Motion planning of mobile robot in dynamic environment using potential field and roadmap based planner

Mobile robots are increasingly being used to perform tasks in unknown environments. The potential of robots to undertake such tasks lies in their ability to intelligently and efficiently locate and interact with objects in their environment. My research focuses on developing algorithms to plan paths for mobile robots in a partially known environment observed by an overhead camera. The environment consists of dynamic obstacles and targets. A new methodology, Extrapolated Artificial Potential Field, is proposed for real time robot path planning. An algorithm for probabilistic collision detection and avoidance is used to enhance the planner. The aim of the robot is to select avoidance maneuvers to avoid the dynamic obstacles. The navigation of a mobile robot in a real-world dynamic environment is a complex and daunting task. Consider the case of a mobile robot working in an office environment. It has to avoid the static obstacles such as desks, chairs and cupboards and it also has to consider dynamic obstacles such as humans. In the presence of dynamic obstacles, the robot has to predict the motion of the obstacles. Humans inherently have an intuitive motion prediction scheme when planning a path in a crowded environment. A technique has been developed which predicts the possible future positions of obstacles. This technique coupled with the generalized Voronoi diagram enables the robot to safely navigate in a given environment

A new computational approach to the synthesis of fixed order controllers

The research described in this dissertation deals with an open problem concerning the synthesis of controllers of xed order and structure. This problem is encountered in a variety of applications. Simply put, the problem may be put as the determination of the set, S of controller parameter vectors, K = (k1; k2; : : : ; kl), that render Hurwitz a family (indexed by F) of complex polynomials of the form fP0(s; ) + Pl i=1 Pi(s; )ki; 2 Fg, where the polynomials Pj(s; ); j = 0; : : : ; l are given data. They are specied by the plant to be controlled, the structure of the controller desired and the performance that the controllers are expected to achieve. Simple examples indicate that the set S can be non-convex and even be disconnected. While the determination of the non-emptiness of S is decidable and amenable to methods such as the quantier elimination scheme, such methods have not been computationally tractable and more importantly, do not provide a reasonable approximation for the set of controllers. Practical applications require the construction of a set of controllers that will enable a control engineer to check the satisfaction of performance criteria that may not be mathematically well characterized. The transient performance criteria often fall into this category. From the practical viewpoint of the construction of approximations for S, this dissertation is dierent from earlier work in the literature on this problem. A novel feature of the proposed algorithm is the exploitation of the interlacing property of Hurwitz polynomials to provide arbitrarily tight outer and inner approximation to S. The approximation is given in terms of the union of polyhedral sets which are constructed systematically using the Hermite-Biehler theorem and the generalizations of the Descartes' rule of signs

Artificial Intelligence A Byproduct of Natural Intelligence and Their Salient Features

This paper mainly focuses on the creation of Artificial Intelligence (AI) using natural intelligence but the question to be considered whether the natural intelligence can be created using artificial intelligence or not. The Artificial intelligence is the outcome of functionality and capabilities of human brain called neural Network. In this paper, it is presumed that the artificial intelligence is a byproduct of natural intelligence and then we discuss some relationship between both of these, especially the working of natural intelligence. Some other important questions are raised to understand a deep linkage between natural and artificial intelligence. There exists lot of non-material phenomenon created by dint of natural intelligence (not created by human) causing to produce systems run by artificial intelligence theorems and algorithms working at backend. The software based on Knowledge Based Systems (KBS) derives its power from human wisdom and natural intelligence. There are several limitations on artificial intelligence. In creation of natural intelligence there is a great role of spirituality.Humans are creator of artificial intelligence with limited abilities. Actually AI started with invention of machines. The applications of creation of natural  intelligence are vastly and abundantly known to humans of 21st Century, which are incorporated in the areas of Space Science, Anatomy, and motion ofPlants, spin of electron, Electronics, plant intelligence and Neural Science etc. The working of machines depending upon the artificial intelligence doesn't provide creativity or self-motivated innovations, within the meaning of natural intelligence

Internet of Things: Architectural Components, Protocols and Its Implementation for Ubiquitous Environment

Ubiquitous data processing of the sensing nodes has revolutionized the development of electronic industries manufacturing. The concept of the Internet of Things (IoT) is the connectivity of distributed sensing and processing nodes from anywhere rather than fixed computing. For the Implementation of Ubiquitous smart environment, anything and everything can be converted to smart IO Things, and where things have sensing and processing abilities for automation and analysis of environmental processes. Sensors, actuators, embedded processing systems, networking gateways, and IoT Cloud Services are the building blocks of IoT implementation. This paper presents a brief discussion on the connectivity of building blocks with various enabling technologies for the implementation of the Internet of Things. Moreover, many of data link standards and the internet of things data communication protocols will be in the discussion

A Mixed Integer Linear Program for Solving a Multiple Route Taxi Scheduling Problem

Aircraft movements on taxiways at busy airports often create bottlenecks. This paper introduces a mixed integer linear program to solve a Multiple Route Aircraft Taxi Scheduling Problem. The outputs of the model are in the form of optimal taxi schedules, which include routing decisions for taxiing aircraft. The model extends an existing single route formulation to include routing decisions. An efficient comparison framework compares the multi-route formulation and the single route formulation. The multi-route model is exercised for east side airport surface traffic at Dallas/Fort Worth International Airport to determine if any arrival taxi time savings can be achieved by allowing arrivals to have two taxi routes: a route that crosses an active departure runway and a perimeter route that avoids the crossing. Results indicate that the multi-route formulation yields reduced arrival taxi times over the single route formulation only when a perimeter taxiway is used. In conditions where the departure aircraft are given an optimal and fixed takeoff sequence, accumulative arrival taxi time savings in the multi-route formulation can be as high as 3.6 hours more than the single route formulation. If the departure sequence is not optimal, the multi-route formulation results in less taxi time savings made over the single route formulation, but the average arrival taxi time is significantly decreased

SARDA HITL #6 Simulation: System Performance Analysis (Initial Results)

This presentation discusses the results of the 6th human-in-the-loop simulation of the Spot and Runway Departure Advisor (SARDA). SARDA is a research prototype decision support tool for both Air Traffic Control Tower controllers and airlines ramp controllers to assit in controlling surface traffic of a busy airport. Data was collected during the human-in-the-loop simulations of SARDA for ramp operatoins at Charlotte International Airport (Oct-Nov 2014). The performance results include taxi time, taxi delay, total delay, and runway usage

Numerical optimization of (FTO/ZnO/CdS/CH₃NH₃SnI₃/GaAs/Au) perovskite solar cell using solar capacitance simulator with efficiency above 23% predicted

The presented study deals with the investigations of the methyl ammonium tin halide (CH3NH3SnI3) based perovskite solar cells for optimized device performance using solar capacitance simulations software. Several necessary parameters such as metal work functions, thickness of structural layers, charge carrier’s mobility and defect density have been explored to evaluate the device performance. Calculations reveal that for the best efficiency of device the maximum thickness of the perovskite (CH3NH3SnI3) absorber layer must be 4.2 μm. The thickness values of 0.01 μm for ZnO electron transport layer (ETL), 0.871 μm for GaAs hole transport layer and 0.001 μm for CdS buffer layer have been found which proved to be optimum for maximum power conversion efficiency (PCE) of 23.80% for the device. The variation of open circuit voltage (Voc), Short circuit current (Jsc), Fill Factor (FF %), quantum efficiency (QE) against thickness of all layers and interface defect densities in FTO/ZnO/CdS/CH3NH3SnI3/GaAs/Au composition have been critically explored and their crucial role for the device performance has been reported. Heterojunctions between ZnO-ETL and CdS buffer layers have shown improved device performance and PCE. Current investigations may prove to be useful for designing and fabrication of climate friendly, non-toxic and highly efficient solar cells

Expression variation of OGG1 and HPRT gene and DNA damage in arsenic exposed industrial workers

Arsenic exposure alters redox balance, induces DNA damage, and deregulates many genes. OGG1 gene involved in base repair mechanism, for excision of 8-oxoguanine (8-oxoG) from DNA formed as a result of accumulation of ROS in cell. HPRT gene encode transferase enzymes involved in purine recycling mechanism. The main focus of the study was to evaluate the expression variation in HPRT, OGG1 gene expression, and DNA damage of industrial workers. Blood samples of 300 occupational workers were collected from welding, brick kiln, furniture, pesticide, and paint industry (n = 60/industry) to evaluate the expression variation in HPRT, OGG1 gene expression, and DNA damage in blood cells by comet assay along with age and gender matched 300 control individuals. Blood arsenic content was higher (P\u3c0.001) in an industrial group compared to the control. OGG1 and HPRT expression were (P\u3c0.05) downregulated in exposed workers compared to controls. Spearman correlation analysis showed a significant positive correlation between HPRT vs OGG1 (P\u3c 0.0001) in exposed workers compared to controls. Altered expression of both genes was observed between workers with \u3c25years and \u3e25years of age as well as between workers with \u3c10years and \u3e10year exposure. Reduced expression (P\u3c0.05) of both genes and a high extent of DNA damage was evident in exposed smokers compared to respective non-smokers. DNA fragmentation was higher (P\u3c0.05) in the furniture, welding and brick kiln group compared to control, and other industries. The present study suggests that altered expression of OGG1 and HPRT gene induce oxidative stress, showed a negative impact on the recycling of purines leading to DNA damage which increase the vulnerability of workers to carcinogenicity

Evolution towards Smart and Software-Defined Internet of Things

The Internet of Things (IoT) is a mesh network of interconnected objects with unique identifiers that can transmit data and communicate with one another without the need for human intervention. The IoT has brought the future closer to us. It has opened up new and vast domains for connecting not only people, but also all kinds of simple objects and phenomena all around us. With billions of heterogeneous devices connected to the Internet, the network architecture must evolve to accommodate the expected increase in data generation while also improving the security and efficiency of connectivity. Traditional IoT architectures are primitive and incapable of extending functionality and productivity to the IoT infrastructure’s desired levels. Software-Defined Networking (SDN) and virtualization are two promising technologies for cost-effectively handling the scale and versatility required for IoT. In this paper, we discussed traditional IoT networks and the need for SDN and Network Function Virtualization (NFV), followed by an analysis of SDN and NFV solutions for implementing IoT in various ways

Effects of hospital facilities on patient outcomes after cancer surgery: an international, prospective, observational study

Background Early death after cancer surgery is higher in low-income and middle-income countries (LMICs) compared with in high-income countries, yet the impact of facility characteristics on early postoperative outcomes is unknown. The aim of this study was to examine the association between hospital infrastructure, resource availability, and processes on early outcomes after cancer surgery worldwide.Methods A multimethods analysis was performed as part of the GlobalSurg 3 study-a multicentre, international, prospective cohort study of patients who had surgery for breast, colorectal, or gastric cancer. The primary outcomes were 30-day mortality and 30-day major complication rates. Potentially beneficial hospital facilities were identified by variable selection to select those associated with 30-day mortality. Adjusted outcomes were determined using generalised estimating equations to account for patient characteristics and country-income group, with population stratification by hospital.Findings Between April 1, 2018, and April 23, 2019, facility-level data were collected for 9685 patients across 238 hospitals in 66 countries (91 hospitals in 20 high-income countries; 57 hospitals in 19 upper-middle-income countries; and 90 hospitals in 27 low-income to lower-middle-income countries). The availability of five hospital facilities was inversely associated with mortality: ultrasound, CT scanner, critical care unit, opioid analgesia, and oncologist. After adjustment for case-mix and country income group, hospitals with three or fewer of these facilities (62 hospitals, 1294 patients) had higher mortality compared with those with four or five (adjusted odds ratio [OR] 3.85 [95% CI 2.58-5.75]; p<0.0001), with excess mortality predominantly explained by a limited capacity to rescue following the development of major complications (63.0% vs 82.7%; OR 0.35 [0.23-0.53]; p<0.0001). Across LMICs, improvements in hospital facilities would prevent one to three deaths for every 100 patients undergoing surgery for cancer.Interpretation Hospitals with higher levels of infrastructure and resources have better outcomes after cancer surgery, independent of country income. Without urgent strengthening of hospital infrastructure and resources, the reductions in cancer-associated mortality associated with improved access will not be realised