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DASA|ICCR|Study in India|QIP

Center for Robotics and Mechtronics

Head of Department

Dr. Bikash Kumar Sarkar
PhD

E-mail:
bikash.sarkar@nitm.ac.in

Activities by the Centre

List of Publications

Journals:

  1. A. Sahoo, S. K. Dwivedy, and P. S. Robi, Advancements in the Field of Autonomous Underwater Vehicle," Ocean Engineering, vol. 181, pp. 145-160, 2019.
  2. P. Venkaiah, B. K. Sarkar, Hydraulically actuated horizontal axis wind turbine pitch control by model free adaptive controller, Renewable Energy
  3. A Rout, D Bbvl, BB Biswal, GB Mahanta, A fuzzy-regression-PSO based hybrid method for selecting welding conditions in robotic gas metal arc welding, Assembly Automation
  4. A Das, SR Das, SK Patel, BB Biswal, Effect of MQL and nanofluid on the machinability aspects of hardened alloy steel, Machining Science and Technology 24 (2), 291-320
  5. GB Mahanta, A Rout, DBB V. L, BB Biswal, An improved multi-objective antlion optimization algorithm for the optimal design of the robotic gripper, Journal of Experimental & Theoretical Artificial Intelligence 32 (2), 309-338
  6. BM Gunji, B Deepak, BB Biswal, Effect of Considering Secondary Parts as Primary Parts for Robotic Assembly Using Stability Graph, Arabian Journal for Science and Engineering 45 (2), 743-764
  7. A Rout, GB Mahanta, D Bbvl, BB Biswal, Kinematic and Dynamic Optimal Trajectory Planning of Industrial Robot Using Improved Multi-objective Ant Lion Optimizer, Journal of The Institution of Engineers (India): Series C, 1-11
  8. A Das, SR Das, SK Patel, BB Biswal, Experimental investigation of various machining attributes and cost estimation during machining of hardened AISI 4340 steel with untreated and cryo treated cermet inserts, Mechanics & Industry 21 (1), 110
  9. OP Sahu, BB Biswal,Sensor Integrated Robotic Hand for Industrial Application, International Journal of Mechanical Engineering and Robotics Research 9 (1 …
  10. A Das, SK Patel, BB Biswal, N Sahoo, A Pradhan,Performance evaluation of various cutting fluids using MQL technique in hard turning of AISI 4340 alloy steel, Measurement 150, 107079
  11. A Rout, B Deepak, BB Biswal, GB Mahanta, Optimal trajectory planning of industrial robot for improving positional accuracy, Industrial Robot: the international journal of robotics research and application
  12. A Rout, D Bbvl, BB Biswal, Optimal trajectory generation of an industrial welding robot with kinematic and dynamic constraints, Industrial Robot: the international journal of robotics research and application
  13. S Panda, D Mishra, BB Biswal, An approach for design optimization of 3R manipulator using Adaptive Cuckoo Search algorithm, Mechanics Based Design of Structures and Machines, 1-26
  14. A Das, O Pradhan, SK Patel, SR Das, BB Biswal, Performance appraisal of various nanofluids during hard machining of AISI 4340 steel, Journal of Manufacturing Processes 46, 248-270
  15. S Datta, BB Biswal, Experimental studies on electro-discharge machining of Inconel 825 super alloy using cryogenically treated tool/workpiece, Measurement 145, 611-630
  16. GB Murali, B Deepak, MVA Raju, BB Biswal, Optimal robotic assembly sequence planning using stability graph through stable assembly subset identification, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of …
  17. A Das, SK Patel, BB Biswal, SR Das, Performance evaluation of aluminium oxide nano particles in cutting fluid with MQL technique in turning of hardened AISI 4340 alloy steel, Scientia Iranica
  18. A Das, SK Patel, BB Biswal, SR Das, Machinability investigation and cost estimation during finish dry hard turning of AISI 4340 steel with untreated and cryo treated cermet inserts, Journal of Superhard Materials 41 (4), 247-264
  19. GB Mahanta, A Rout, B Deepak, BB Biswal, Application of Meta-Heuristic Optimization Techniques for Design Optimization of a Robotic Gripper, International Journal of Applied Metaheuristic Computing (IJAMC) 10 (3), 107-133
  20. BK Khamari, SS Dash, SK Karak, BB Biswal, Effect of welding parameters on mechanical and microstructural properties of GMAW and SMAW mild steel joints, Ironmaking & Steelmaking, 1-8
  21. B Deepak, G Bala Murali, MVAR Bahubalendruni, BB Biswal, Assembly sequence planning using soft computing methods: a review, Proceedings of the Institution of Mechanical Engineers, Part E: Journal of …
  22. S Mohapatra, AK Behera, R Mahapatra, H Das, A deterministic inventory model in reverse supply chain, Journal of Modelling in Management
  23. N Kumar, A Singh, K Debnath, Influence of Surface Modification on the Performance of Borassus Fruit Fiber Composites, Emerging Materials Research, 1-9
  24. MR Choudhury, K Debnath, Experimental analysis of tensile and compressive failure load in single-lap adhesive joint of green composites, International Journal of Adhesion and Adhesives 99, 102557
  25. D Prakash, M Tariq, R Davis, A Singh, K Debnath, Influence of cryogenic treatment on the performance of micro-EDM tool electrode in machining of magnesium alloy AZ31B
  26. AKR Sharma, MR Choudhury, K Debnath, Experimental investigation of friction stir welding of PLA, Welding in the World, 1-11
  27. RM Mazarbhuiya, H Dutta, K Debnath, M Rahang, Surface modification of CFRP composite using reverse-EDM method, Surfaces and Interfaces 18, 10045
  28. H Dutta, K Debnath, DK Sarma, Improving the performance of µED-milling using assisting electrode for fabricating micro-channels in CFRP composites, Materials Today: Proceedings
  29. MR Choudhury, K Debnath, Analysis of tensile failure load of single-lap green composite specimen welded by high-frequency ultrasonic vibration, Materials Today: Proceedings
  30. MR Choudhury, K Debnath, A Study of Drilling Behavior of Unidirectional Bamboo Fiber-Reinforced Green Composites, Journal of The Institution of Engineers (India): Series C, 1-9
  31. N Kumar, A Singh, K Debnath, N Kumar, Water absorption and mechanical behaviour of Borassus fruit fibre-reinforced composites, Emerging Materials Research 9 (1), 10-17
  32. MR Choudhury, K Debnath, On the analysis of compressive failure load of single-lap bolted joint of green composites, IOP Conference Series: Materials Science and Engineering 635 (1), 012028
  33. MR Choudhury, K Debnath, A review of the research and advances in electromagnetic joining of fiber?reinforced thermoplastic composites, Polymer Engineering & Science 59 (10), 1965-1985
  34. MR Choudhury, K Debnath, Experimental analysis of tensile and compressive failure load in single-lap bolted joint of green composites, Composite Structures 225, 111180
  35. H Dutta, K Debnath, DK Sarma, A study of material removal and surface characteristics in micro?electrical discharge machining of carbon fiber?reinforced plastics, Polymer Composites 40 (10), 4033-4041
  36. T Bose, S Roy, K Debnath, Detection of Delamination in Fiber Metal Laminates Based on Local Defect Resonance, Reinforced Polymer Composites: Processing, Characterization and Post Life …
  37. PK Gupta, K Debnath, Electrochemical discharge machining of glass fiber-reinforced epoxy composites: a challenging approach, Journal of Physics: Conference Series 1240 (1), 012044
  38. N Babu, JM Guerrero, P Siano, R Peesapati, G Panda, An Improved Adaptive Contategy in Grid-Tied PV System With Active Power Filter for Power Quality Enhancement, IEEE Systems Journal
  39. V Aarthi, VRS Dhulipala, P Rangababu, Attenuation Factor approach to minimize the correlation effect in Soft Output Viterbi Algorithm, Physical Communication 39, 101021
  40. NP Babu, CB Babu, RB Peesapati, G Panda, An optimal current control scheme in grid-tied hybrid energy system with active power filter for harmonic mitigation, INTERNATIONAL TRANSACTIONS ON ELECTRICAL ENERGY SYSTEMS 30 (3)
  41. S Baldev, KK Anumandla, R Peesapati, Scalable Wavefront Parallel Streaming Deblocking Filter Hardware for HEVC Decoder, IEEE Transactions on Consumer Electronics 66 (1), 41-50
  42. R Peesapati, SL Sabat, Programmable Auxiliary Co-Processing Unit for H. 264 Decoder, 2019 IEEE International Symposium on Smart Electronic Systems (iSES …
  43. G Panda, RB Peesapati, A Pre-?ltering based Current Control Strategy in Grid-tied Photovoltaic Systems with Active Power Filter for Harmonic Mitigation, IEEE
  44. S Kumar, GD Ropmay, PK Rathore, P Rangababu, J Akhtar, Fabrication and testing of PMOS current mirror-integrated MEMS pressure transducer, Sensor Review
  45. N Babu, R Peesapati, G Panda, An adaptive differentiation frequency based advanced reference current generator in grid-tied pv applications, IEEE Journal of Emerging and Selected Topics in Power Electronics
  46. S Kumar, GD Ropmay, PK Rathore, P Rangababu, J Akhtar, Fabrication and testing of PMOS current mirror-integrated MEMS pressure transducer, Sensor Review
  47. PAC Lopes, SS Yadav, A Ilic, SK Patra, Fast block distributed CUDA implementation of the Hungarian algorithm, Journal of Parallel and Distributed Computing 130, 50-62
  48. S.Das, S. Dutta, C. Putcha, S. Majumdar, D. Adak,“A data-driven physics informed method for prognosis of infrastructure systems : Theory and application to crack prediction,” ASCE-ASME Journal of Risk and Uncertainty in Engineering Systems, Part A : Civil Engineering (American Society of Civil Engineers (ASCE)) , vol 6, no 2, pp 04020013.
  49. DS Saini, A Ghosh, S Tripathy, A Kumar, SK Sharma, N Kumar, A Promising Proton Conducting Electrolyte BaZr 1-x Ho x O 3-δ (0.05≤ x≤ 0.20) Ceramics for Intermediate Temperature Solid Oxide Fuel Cells, Scientific Reports 10 (1), 1-12
  50. R. Nayak, D. Patra, D. and B. K. Balabantaray, B., 2020. Super-Resolution Image Reconstruction Using Molecular Docking. IET Image Processing (https://doi.org/10.1049/iet-ipr.2019.0491). (SCI and Impact Factor 2.004).
  51. R. Nayak, B. K. Balabantaray, and D. Patra, D., 2020. A new single image super-resolution using efficient feature fusion and patch similarity in Non-Euclidean space, Arabian Journal for Science and Engineering (4662), (DOI: 10.1007/s13369-020-04662-9), (SCI and Impact Factor 1.518) DOI: https://doi.org/10.1007/s13369-020-04662-9
  52. KHK Reddy, RK Behera, A Chakrabarty, DS Roy, A Service Delay Minimization Scheme for QoS Constrained, Context Aware Unified IoT Applications, IEEE Internet of Things Journal
  53. PP Singh, BK Roy, A novel chaotic system without equilibria, with parachute and thumb shapes of Poincare map and its projective synchronisation, The European Physical Journal Special Topics 229, 1265-1278
  54. PP Singh, BK Roy, Inter network synchronisation of complex dynamical networks by using smooth proportional integral SMC technique, The European Physical Journal Special Topics 229 (5), 861-876
  55. PP Singh, BK Roy, Memristor-based novel complex-valued chaotic system and its projective synchronisation using nonlinear active control technique, The European Physical Journal Special Topics 228 (10), 2197-2214
  56. M. Kumar and P. P. Singh, Chaos control of a four-dimensional fundamental power system using pole placement based proportional integral sliding mode control, Int. J. of Automation and Control, vol. 13, no. 6, pp. 679-697, June 2019.
  57. SD Roy, S Debbarma, Detection and Mitigation of Cyber-Attacks on AGC Systems of Low Inertia Power Grid, IEEE Systems Journal 14 (2), 2023-2031
  58. S Debbarma, R Shrivastwa, Grid Frequency Support From V2G Aggregators and HVdc Links in Presence of Nonsynchronous Units, IEEE Systems Journal 13 (2), 1757 - 1766
  59. Mondeep Mazumder, Sanjoy Debbarma, EV Charging Stations with a Provision of V2G and Voltage Support in a Distribution Network, IEEE Systems Journal, 2020.
  60. D. S. Saini, A. Ghosh, S. Tripathy, A. Kumar, S. K. Sharma, N. Kumar, S. Majumdar, D. Bhattacharya, " A Promising Proton Conducting Electrolyte BaZr 1-x Ho x O 3-δ (0.05≤ x≤ 0.20) Ceramics for Intermediate Temperature Solid Oxide Fuel Cells " Scientific Reports (Nature Publishing Group), vol. 10, no. 1, pp 1-12. (Impact Factor: 4.525)
  61. S. Moulik, S. Majumdar, “FallSense: An automatic fall detection and alarm generation system in IoT-enabled environment,” IEEE Sensor Journal, vol. 19, no. 19, pp.no. 8452-8459 , october 2019
  62. C. Lalengmawia and A. Chakrabarty, “A New Technique for 2D Nearest Neighbour Realization of Quantum Circuits using Weighted Look-ahead,” IET Computers & Digital Techniques, Jun 2020. (Accepted)
  63. P. P. Singh and B. K. Roy, Inter network synchronisation of complex dynamical networks by using smooth proportional integral SMC technique, Eur. Phys. J. Special Topics, vol. 229, pp. 861-876, January 2020.
  64. P. P. Singh and B. K. Roy, A novel chaotic system without equilibria, with parachute and thumb shapes of Poincare map and its projective synchronisation, Eur. Phys. J. Special Topics, vol. 229, pp. 1265-1278, March 2020.

Conferences:

  1. A Sahoo, S. K. Dwivedy, and P. S. Robi, Development of a PID Control Strategy for a Compact autonomous underwater vehicle," in Proceedings of the ASME 2019 38th International Conference on Ocean, Offshore and Arctic Engineering (OMAE2019), Glasgow, Scotland, 9-14 June, 2019.
  1. N Kumar, BK Sarkar, S Maity, Leakage Based Condition Monitoring and Pressure Control of the Swashplate Axial Piston Pump, Gas Turbine India Conference 83532, V002T09A005
  2. P Venkaiah, BK Sarkar, Modelling and Control of the Hydraulically Actuated Horizontal Axis Wind Turbine Pitch System, Gas Turbine India Conference 83532, V002T06A005
  3. AP Chakraverty, S Beura, UK Mohanty, SC Mishra, BB Biswal, Gamma-Irradiation of E-Glass/Epoxy Composite: A Study of its Mechanical and Thermal Sustainability, Materials Science Forum 978, 296-303
  4. A Das, SK Patel, BB Biswal, A SantoshwarComparative Study of some Machining Characteristics during Hard Turning of Alloy Steel with Untreated and Cryotreated Cermet Inserts, Materials Science Forum 978, 64-76
  5. A Das, SK Patel, BB Biswal, A Santoshwar, , Comparative Study of some Machining Characteristics during Hard Turning of Alloy Steel with Untreated and Cryotreated Cermet Inserts, Materials Science Forum 978, 64-76
  6. 2nd International Conference on Recent Advances in Materials & Manufacturing Technologies (IMMT - 2019), BITS Pilani, Dubai Campus, Dubai, UAE, November 20-22, 2019.
  7. International Symposium on Sustainable Polymers (ISSP - 2019), Indian Institute of Technology Guwahati, Assam, India, August 23-25, 20109
  8. S Gogoi, R Peesapati,A Hybrid Motion Estimation Search Algorithm for HEVC/H. 265, 2019 IEEE International Symposium on Smart Electronic Systems (iSES …
  9. R Peesapati, SL Sabat, Programmable Auxiliary Co-Processing Unit for H. 264 Decoder, 2019 IEEE International Symposium on Smart Electronic Systems (iSES …
  10. S Gogoi, R Peesapati, Design and Implementation of low power 4× 4/8× 8 2D-DTT architecture for image and video compression, 2019 Women Institute of Technology Conference on Electrical and Computer …
  11. PN Babu, RB Peesapati, G Panda,A Pre-filtering based Current Control Strategy in Grid-tied Photovoltaic Systems with Active Power Filter for Harmonic Mitigation, TENCON 2019-2019 IEEE Region 10 Conference (TENCON), 1003-1008
  12. BP Narendra, RB Peesapati, G Panda, An Adaptive Current Control Technique in Grid-tied PV System with Active Power Filter for Power Quality Improvement, TENCON 2019-2019 IEEE Region 10 Conference (TENCON), 187-191
  13. S Kumar, GD Ropmay, P Rangababu, PK Rathore, A Stress Sensitive CMOS Operational Amplifier Based Pressure Sensor with Varying Input and Gain, 2019 IEEE 9th International Conference on System Engineering and Technology
  14. PN Babu, PR Bana, RB Peesapati, G Panda, An Interleaved Buck Converter Based Active Power Filter for Photovoltaic Energy Application, 2019 International Conference on Power Electronics Applications
  15. NI Chervyakov, PA Lyakhov, AS Ionisyan, MV Valueva,, Hardware Implementation of Video Processing Device using Residue Number System DI Kaplunf, 2019 42nd International Conference on Telecommunications and Signal
  16. SJ Pinto, N Babu, RB Peesapati, G Panda, Monitoring and control of multibus microgrid system using FPGA platform, 2019 IEEE Region 10 Symposium (TENSYMP), 260-265
  17. S Kumar, GD Ropmay, P Rangababu, PK Rathore, A Stress Sensitive CMOS Operational Amplifier Based Pressure Sensor with Varying Input and Gain, 2019 IEEE 9th International Conference on System Engineering and Technology
  18. Gaddiella Diengdoh Ropmay, Shashi Kumar, Peesapati Rangababu, Pradeep Kumar Rathore and Jamil Akhtar , “  A Comparative Study on Sensitivity Enhancement of p-and n-channel MOSFET based Current Mirror Integrated Pressure Sensor Using Differential Amplifier ”,  2019 IEEE International Conference on Engineering, Technology and Education (2019 IEEE TALE),  Yogyakarta, Indonesia, 29th October 2019 (Accepted).
  19. Shashi Kumar, Deepak Kumar, Gaddiella Diengdoh Ropmay, Peesapati Rangababu, Pradeep Kumar Rathore and Jamil Akhtar  , “ A novel MEMS-based Blood Glucose Measurement Sensor using Twin-Cantilever Structure ”,  2019 IEEE International Conference on Engineering, Technology and Education (2019 IEEE TALE),  Yogyakarta, Indonesia, 26th September 2019 (Accepted).
  20. N Shafi, JS Parmaar, A Porwal, AM Bhat, C Sahu, C Periasamy, Back Gate Tunable Thin Film  – Si Nanowire BioFET for pH Detection By Compatible CMOS Fabrication Process 2020 4th IEEE Electron Devices Technology & Manufacturing Conference (EDTM), 1-4
  21. JA Arjun, S Majumdar, Development of Approximate Compressor Based Hybrid Dadda Multiplier for Image De-noising Applications, 2019 IEEE 16th India Council International Conference (INDICON), 1-4
  22. DACVRR G. Ashishkumar, Estimation of Fundamental Frequency of Noisy Speech Signals using Correlogram based on Subband Filtering, IEEE 6th International Conference on Engineering Technologies and Applied …
  23. AGCVRR Dutta A., Auditory Inspired Acoustic Model for Hybrid ASR System Using Gammatone Based Gabor Filters, 19th IEEE International Symposium on Signal Processing and Information (ISSPIT)
  24. C Lalengmawia, A Chakrabarty, Optimization of Local Ordering Technique for Nearest Neighbour Circuits, Machine Learning, Image Processing, Network Security and Data Sciences (MIND 2020)
  25. C Lalengmawia, A Chakrabarty, Compiling NCV Quantum Circuits for Nearest Neighbour Realization, 2020 International Conference on Emerging Trends in Information Technology  and Engineering (ic-ETITE 2020), Vellore, India, IEEE publications, 2020, pp. 1-5.
  26. Piyush Pratap Singh and Binoy Krishna Roy, A novel chaotic system with parachute and thumb shapes of Poincare map, 12th Conference on Nonlinear Systems and Dynamics, IIT Kanpur, 12-15 December, 2019.
  27. Sugandha and Piyush Pratap Singh, A complex state variable based novel hyperchaotic system with nine equilibria, 12th Conference on Nonlinear Systems and Dynamics, IIT Kanpur, 12-15 December, 2019
  28. SD Roy, S Debbarma, Mitigation of Intrusions to ACE Signals in Power System Networks, 2020 IEEE International Conference on Power Electronics, Smart Grid
  29. S Debbarma, C Hazarika, SD Roy, SPC based approach for Frequency Control of Power Systems Penetrated with Fast Acting Reserve, 2019 8th IEEE International Conference on Power Systems (ICPS), 1-6
  30. N. Shafi, J.S. Parmaar, A. Porwal, A.M.  Bhat, C. Sahu, C. Periasamy, S. Majumdar “Back Gate Tunable Thin Film $alpha $–Si Nanowire BioFET for pH Detection By Compatible CMOS Fabrication Process.” In2020 4th IEEE Electron Devices Technology & Manufacturing Conference (EDTM) 2020 Apr 6 (pp. 1-4). IEEE.
  31. A. Bhattacharya, S. Majumdar, “ Design of a 22 W (0.7 A) Current Controlled DC-DC Flyback Converter Operating in DCM Mode, “ In Emerging Trends in Electrical, Communications, and Information Technologies 2020 (pp. 247-258). Springer, Singapore.
  32. Anil Ku. Swain, Bunil Kumar Balabantaray, Jitendra Kumar Rout and S.  Satpathy, “An Optimal Deep learning approach for Classification of Age Groups in Social Network", 11th International Multi-Conference on Complexity, Informatics and Cybernetics (IMCIC 2020), Orlando, USA, on 10th -13th March, 2020.
  33. S. C. Barik, S Mohapatra, B. Das, M. Acharya, B K Balabantaray, “Advanced Colored Image Encryption Method using Evolution Function”, in International Conference on Machine Learning and Computational Intelligence (2019-ICMLCI), 14th -15th December, 2019.
  34. B. K. Balabanataray, R. Chakravarty, A. K. Panda and R. Nayak, Melanoma Classification Through Transfer Learning by the Analysis of Skin Lesion Images, 3rd International Conference On Computing and Communication Systems (I3CS 2020), NEHU Shillong (Accepted)
  35. L. Sahkhar and B. K. Balabantaray, 2020, “Scheduling Cloudlets to improve Response Time using CloudSim Simulator”, 3rd International Conference On Computing and Communication Systems (I3CS 2020), NEHU Shillong (Accepted)
  36. P. Sharma, K. Bora and B. K. Balabantaray, 2020 Identification of significant frames from colonoscopy video: an approach towards early detection of Colo-rectal cancer The International Conference on Computational Performance Evaluation (ComPE-2020), NEHU Shillong (Accepted)

Workshop Organized:

  1. Dr. B. K. Sarkar, Dr. R. N. Mahapatra, Capacity building on Artificial Intelligence and Robotics to Master Trainers, Association with: State Council of Science, Technology & Environment
  2. Dr. B. K. Balabantaray, Dr. P. Rangababu,  FDP on Advancements in signal processing and optimization techniques, NIT Meghalaya, Shillong, 3- 7 June 2019.
  3. Dr. B. K. Balabantaray, Dr. A. P. Singh, FDP on Network Security, NIT Meghalaya, Shillong, 20- 24 May 2019.
  4. Dr. B. K. Balabantaray, Dr. A. P. Singh, FDP on Deep Learning and Applications, NIT Meghalaya, Shillong, 27- 31 May 2019.
  5. Dr. B. K. Balabantaray, Dr. A. P. Singh, Dr. Surmila Thokchom , Dr. R. N. Mahapatra and Dr. P. Rangababu, Machine Learning and Deep Learning Using Python, NIT Meghalaya, Shillong, 22- 26 July 2019. Funding agency: EICT Academy, IIT Guwahati and NIT Meghalaya.

Projects

Sl. No. Title of the Project Investigators (P.I. / Co-P.I.) Funding Agency Funding amount (INR) Duration Status
1 Modeling and Control of the hydraulically actuated Ring Inlet Guide Vane of Francis Turbine by Adaptive Neural Network Sliding mode Controller Design Dr. B. K. Sarkar DST-SERB 30, 42,600 3 years Ongoing
2 Design and Development of the Small Wind Turbine Combined with Solar system for Household Application Dr. B. K. Sarkar, Dr. D. K. Sarma, Dr. S. Maity MHDR-DIC 3.2 lakhs 2 years On-going
3 Design and development of the Nano-hydro Turbine for Standalone Household Power Generation Dr. B. K. Sarkar, Dr. H. M. Kalita MHDR-DIC 1.1 lakhs 2years On-going