Control of Cooperating Mobile Manipulators

We describe a framework and control algorithms for coordinating multiple mobile robots with manipulators focusing on tasks that require grasping, manipulation and transporting large and possibly flexible objects without special purpose fixtures. Because each robot has an independent controller and is autonomous, the coordination and synergy are realized through sensing and communication. The robots can cooperatively transport objects and march in a tightly controlled formation, while also having the capability to navigate autonomously. We describe the key aspects of the overall hierarchy and the basic algorithms, with specific applications to our experimental testbed consisting of three robots. We describe results from many experiments that demonstrate the ability of the system to carry flexible boards and large boxes as well as the system’s robustness to alignment and odometry errors

Vertical Electrical Soundings for Locating Groundwater Potential Zones in Osmania University Campus, Hyderabad, Telangana State, India

Based on the resistivity investigations Osmania University Campus, precisely depth and  resistivity of subsurface layers were computed, Various geoelectric sections along different profiels (I to VIII) was obtained and analyzed. The study area is showing four layered geoelectrical sections, the top soil layer of variable resisitivity  value between  11.2 to 599 Ωm, whose maximum thickness is 0.75 to 4.45 m.  The highly weathered second  layer resistivity value varing from1.72 to 1800 Ωm.  And thickness is 0.12 to 36.6m.  The third fractured layer indicated by resistivity value 16.3 to 46074 Ωm and thickness  is 4.9 to 87.4 m.  The basement that is associated with hard rock and very high resistivities ranging to infinity. The low restivity with thick overbuden and fractured bed rock constitute the aquifer units and the series of  basementt undulations identified from the geolelectrical sections  are potential points for groundwater  locations

A Survey on Cloud Storage Auditing Protocols

As Today�s world depends on dynamically updated data, the best way to store and update data is cloud storage service. The common issue for storing data in cloud storage is its security though every individual client holds his/her own secret key the key service has to be supportive and is effective to the customer in different situations, so key redesign of outsourcing is important. The key overhauls can be handled by some authorized inspector known as TPA (Third Party Auditor) to reduce key upgrade burden from customer. It is the responsible of TPA now, to save key upgrades and makes key updates transparent for client. In existing solutions, client has to update key by himself at periodic times which leads to problem for those who need to concentrate on their main role in the market or with the people who have limited resources. This paper encloses a survey on the key exposure problem in cloud storage is formulated where the main goal is that cloud storage settings and key updates are safely outsourced to some third party where TPA can only hold encrypted version of client secret key formalizing security model. Security proof can be analyzed and make sure that design is secure and efficient