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A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to asymptotically track any sufficiently smooth reference trajectory, with robustness to bounded, constant uncertainties in the inertial properties of the sphere...
This work outlines an Intelligent Navigation System (INS) for autonomous robots. The primary focus of the proposed INS is to provide a logical, computationally efficient algorithm which serves as a basis to map and navigate unknown environments. For demonstrative and testing purposes, the INS was implemented both in simulation form using MATLABTM™ SIMULINK™ as well as practically, using an omni-directional...
In this paper trajectory and orientation control is addressed for an Omni directional robot (ODR). Here ODR is modeled in a state space representation using its dynamics and the kinematics incorporating correction for motor imbalance problem. Then for that nonlinear state space, novel tracking based state feedback linearizing strategy is introduced so that controller for the intended task can be designed...
As most of the renewable resources are concentrated often in remote locations, their development is hindered by the bottlenecks in the distribution network. Reliving these bottlenecks require a mechanism to increase the power flow capability of existing lines. Even though the simplest method of increasing the capability of a line is reconductoring it, it is not economical. Therefore, a cost effective...
Independent Component Analysis (ICA) is a class of blind source separation which can be successfully used for extracting unknown independent source signals from a set of signal mixtures. In this study, we introduce a new method for separation of acoustic source signals using frequency domain complex valued ICA. Although the conventional time domain ICA algorithms can be effectively used for extraction...
In this paper design and implementation of an accurate positioning system in indoor environments for an Omni directional Robot and a stereo vision based depth estimation system is discussed. The positioning system which is robust for wheel slip and jerky motion was implemented fusing odometry, Inertial Navigation System (INS) and magnetic compass based measurements. The vision system was implemented...
Although, Sarod and Santoor are predominantly used musical instruments in the culture of North Indian Classical Music (NICM), insignificant number of research are reported in the context of synthesis. Some of the most efficient and effective existing techniques of music synthesis such as subtractive synthesis, wavetable synthesis and frequency modulation synthesis are incapable of successfully capturing...
This paper proposes a spectral clustering based methodology to classify video events and to detect anomalies. Feature trajectories from objects in a video are modelled, compared and clustered in order to classify the detected object events. Principles of normalized spectral clustering are used with modifications to affinity structure. A novel method for determining spectral clustering parameters based...
The work presents a comprehensive methodology for recognition of temporally progressing hand gestures. Motion measurements associated with the hand position, orientation and finger bending are considered as time-series data sets and utilized for the recognition process. In addressing the hand gesture recognition problem in its multi-feature nature, a novel methodology for discovering relevant features...
In this paper, approaches to develop subspace-based classifiers for material based signal classification are presented. Material based signal classification is essential in many applications for the identification of the cause of the acoustic signal. Four approaches are presented in this paper for classification. They are namely, classification via eigen-filter characteristics, eigenvector projection...
In this endeavor, it is attempted to generate an automatic audio output from a given text file of musical notations of North Indian Classical Music via synthesizing of different musical instruments. The mathematical model developed in this attempt is based on the fundamental frequency component together with extracted envelop of one specified note from the computer acquired waveform to produce more...
A wireless sensor network is a wireless network consisting of spatially distributed autonomous devices using sensors to cooperatively monitor/control physical or environmental conditions, such as temperature, pressure or motion, at different locations. Main processing center gather information from remote locations while centrally controlling those centers. Reliability of communication can be achieved...
This paper presents a model developed in order to measure the electricity consumption of the domestic electricity users. The model has a special capability of transmitting the measured values to a central database via power line or a ISM band wire-less channel. Two modules were developed for power line communication and wireless communication where users can select the channel on their choice. The...
This paper presents a model developed in order to measure the electricity consumption of the domestic electricity users. The model has a special capability of transmitting the measured values to a central database via Power line or a ISM band wire-less channel. Two modules were developed for power line communication and wireless communication where users can select the channel on their choice. The...
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