Deepak Raina


Postdoctoral Fellow | Johns Hopkins University | Malone Center for Engineering in Healthcare

I am a postdoctoral fellow at the Johns Hopkins Malone Center for Engineering in Healthcare with Prof. Axel Krieger and Prof. Muyinatu Bell. I earned my Ph.D. in 2024 from the Indian Institute of Technology (IIT) Delhi, with a significant portion of my research conducted at Purdue University as a visiting student. I worked under the guidance of Prof. Subir K. Saha and Prof. Richard Voyles. My doctoral research was supported by two prestigious fellowships, Prime Minister's Research Fellowship (PMRF) at IIT Delhi and SERB-Overseas Visiting Doctoral Fellowship (OVDF) at Purdue University. Prior to joining Ph.D., I was a researcher at TCS Robotics Research and Innovation Lab (Delhi) under the supervision of Dr. Swagat Kumar and Mr. Rajesh Sinha. I obtained M.Tech at IIT Jodhpur in 2017 advised by Prof. Suril V. Shah.

I specialize in Robotics, Computer Vision, and Deep Learning, with a focus on their applications in healthcare. In my doctoral research, I worked on autonomous robotic ultrasound system for diagnostic imaging. I developed methods for learning from expert's demonstration to efficiently optimize the quality of ultrasound images during robotic scanning. I also developed several deep learning models for analyzing the quality of ultrasound images and guide the robotic system. Notably, the telerobotic ultrasound system was devleoped to scan trauma patients, with which 21 human trials were successfully conduted at a hospital in India. At the JHU Malone Center, I am advancing robotic ultrasound techniques for pre-hospital trauma diagnosis and interventions. At TCS RnI labs, I developed robotic solutions for warehouse tasks, one of which was patented and considered for commercial launch. My work has been published in top-tier conferences such as ICRA, CASE, ISMR, ROMAN as well as renowned IEEE transanctions like TMRB and TUFFC.

Beyond research, I enjoy staying active through badminton, strength training, hiking and running. Staying active and connected with nature keeps me energized and ready for research challenges.

Have a look at my CV for more details.


Recent Updates

Sep 02, 2024
Paper accepted into IEEE Transaction on Medical Robotics and Bionics (IF=3.4). Link
Aug 10, 2024
Convocated from IIT Delhi
Apr 03, 2024
Paper accepted into HSMR 2024. Link
Apr 03, 2024
Paper accepted into IEEE Transaction of Ultrasonics (IF=3). Link
Jan 02, 2024
Started as Postdoctoral fellow at Johns Hopkins University.
Dec 25, 2023
Successfully defended PhD thesis.
Sep 25, 2023
Submitted the PhD thesis for external review. More closer to the PhD finish line!
July 20, 2023
Passed the PhD synopis presentation. One step closer to the PhD finish line!
Jun 31, 2023
Paper got accepted into CASE 2023, Auckland, NZ Link
Jun 30, 2023
PMRF Review 2023: Recommended with Commendation!
Apr 05, 2023
Paper got accepted into HSMR 2023, London, UK Link
Feb 28, 2023
Won DST AWSAR Award on National Science Day for my doctoral research story Link
Feb 01, 2023
Paper got accepted into ISMR 2023, Atlanta, USA Link
Jan 22, 2023
Two papers got accepted into ICRA 2023, London, UK (#1 conference in robotics) Link
Jan 01, 2023
The third edition of IHFC newsletter is out (Role: Lead editor) Link
show more

Dec 22, 2022
Abstract got accepted in Robophysics session at the APS March Meeting 2023, Nevada, USA Link
Aug 08, 2022
Joint work with Kashish Verma (undergrad intern) accepted in ICBBE 2022, Kyota, Japan Link
Jun 17, 2022
Presented my research work in PMRF National Review 2022 conducted by IIT Bombay
May 29, 2022
Honored to speak during visit of Indian Ambassador to USA Mr. Taranjit Singh Sandhu to Purdue University. Link Video
May 23, 2022
Abstract on ultrasound image quality assessment has appeared in ICRA Workshop, 2022. Link
Jan 10, 2022
Started as SERB-OVD fellow at Purdue University, supervised by Prof. Richard Voyles at Collaborative Robotics Lab. Link
Nov 14, 2021
Our team won runner-up award in ICSR 2021 Robot Design Competition. Link

Aug 31, 2021
Our Telerobotic Ultrasound System has been covered by NewsX and India Science.
July 31, 2021
Our paper on development of Telerobotic Ultrasound System has been accepted at ISMR 2021, Atlanta, USA. Link
July 15, 2021
The second edition of IHFC newsletter is now published and available at https://ihfc.co.in/Newsletter/July2021.html.
June 15, 2021
Our paper on AI-based Modeling and Control of Robotic Systems has been accepted at ICRCV 2021, Beijing, China. Link
May 25, 2021
Passed my Ph.D. comprehenisve exam. Officially a Ph.D. candidate now.
Jan 26, 2021
Our paper on Impact modeling and reactionless control for capturing of orbiting objects using a multi-arm space robot has been accepted in Acta Astronautica. Link.
Jan 18, 2021
Contributed towards editing of inaugural newsletter of I-Hub Foundation for Cobotics at IIT Delhi. Link.
Jan 6, 2021
Our work on Chitrakar (Robotic Artist) at TCS has been covered by TechXplore and AtomsTalk.
Dec 20, 2020
Presented my research work in PMRF National Review 2020 conducted by IIT Kanpur.
Oct 27, 2020
Contributed towards organizing the virtual DD-Robocon 2020 event hosted by IIT Delhi. Link.
Oct 25, 2020
Presented work on Telerobotic Ultrasound: Towards safer, precise and remote diagnosis of COVID-19 patients at Workshop on Autonomous Systems in Medicine IROS 2020. Link.
Sep 05, 2020
Keynote speaker for an online workshop on “Robotics Control & Automation” at Muzaffarpur Institute of Technology, Govt. of Bihar during 3​rd​ - 7th​ September. The topic of my talk is “AI in Robotics”.
June 02, 2020
Presented work on Reactionless control and target manoeuvring of orbiting object in post-capture phase using a multi-arm space robot at Workshop on Space Robotics ICRA 2020. Link.
Mar 01, 2020
Honored to be part of the core team for the DST's Technology Innovation Hub (TIH) for Cobotics at IIT Delhi, 2020. Link.
Oct 15, 2019
Presented work on Novel Image-based Path Planning Algorithm for Eye-in-Hand Visual Servoing of a Redundant Manipulator in a Human Centered Environment at IEEE Ro-Man 2019. Link.
Aug 01, 2019
Started as PMRF fellow at IIT Delhi.

Experience



Johns Hopkins University, Maryland, USA
Postdoctoral Fellow
Malone Center for Engineering in Healthcare
Jan 2024 - Present

Purdue University, Indiana, USA
Postdoctoral Fellow
Collaborative Robotics Lab
July 2023 - Dec 2023

Purdue University, Indiana, USA
Visiting Doctoral Fellow
Collaborative Robotics Lab
Jan 2022 - July 2023

TCS Robotics Research and Innovation Lab, Delhi, India
Researcher
Smart Machines Division
Dec 2017 - August 2019

Tata Automation Limited, Pune, India
Trainee
Robotics Division
June - July 2016


Education

Indian Institute of Technology, Delhi
Doctorate of Philosophy (Ph.D.)
Mechanical Engineering - Robotics
GPA: 9/10
Aug 2019 - Jan 2024

Indian Institute of Technology, Jodhpur
Master of Technology (M.Tech.)
Mechanical Engineering - Robotics
GPA: 9.24/10
July 2015 - June 2017

Maharishi Markandeshwar University, Ambala
Bachelor of Technology (B.Tech.)
Mechanical Engineering
GPA: 9/10
June 2011 - May 2015

Research



Postdoc

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Coaching a Robotic Sonographer
Paper

Ph.D.

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UltraGelBot: Autonomous Gel Dispensor for robotic ultrasound
Paper
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Autonomus Robotic Ultrasound by Modeling of Domain Expertise
Paper1 Paper2
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Ultrasound Probe Normalization using Bayesian Optimization
Paper
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USQNet: Supervised Ultrasound Image quality assessment network
Paper
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US2QNet: UnSupervised Image quality assessment network
Paper
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Slim U-net: Ultrasound image segmentaion network
Paper Webpage
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Telerobotic Ultrasound (TR-US) during COVID-19 pandemic
Paper Video
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A Tutorial on AI-based modeling and control of robotic arm

Self-study project

Paper Code Video
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Symbolic motion planning of mobile manipulator in simulation

AI for Robotics course project

Report Code
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Bayesian state estimation of underwater robot using acoustics

AI for Robotics course project

Report Code
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Hand gesture-based control of Music Player using CNN

Computer Vision course project

Report Code Video
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Dynamic simulation and chaos analysis of double link pendulum

Analytical Dynamics course project

Slides Code Video

Industry

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Chitrakar: Robot Artist
Video Paper
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Optimal Robotic Packing of Long Distance Carrier (LDC)
Video
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Palletizer - Robotic Truck Loading System (ATLS)
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Vision-based Control of Robotic Manipulators
Video1 Video2 Paper

Masters

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Impact modeling and control of space robot for capturing orbiting objects

Masters Thesis Project

Paper Webpage
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Solidworks API for triangulation of solids using Delaunay Triangulation

CAD course project

Report Code
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Adaptive slicing procedure for layered manufacturing and generate G-Codes

CAM course project

Report Code
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AdamsCar simulation of braking, acceleration and steering

Vehicle Dynamics course project

Report Code
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MATLAB code for 2D/3D truss analysis

FEM course project

Report Code

Bachelors

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Design and development of All-Terrain vehicle

SAE BAJA 2015; Lead designer

Report Video
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Design and development of Solar-powered vehicle

ISIE ESVC 2014; Lead designer

Report
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Design and development of Human-powered vehicle

ASME HPVC 2014; Lead designer

Report

Publications



Journals

  1. Coaching a Robotic Sonographer: Learning Robotic Ultrasound With Sparse Expert's Feedback,
    Deepak Raina, Mythra V. Balakuntala, Byung Wook Kim, Juan Wachs, Richard Voyles
    IEEE Transactions on Medical Robotics and Bionics
    PDF
  2. Deep Learning Model for Quality Assessment of Urinary Bladder Ultrasound Images using Multi-scale and Higher-order Processing,
    Deepak Raina, SH Chandrashekhara, Richard Voyles, Juan Wachs, Subir Kumar Saha
    IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control
    PDF
  3. Tele-robotic ultrasound: an initial feasibility study,
    SH Chandrashekhara, Krithika Rangarajan, Ayushi Agrawal, Sanjay Thulkar, S. Gamanagatti, Deepak Raina, S.K. Saha and Chetan Arora,
    World Journal of Methodology 2022
    PDF
  4. Impact Modeling and Reactionless Control for post-capturing and manoeuvring of orbiting objects using a Multi-arm space robot,
    Deepak Raina, Sunil Gora, Dheeraj Maheshwari, Suril V. Shah,
    Acta Astronautica 2021
    PDF
  5. Design and Development for Roll Cage of All-Terrain Vehicle,
    Deepak Raina, Rahul Dev Gupta, Rakesh Kumar Phanden,
    International Journal for Technological Research in Engineering (IJTRE) 2015
    PDF Video

Conferences

  1. UltraGelBot: Autonomous Gel Dispenser for Robotic Ultrasound,
    Deepak Raina, Ziming Zhao, Richard Voyles, Juan Wachs, Subir Kumar Saha, SH Chandrashekhara
    Hamlyn Symposium on Medical Robotics (HSMR) 2024.
    PDF
  2. RUSOpt: Robotic UltraSound Probe Normalization using Bayesian Optimization for in-plane and out-plane scanning,
    Deepak Raina, Abhishek Mathur, Richard Voyles, Juan Wachs, SH Chandrashekhara, Subir Kumar Saha
    IEEE International Conference on Automation Science and Engineering (CASE) 2023.
    PDF
  3. Robotic Sonographer: Autonomous Robotic Ultrasound using Domain Expertise in Bayesian Optimization,
    Deepak Raina, SH Chandrashekhara, Richard Voyles, Juan Wachs, Subir Kumar Saha
    IEEE International Conference on Robotics and Automation (ICRA) 2023.
    PDF
  4. Deep Kernel and Image Quality Estimators for Optimizing Robotic Ultrasound Controller using Bayesian Optimization,
    Deepak Raina, SH Chandrashekhara, Richard Voyles, Juan Wachs, Subir Kumar Saha
    IEEE International Symposium on Medical Robotics (ISMR) 2023.
    PDF
  5. Expert-Agnostic Ultrasound Image Quality Assessment using Deep Variational Clustering ,
    Deepak Raina, Dimitrios Ntentia, SH Chandrashekhara, Richard Voyles, Subir Kumar Saha
    IEEE International Conference on Robotics and Automation (ICRA) 2023.
    PDF
  6. Learning Robotic Ultrasoud through Coaching,
    Mythra V. Balakuntala, Deepak Raina, Juan Wachs, Richard Voyles
    Hamlyn Symposium on Medical Robotics (HSMR) 2023.
    PDF
  7. Slim U-Net: Efficient Anatomical Feature Preserving U-net Architecture for Ultrasound Image Segmentation,
    Deepak Raina, Kashish Verma, Chandrashekhara SH, Subir Kumar Saha
    ACM International Conference on Biomedical and Bioinformatics Engineering (ICBBE) 2022
    PDF
  8. Comprehensive Telerobotic Ultrasound System for Abdominal Imaging: Development and in-vivo Feasibility Study,
    Deepak Raina, Hardeep Singh, Subir Kumar Saha, Chetan Arora, Ayushi Agarwal, Chandrashekhara Sh, Krithika Rangarajan, Suvayan Nandi
    IEEE International Symposium on Medical Robotics (ISMR) 2021.
    PDF Video
  9. AI-based Modeling and Control of Robotic Systems: A Brief Tutorial,
    Deepak Raina, Subir Kumar Saha
    International Conference on Robotics and Computer Vision (ICRCV) 2021.
    PDF Video
  10. A Novel Image-based Path Planning Algorithm for Eye-in-Hand Visual Servoing of a Redundant Manipulator in a Human Centered Environment,
    Deepak Raina, P. Mithun, Suril V. Shah, Swagat Kumar,
    IEEE International Conference on Robot and Human Interactive Communication (Ro-Man), 2019
    PDF Video
  11. Impact Modeling and Estimation for Multi-Arm Space Robot while Capturing Tumbling Orbiting Objects,
    Deepak Raina, Suril V. Shah,
    Advances in Robotics (AIR) 2017
    PDF

Workshops

  1. Local and global feature fusion for ultrasound image quality assessment: Towards autonomous robotic ultrasound,
    Deepak Raina, Mythra V. Balakuntala, Richard Voyles, Subir Kumar Saha,
    Workshop on Human-centered Autonomy in Medical Robotics,
    International Conference on Robotics and Automation (ICRA) 2022. Link
  2. Telerobotic Ultrasound: Towards safer, precise and remote diagnosis of COVID-19 patients,
    Deepak Raina, Suvayan Nandi, Subir Kumar Saha, Chetan Arora, Dr. Krithika Rangarajan and Dr. Chandrashekhara Sh,
    Workshop on Autonomous System in Medicine,
    International Conference on Intelligent Robots and Systems (IROS) 2020. Link
  3. Chitrakar: Robotic System for Drawing Jordan Curve of Facial Portrait,
    Aniruddha Singhal, Ayush Kumar, Shivam Thukral, Deepak Raina, Swagat Kumar,
    Workshop on Creativity and Robotics,
    International Conference on Social Robotics (ICSR), 2020. Link
    PDF Video
  4. Reactionless control and target manoeuvring of orbiting object in post-capture phase using a multi-arm space robot,
    Deepak Raina, Sunil Gora, Suril V. Shah,
    Workshop on Space Robotics,
    International Conference on Robotics and Automation (ICRA) 2020. Link

Book Chapters

  1. Modeling and Estimation of Closed-Loop Impact for Multi-arm Space Robot While Capturing a Tumbling Orbiting Object,
    Deepak Raina, Sunil Gora, Suril V. Shah,
    Machines, Mechanism and Robotics. Lecture Notes in Mechanical Engineering, Springer, Singapore, 2019,
    PDF

Patents

  1. Modular Robotic Ultrasound Probe Gripper with Autonomous Gel Dispenser,
    Deepak Raina, Ziming Zhao, Richard Voyles, Juan Wachs, Subir Kumar Saha, SH Chadrashekhara
    US App. No. 63/620,115; Submitted on Jan. 11, 2024
  2. System and method for autonomous multi-bin parcel loading system,
    Aniruddha Singhal, Harshad Kahdilkar, Venkat Raju, Deepak Raina, Venkatesh S. Prasad, Shivam Thukral, Rajesh Sinha,
    IN Patent No. 527907, App No. 202021005053; Filed: Feb 05, 2020, Granted: Mar 15, 2024
    US Patent No. US2021/0253376A1, Filed: Feb 04, 2021, Published: Aug 19, 2021
    EP Patent No. 3862939A1, Filed: Feb 04, 2021, Published: Aug 11, 2021

Theses

  • Robotic Sonographer: Robot Learning Ultrasound Procedure Skills from Domain Expertise
    Supervisor: Prof. Subir K. Saha
    Department of Mechanical Engineering, IIT Delhi
  • Impact Modeling and Estimation for Multi-Arm Space Robot while Capturing Tumbling Orbiting Objects
    Supervisor: Prof. Suril V. Shah
    Department of Mechanical Engineering, IIT Jodhpur

News

Talks

  • Advancing robotic ultrasound scanning through modeling of domain-expertise
    Malone Center for Engineering in Healthcare, Johns Hopkins University, USA
    Apr 4, 2024
  • AI in Robotics
    Department of Mechanical Engineering, Muzaffarpur Institute of Technology, Bihar, India
    Sep 3, 2020

Honors & Awards

  • Malone Postdoctoral Fellowship (2024)
    Among 2 students to be selected across the globe for a Malone postdoctoral fellowship at Johns Hopkins University. Link
  • PMRF Academic Excellence Award (2023)
    Acknowledged for exceptional performance among all PMRF fellows and invited to present my research at the annual PMRF convention.
  • IEEE RAS Travel Award (2023)
    Awarded for supporting my travel to ICRA 2023 in London, UK
  • Purdue University Dean’s Travel Award (2023)
    Awarded for supporting my travel to ISMR 2023 in Georgia, USA
  • DST - AWSAR 2022 Award (2022)
    Awarded to my doctoral research story, distinguished as nation’s top 100 scientific research stories.
  • SERB - Overseas Visiting Doctoral Fellowship (2022)
    Among 25 Ph.D. students to be selected across country to spend one year at Purdue University, USA. This fellowship is awarded by Science and Engineering Research Board (SERB) of India. Link
  • International Robot Design Competition Award (2021)
    Runner-up award to our Telerobotic Ultrasound system at ICSR 2021 Robot Design Competition for the COVID-19 innovative response.
  • Director's Honorarium (2021)
    Honored by Director of IIT Delhi for my efforts in establishing the Technology Innovation Hub (TIH) on Collaborative robotics (Cobotics).
  • Prime Minister's Research Fellowship (2019)
    Among 10 students to be selected across the country in Mechanical Engineering, awarded by the Ministry of Education (MoE) to exceptional doctoral candidates in the country. Link
  • Dassault Systèmes Design Award (2014)
    Awarded 2nd prize in design of Human-Powered Vehicle Challenge (HPVC) organized by ASME at IIT Delhi.
  • Indira Gandhi Merit Scholarship (2011)
    Secured 7th rank in 12th state board exams. This Scholarship is awarded by Director of Higher Education to top 10 students.
  • Letter of Appreciation (2011)
    Awarded by Union Minister of India Mr. Anurag Thakur for excellent performance in 12th state board exams

Contact

I can be reached best via email draina1@jh.edu or draina.iitd@gmail.com. I am happy to hear from you!

Prospective Students: I strongly believe in the value of mentorship for research. If you have some exposure to robotics, computer vision and deep learning, please reach out via email with your CV/Resume and brief description of how working with me aligns with your long term professional goals. Research conducted by past mentess has been published in top robotics conferences (ICRA, CASE). All of the students I mentored joined top graduate programs such as PhD at Cornell, MS at Carnegie Mellon, and MS at Columbia University. Feel free to connect with my former mentees for insights into my mentoring style, their details can be found in my CV.