A5101440018- Robotic Mechanisms and Dynamics
- Mechanical Engineering and Vibrations Research
- Gear and Bearing Dynamics Analysis
- Mechanics and Biomechanics Studies
- Advanced Measurement and Metrology Techniques
- Manufacturing Process and Optimization
- Robot Manipulation and Learning
- Dynamics and Control of Mechanical Systems
- Robotics and Sensor-Based Localization
- Target Tracking and Data Fusion in Sensor Networks
- Design Education and Practice
- Underwater Vehicles and Communication Systems
- Advanced Numerical Analysis Techniques
- Iterative Learning Control Systems
- Modular Robots and Swarm Intelligence
- Soft Robotics and Applications
- Indoor and Outdoor Localization Technologies
- Control Systems in Engineering
- Adhesion, Friction, and Surface Interactions
- Cellular Mechanics and Interactions
- Transportation Planning and Optimization
- Advanced Theoretical and Applied Studies in Material Sciences and Geometry
- Mechanical Systems and Engineering
- Probabilistic and Robust Engineering Design
- Mechatronics Education and Applications
Nanyang Technological University
2010-2018
Sri Sathya Sai Institute of Higher Learning
2005
Koneru Lakshmaiah Education Foundation
1999-2002
University of Toledo
2000
Indian Institute of Technology Bhilai
1996-1998
Siddhartha Medical College
1988-1994
Princip (Czechia)
1983
Government Medical College
1980-1982
Rolls-Royce (United Kingdom)
1979
New planetary gear trains (PGTs) are generated using graph theory. A geared kinematic chain is converted to a and in turn algebraically represented by vertex-vertex adjacency matrix. Checking for isomorphism needs be an integral part of the enumeration process PGTs. Hamming matrix written from matrix, set rules, which adequate detect The present work presents twin objectives testing compactness matrices moment matrices.
A genetic algorithm for testing isomorphism among kinematic chains and to select the best frame input links is presented. The computational effort involved minimum method unique as it satisfies both necessary sufficient requirements. Fitness of a binary string corresponding link indicative its design parameters. Consequently fitness chain indicates number parameters active in motion generation. Chains are compared function generation on basis ‘fitness’ first second ‘fitness,’ etc., that...
Recently, we proposed a novel solution to the collaborative multivehicle simultaneous localization and mapping (CMSLAM) problem by extending random finite set (RFS) SLAM filter framework using recently developed multisensor information fusion techniques in statistics. We modeled measurements landmark map as RFSs, joint posterior consisting of vehicle trajectories was propagated time solve CMSLAM problem. The is based on Rao?Blackwellized particle filter-based estimation probability...
Structural synthesis of kinematic chains usually involves the creation a complete list chains, followed by isomorphism test to discard duplicate chains. A significant unsolved problem in structural is guaranteed precise elimination all isomorphs. Many methods are available kinematician detect among and inversions but each has its own shortcomings. Most study based on link-adjacency matrices or their modification loops very scanty although it important part chain. Using loop concept method...
The most important step in the structural synthesis of planetary gear trains (PGTs) requires identification isomorphism (rotational as well displacement) between graphs which represent kinematic structure train. Previously used methods for identifying graph yielded incorrect results. Literature review this area shows there is inconsistency results from six link, one degree-of-freedom onwards. purpose paper to present an efficient methodology through use Loop concept and Hamming number detect...
This paper focuses on a specific stochastic shortest path (SSP) problem, namely the punctuality problem. It aims to determine that maximizes probability of arriving at destination before specified deadline. The popular solution this problem always formulates it as cardinality minimization by considering its data-driven nature, which is approximately solved 1 , -norm relaxation. To address accurately, we consider special character in cardinality-based and reformulate introducing additional...
This paper presents a simultaneous localisation and mapping (SLAM) algorithm implemented on an autonomous sea kayak with commercial off-the-shelf X-band marine radar mounted. The Autonomous Surface Craft (ASC) was driven in off-shore test site Singapore's southern Selat Puah environment. Data from the radar, GPS inexpensive single-axis gyro data were logged by on-board processing unit as ASC traversed environment, which comprised geographical surface vessel landmarks. An automated feature...
This paper presents an alternative formulation for the Factorised Solution to Simultaneous Localization and Mapping (FastSLAM) algorithm using Adaptive Extended Kalman Filter based approach. The FastSLAM jointly estimates pose of robot location landmarks on feature map by factorising SLAM posterior into a localisation component which is implemented particle filter, mapping via independent Filters. To facilitate non-divergent state estimates, process model noise statistics must be modelled...
What is the least surface area of a shape that tiles Ropf <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">d</sup> under translations by Zopf ? Any such must have volume 1 and hence at volume-1 ball, namely Omega(radicd). Our main result construction with O(radicd), matching lower bound up to constant factor 2radic2pi/eap3. The best previous tile known was only slightly better than cube, having on order d. We generalize this give any full rank...