Symmetry: a basis for sensorimotor reconstruction

technical reportGiven a set of unknown sensors and actuators, sensorimotor reconstruction is achieved by exploiting relations between the sensor data and the actuator control data to determine sets of similar sensors, sets of similar actuators, necessary relations between them, as well as sensorimotor relations to the environment. Several Author's have addressed this problem, and we propose here a principled approach that exploits various symmetries and that achieves more efficient and robust results. A theoretical position is defined, the approach shown more efficient than previous work, and experimental results given

Target localization and autonomous navigation using wireless sensor networks -a pseudogradient algorithm approach

pre-printAutonomous mobile robots (AMRs) operating in unknown environments face twin challenges: 1) localization and 2) efficient directed navigation. This paper describes a two-tiered approach to solving these challenges: 1) by developing novel wireless-sensor-network (WSN)-based localization methods and 2) by using WSN-AMR interaction for navigation. The goal is to have an AMR travel from any point within a WSN-covered region to an identified target location without the aid of global sensing and position information. In this research, the target is reached as follows: 1) by producing a magnitude distribution within the WSN region that has a target-directed pseudogradient (PG) and 2) by having the WSN efficiently navigate the AMRs using the PG. This approach utilizes only the topology of the network and the received signal strength (RSS) among the sensor nodes to create the PG. This research shows that, even in the absence of global positioning information, AMRs can successfully navigate toward a target location using only the RSS in their local neighborhood to compute an optimal path. The utility of the proposed scheme is proved through extensive simulation and hardware experiments

TCM Decoding Using Neural Networks

This paper presents a neural decoder for trellis coded modulation (TCM) schemes. Decoding is performed with Radial Basis Function Networks and Multi-Layer Perceptrons. The neural decoder effectively implements an adaptive Viterbi algorithm for TCM which learns communication channel imperfections. The implementation and performance of the neural decoder for trellis encoded 16-QAM with amplitude imbalance are analyzed

Target-directed navigation using wireless sensor networks and implicit surface interpolation

pre-printAbstract-This paper extends the novel research for event localization and target-directed navigation using a deployed wireless sensor network (WSN) [4]. The goal is to have an autonomous mobile robot (AMR) navigate to a target-location by: (i) producing an artificial magnitude distribution within the WSN-covered region, and (ii) having the AMR use the pseudo-gradient from the interpolated distribution in its neighborhood, as it moves towards the target location. Implicit surfaces are used to interpolate the artificial distribution. This scheme only uses the topology of the WSN and received signal strength (RSS) to estimate an efficient navigation path for the AMR. Here, the AMR does not require global coordinates for the region, as it relies on local, neighborhood information alone to navigate. The performance of the scheme is analyzed with hardware experiments and in simulation, using a variety of node-densities and with increasing levels of noise to ensure robustness. Index Terms-Target-directed navigation, pseudo-gradient, spline-interpolated distribution, received signal strength

Received signal strength based bearing-only robot navigation in a sensor network field

pre-printThis paper presents a low-complexity, novel approach to wireless sensor network (WSN) assisted autonomous mobile robot (AMR) navigation. The goal is to have an AMR navigate to a target location using only the information inherent to WSNs, i.e., topology of the WSN and received signal strength (RSS) information, while executing an efficient navigation path. Here, the AMR has neither the location information for the WSN, nor any sophisticated ranging equipment for prior mapping. Two schemes are proposed utilizing particle filtering based bearing estimation with RSS values obtained from directional antennas. Real-world experiments demonstrate the effectiveness of the proposed schemes. In the basic node-to-node navigation scheme, the bearing-only particle filtering reduces trajectory length by 11.7% (indoors) and 15% (outdoors), when compared to using raw bearing measurements. The advanced scheme further reduces the trajectory length by 22.8% (indoors) and 19.8% (outdoors), as compared to the basic scheme. The mechanisms exploit the low-cost, low-complexity advantages of the WSNs to provide an effective method for map-less and ranging-less navigation

Efficient Buffer Allocation Scheme for Bursty Traffic in ATM Networks using Fast Reservation Protocol

One of the major problems in the realization of ATM is traffic management, in particular, the resource allocation for an efficient network. Many approaches to the bandwidth management problems [2] and buffer management problems have been proposed. Boyer [IO] suggested a Fast Bandwidth Reservation protocol, while Turner [2] applied the same technique to the buffer allocation for the bursty traffic. In this thesis, we extend Turner\u27s scheme in order to make it more efficient with respect to buffer allocation. We define a new parameter Reduction Factor\u27\u27, which has the potential of saving a significant amount of buffer space in a commonly shared pool of buffers. It is observed that the amount of savings depends upon the cell loss probability (CLP) bound on the network, Source Activity Probability (SAP) and number of connections supported by the network (N) at particular instant. The performance of the scheme is evaluated under various QoS requirements. It is seen that this scheme leads to approximately 38% of savings in the buffer space under certain circumstances. For supporting multimedia services, we also employ the scheme of partitioning the total buffer space. The results show that it leads to 10 % less savings as compared to single buffer scheme under certain conditions. As usage policing is very critical in this scheme, we outline a suitable mechanism and hardware implementation for Usage Parameter Control. The algorithm for acceptance of virtual circuit in the network is also described

Four new lithophilic species of \u3cem\u3eScorpiops\u3c/em\u3e Peters, 1861 (Scorpiones: Scorpiopidae) from peninsular India

Four new lithophilic species of Scorpiops Peters, 1861 (Scorpiopidae) have been described from peninsular India using an integrated taxonomic approach. Three species Scorpiops vrushchik sp. n., S. nagphani sp. n. and S. neera sp. n. have been described from northern Western Ghats and S. lioneli sp. n. is described from Deccan Plateau. S. vrushchik sp. n. is closely related to S. tenuicauda and S. telbaila and differs by a raw genetic divergence of 9.6-9.8% from S. tenuicauda and 11% from S. telbaila. S. nagphani sp. n. is closely related to S. lioneli sp. n. and S. maharashtraensis and differs by a raw genetic divergence of 6.7% from S. lioneli sp. n. and 9.6% from S. maharashtraensis. S. neera sp. n. is closely related to S. deccanensis, S. satarensis and S. phaltanensis and differs by a raw genetic divergence of 6.1–7.1% from S. deccanensis, 7.3% from S. satarensis and 9.6–9.8% from S. phaltanensis. S. lioneli sp. n. is closely related to S. nagphani sp. n. and S. maharashtraensis and differs by a raw genetic divergence of 6.7% from S. nagphani sp. n. and 11% from S. maharashtraensis. Hemispermatophore morphology of all the new species is described with photographs. A taxonomic key to all species of Scorpiops from peninsular India is provided. This study elevates the number of species of Scorpiops found in India to 27, out of which 11 are found in peninsular India

Brodie’s abscess of proximal shaft radius in 17-year-old male: a case report

Brodies abscess is an uncommon form of osteomyelitis. It is typically found in metaphyseal region of long bones particularly of lower limb. We herein report rare case of Brodies abscess of proximal shaft radius in 17-year-old male presented with pain over proximal aspect of left forearm for 2 months. A plain radiograph showed a translucent lesion of approximately 1.9×1.1 cm. Magnetic resonance imaging (MRI) showed Penumbra sign on T1 and T2 weighted images. Laboratory results showed no inflammatory response. Treatment was done by curettage. Culture report showed Staphylococcus aureus growth. Postoperatively administration of antibiotics was done. Follow up was uneventful. We diagnosed and surgically treated a rare case of Brodies abscess of proximal shaft radius in 17-year-old male. As the upper extremities are areas of unloaded bone, we successfully treated this patient by curettage and antibiotics without bone grafting.

A new cryptic species of \u3cem\u3eScorpiops\u3c/em\u3e Peters, 1861 (Scorpiones: Scorpiopidae) from the northern Western Ghats, India

A new cryptic species of Scorpiops (Scorpiopidae) is described from northern Western Ghats of India with integrated taxonomic approach. Scorpiops telbaila sp. n. is closely related to S. tenuicauda and differs from all species of Scorpiops in morphological features and raw genetic divergence of 5.4-14.1 %

Two new species of \u3cem\u3eChiromachetes\u3c/em\u3e (Scorpiones: Hormuridae) from the northern Western Ghats, India

Two new species of Chiromachetes Pocock, 1899 (Hormuridae) are described from the northern Western Ghats of India using an integrated taxonomic approach. Chiromachetes parakrami sp. n. and C. ramdasswamii sp. n. are closely related and differ from each other and C. sahyadriensis by morphological features and raw genetic divergence of 7.9–9.4 %