A multi-robot educational and research framework

Robots have greatly transformed human’s life. Multi-disciplinary research in robotics essentially demands having sophisticated frameworks with diverse range of capabilities ranging from simple tasks like testing of control algorithms to handling complex scenarios like multiple robot coordination. The present research addresses this demand by proposing a reliable, versatile and cheap platform enriched with enormous features. The framework has been conceptualized with three robots having different drive mechanisms, sensing and communication capabilities. The proposed ‘Wanderbot’ family consists of ForkerBot, MasterBot and HexaBot. The ForkerBot is a four-wheeled robot equipped with ultra sonic range finder, wheel encoder, bump sensor, temperature sensor, GSM, GPS and RF communication modules. The robot, having a payload capacity of 8 pounds, supports both Differential and Ackerman drive mechanisms and can be used to validate advanced obstacle avoidance algorithms. The MasterBot is also a wheeled robot with an on-board camera and is skid-steered. The robot finds potential in research on image processing and computer vision and in analysis and validation of algorithms requiring high-level computations like complex path traversal. The third member in the Wander family, HexaBot, is a six-legged robot, which is able to exhibit the movement of tripod gait and can be used for investigating walking and climbing algorithms. The three members of Wander family can communicate with one another, thus making it a good candidate for research on coordinated multi-robots. Additionally, such a prototyped platform with vast attractive features finds potential in an academic and vocational environment

HEXOSYS II - Towards realization of light mass robotics for the hand

This research presents a prototype of a direct-driven, optimized and light-mass hand exoskeleton that is designed to fit over the dorsal side of the hand, thus retaining palm free for interaction with real/virtual objects. The link lengths of the proposed Hand EXOskeleton SYStem (HEXOSYS) TT have been selected based on an optimization algorithm. In an attempt to make the design human hand compatible, the actuators of HEXOSYS II have been chosen as a result of series of experiments on human hands of various sizes. The system based on an optimum under-actuated mechanism provides 3 DOF/finger. The resultant motion of the exoskeleton allows the wearer to perform flexion/abduction as well as passive abduction/adduction. Simple and under-actuated mechanisms together with compact mechanical design lead to realize a light mass robotic system. The first prototype of HEXOSYS II has been fabricated. Comprising of four fingers, which are enough to accomplish most of our daily life activities, the system weighs 600 grams. © 2011 IEEE

Analysis of Criminal Law Literature A Bibliometric Study from 2010-2019

The purpose of this research paper is to present a quantitative analysis of the Criminal Law Literature published from 2010 to 2019. Design/Methodology: The Institute of Scientific Information (ISI) Web of Science database was used as a source for extracting the data of published documents during the period 2010-2019. The analysis of the published literature was based on the following indicators: research productivity of each country, annual publications, annual citations, highly cited articles, highly cited law journals, most productive institutions in the field of criminal law, and most prolific authors. Research articles, conference proceeding papers, book reviews and editorials are different type of documents included in this study for analysis. Findings: The Finding revealed that 2017 was the most productive years in term of publications in the field of Criminal Law. The study found that the USA is the most productive country. The findings further showed that four universities situated in USA are in the list of top ten most productive universities in the field of Criminal Law. Conclusion: The result of this study shows that last three years are the most productive years in term of research in criminal law. Study also found that the USA is the most productive country in the world in term of research in the field of criminal law

Spatial variations in COVID-19 risk perception and coping mechanism in Pakistan

The outbreak of novel coronavirus disease (COVID-19) was declared a pandemic by the World Health Organization, which instigated governments to impose lockdowns across their countries. Amidst the lockdown in Pakistan, this study comprised measures of the COVID-19 risk perception, coping mechanism, and spatial variations. The data from 40 selected indicators was collected using an online questionnaire and grouped into domains (4 risk perception and 3 coping mechanisms domains). The results revealed the spatial variations and the levels of risk perception and coping mechanisms within the study area. Relative to each other, overall risk perception was highest in Northern Areas (Gilgit-Baltistan and Azad Jammu and Kashmir) and Islamabad, and lowest in Balochistan province. Very little spatial variation was observed in terms of coping mechanisms. Age, gender, and marital status influenced the risk perception associated with COVID-19. The findings suggest spatial variation in risk perception, implying the need for localized and modified COVID-19 risk communication and risk reduction strategies. SUPPLEMENTARY INFORMATION: The online version contains supplementary material available at 10.1007/s41324-022-00498-7

Chattering Free Sliding Mode Control and State Dependent Kalman Filter Design for Underground Gasification Energy Conversion Process

The fluctuations in the heating value of an underground coal gasification (UCG) process limit its application in electricity generation, where a desired composition of the combustible gases is required to operate gas turbines efficiently. This shortcoming can be addressed by designing a robust control scheme for the process. In the current research work, a model-based, chattering-free sliding mode control (CFSMC) algorithm is developed to maintain a desired heating value trajectory of the syngas mixture. Besides robustness, CFSMC yields reduced chattering due to continuous control law, and the tracking error also converges in finite time. To estimate the unmeasurable states required for the controller synthesis, a state-dependent Kalman filter (SDKF) based on the quasi-linear decomposition of the nonlinear model is employed. The simulation results demonstrate that despite the external disturbance and measurement noise, the control methodology yields good tracking performance. A comparative analysis is also made between CFSMC, a conventional SMC, and an already designed dynamic integral SMC (DISMC), which shows that CFSMC yields (Formula presented.) and (Formula presented.) improvement in the root mean squared tracking error with respect to SMC and DISMC, respectively. Moreover, CFSMC consumes (Formula presented.) and (Formula presented.) less control energy as compared to SMC and DISMC, respectively

State estimation technique for a planetary robotic rover

Given the long traverse times and severe environmental constraints on a planet like Mars, the only option feasible now is to observe and explore the planet through more sophisticated planetary rovers. To achieve increasingly ambitious mission objectives under such extreme conditions, the rovers must have autonomy. Increased autonomy, obviously, relies on the quality of estimates of rover's state i.e. its position and orientation relative to some starting frame of reference. This research presents a state estimation approach based on Extended Kalman Filter (EKF) to fuse distance from odometry and attitude from an Inertial Measurement Unit (IMU), thus mitigating the errors generated by the use of either system alone. To simulate a Sun-sensor based approach for absolute corrections, a magnetic compass was used to give absolute heading updates. The technique was implemented on MotherBot, a custom-designed skid steered rover. Experimental results validate the application of the presented estimation strategy. It showed an error range within 3% of the distance travelled as compared to about 8% error obtained from direct fusion

Hyperbolic type harmonically convex function and integral inequalities

In this paper, we define a new class of harmonic convexity i.e. Hyperbolic type harmonic convexity and explore its algebraic properties. Employing this new definition, some integral inequalities of Hermite-Hadamard type are presented. Furthermore, we have presented Hermite-Hadamard inequality involving Riemann Liouville fractional integral operator. We believe the ideas and techniques of this paper may inspire further research in various branches of pure and applied sciences.Publisher's Versio

Robotics for nuclear power plants - Challenges and future perspectives

Use of robotics and computerized tools in Nuclear Power Plants (NPPs) has been identified as a highly recommended practice by IAEA. The key rationale of robotics application has always been to avoid human exposure to hazardous environments and tasks ranging from scrutiny and general maintenance to decontamination and post accidental activities. To execute these activities, robots need to incorporate artificial intelligence, improved sensors capability, enhanced data fusion and compliant human like leg and hand structures for efficient motions. Next generation robotic systems in NPPs are expected to work in full autonomous mode in contrast to the current semi-autonomous scenarios. Far future systems could deploy humanoid robots as well. This paper presents state-of-theart of robotics developed for NPPs, associated challenges and finally comments on future directions