions on Industrial Electronics
• Reviewer IEEE/ASME Transactions on Mechatronics
• Reviewer IEEE Transactions on Vehicular Technology
• SIAM Journal on Control and Optimization (SICON)
• Recognition by ACS Journals
• Reviewer Journal of Mechanical Science and Technology, Springer
• Reviewer Asian Journal of Control, Wiley
• Reviewer International Journal of Dynamics and Control, Springer
• Reviewer International Journal of Aerospace Engineering, Hindawi
• Reviewer Journal of Electrical Engineering and Technology (JEET)

REFERENCES
1. Prof. N. M. Singh, Department of Electrical Engineering, Veermata Jijabai Technological Institute, Mum-
bai 400019, Maharashtra, India. Email: nmsingh59@gmail.com, nmsingh@ee.vjti.ac.in
2. Prof. Faruk A. S. Kazi, Professor and Head, Electrical Engineering Department, VJTI, Mumbai, India,
Email: fskazi@el.vjti.ac.in, Tel: +91 22 40260913/24198180
3. Prof. Dipankar Deb, Full Professor, Institute of Infrastructure Technology, Research and Management,
Ahmedabad, India. Email: dipankardeb@iitram.ac.in, Tel: +91 79 67775408
4. Dr. Himanshu Agrawal, Lecturer, School of Electrical Engineering, Computers and Mathematical Sciences
(EECMS), Curtin University, Perth, Australia, Email: himanshu.agr10@gmail.com