2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)最新文献

{"title":"Biosensor and breast cancer treatment","authors":"Nivetha Sivasankaran","doi":"10.1109/RACE.2015.7097239","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097239","url":null,"abstract":"Biosensor based technique for breast cancer treatment uses an encapsulation technique in which biosensor cages radioactive bacteria (Listeria) that are encapsulated within a polymeric membrane (Polycaprolactone). This method is used to deliver targeted therapy to the cancer cell. Biosensor is designed to accommodate antibodies specific to cancer cell's surface marker. When the biosensor comes across these surface markers, complementary binding between antibody and surface marker takes place that leads to the generation of mechanical energy by biosensor. This energy is transmitted to the underlying polymer, so that it ruptures the polymeric membrane, consequently, the radioactive bacteria is released to the site of action, thereby destroying the cancerous cell. This technique prevents the damage of nearby healthy cells that happens in the conventional chemotherapy or radiation therapy.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132612082","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Wireless colour sensing arm robot","authors":"J. Nandhini, K. Shabatini, S. Karthikeyan","doi":"10.1109/RACE.2015.7097240","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097240","url":null,"abstract":"This paper presents the implementation of wireless arm robot using Programmable System on Chip (PSoC) and virtual Instruments programming using LabVIEW graphical language. The wireless control has been implemented with Zigbee protocol. Some of the main features of Zigbee protocol are to establish wireless communication medium between the arm robot and the PC controller. The hardware system is based on the PSoC microcontroller interfaced wirelessly with LabVIEW via a Zigbee module. The user can send the control instructions to the robot from the PC by using the Zigbee Protocol. As soon as the instruction is received by another Zigbee at the receiver end, PSoC microcontroller will come into action and will start the motor drivers so that the Robot starts moving as per the instructions sent by the user/ operator from PC. In addition to the above qualities of the arm robot, its intelligence is further upgraded in this design by making use of a color sensor to identify and handle the required color objects.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114885272","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Visual odometry based absolute target geo-location from micro aerial vehicle","authors":"Arun Annaiyan, M. Yadav, Miguel A. Olivares Mendez, H. Voos","doi":"10.1109/RACE.2015.7097264","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097264","url":null,"abstract":"An unmanned aerial system capable of finding world coordinates of a ground target is proposed here. The main focus here was to provide effective methodology to estimate ground target world coordinates using aerial images captured by the custom made micro aerial vehicle (MAV) as a part of visual odometery process on real time. The method proposed here for finding target's ground coordinates uses a monocular camera which is placed in MAV belly in forward looking/ Downward looking mode. The Binary Robust Invariant Scalable Key points (BRISK) algorithm was implemented for detecting feature points in the consecutive images. After robust feature point detection, efficiently performing Image Registration between the aerial images captured by MAV and with the Geo referenced images is the prime and core computing operation considered. Precise Image alignment is implemented by accurately estimating Homography matrix. In order to accurately estimate Homography matrix which consists of 9 parameters, this algorithm solves the problem in a Least Square Optimization way. Therefore, this framework can be integrated with visual odometery pipeline; this gives the advantage of reducing the computational burden on the hardware. The system can still perform the task of target geo-localization efficiently based on visual features and geo referenced reference images of the scene which makes this solution to be found as cost effective, easily implementable with robustness in the output. The hardware implementation of MAV along with this dedicated system which can do the proposed work to find the target coordinates is completed. The main application of this work is in search and rescue operations in real time scenario. The methodology was analyzed and executed in MATLAB before implementing real time on the developed platform. Finally, three case studies with different advantages derived from the proposed framework are represented.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134417777","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design and optimization of multivariable controller for CSTR system","authors":"B. Vivekananathan, L. Ponnusamy, K. Thiruppathi","doi":"10.1109/RACE.2015.7097271","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097271","url":null,"abstract":"Multivariable systems exhibit complex dynamics because of the interactions between manipulated and controlled variables. In this paper, a control scheme for controlling reactor temperature and pressure in CSTR is implemented. The controller design is distributed into two parts: Initially, the judicious pair of loop configuration is determined using Relative Gain Array technique. Then, a decentralized PI controller is designed to minimize the interaction effects using auto tuning algorithm for two different cases. The servo and regulatory problems confirm the effectiveness of the proposed design when one of the manipulated parameters pressure is fixed and both the manipulated parameters are varied. MATLAB and SIMULINK tools are used for system modeling and controller design. The performance indices of the Multiple Input Multiple Output based decentralized PI controller for CSTR system is also evaluated and presented.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117033175","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Navigation of UAV without GPS","authors":"C. Aasish, E. Ranjitha, Ridhwan U. Razeen, R. Bharath, Jemi L. Angelin","doi":"10.1109/RACE.2015.7097260","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097260","url":null,"abstract":"UAV's (Unmanned Aerial Vehicle) in general fly in open space, far from any obstacles and relay on external beacons, mainly GPS (Global Positioning System) to localize them and navigate. This approach precludes them from evolving autonomously at low altitudes, in cluttered and confined environments. The autonomous flight in these cluttered environments like houses or urban canyons requires high maneuverability, fast mapping from sensors to actuators and very limited overall system weight. The flying animals are well capable of coping with such situations and so a much similar navigation method is to be adopted. The optical flow navigation will be best suited for these situations. Optical flow is a technique which is used to determine the motion of the surfaces of the objects in relation to the observer. The use of hardware and power consumption in the optical flow navigation is very much less when compared to other navigational aids and thus it is being developed for micro air vehicles enabling to fly in cluttered environments with high maneuverability fast mapping and very little overall system weight.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127172999","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Multiagent coalition formation for distributed area coverage & exploration","authors":"C. Banerjee, N. Deepthi","doi":"10.1109/RACE.2015.7097274","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097274","url":null,"abstract":"In area coverage problems with multiple agents, team formation turns out quite beneficial. In this paper we propose a team formation algorithm using coalition game theory. We also implement elements from weighted graph games and weighted synergy graphs for making the approach simpler in representation and application.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"171 4356 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114300939","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Localization with beacon based support vector machine in Wireless Sensor Networks","authors":"Z. Livinsa, S. Jayashri","doi":"10.1109/RACE.2015.7097295","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097295","url":null,"abstract":"Recent developments in radio technology and processing systems, Wireless Sensor Networks (WSNs) are tremendously being used to perform an assortment of tasks from their atmosphere. Localization plays the most important task in WSNs. Accuracy is the one of the major problems facing localization. In this paper, we propose an improved localization algorithm based on the learning concept of support vector machine (SVM). In SVM classification the finite size of grid cells offer the localization accuracy. The localization error using the proposed algorithm is calculated and compared with basic SVM and fuzzy logic. Simulation result demonstrates that the improved support vector machine can effectively reduce the localization error and thus achieve the objective of better accuracy.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127974302","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Regression rate studies of hybrid rocket fuel on a lab scale rocket motor","authors":"Yash Pal, V. Ravi Kumar","doi":"10.1109/RACE.2015.7097258","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097258","url":null,"abstract":"Hybrid rocket propulsion is attractive because of their potential features such as high specific impulse, stop-start capability, thrust modulation, mission abort and non-polluting characteristics. Various combustion models and hybrid combustion theories have been developed to understand the physics behind hybrid combustion. The solid fuel regression rate was considered as key constituent on the performance and development of the hybrid rocket design for future space applications. In the present study, an effort has been made to explore the local regression rate and average regression rate of a solid hybrid fuel in terms of oxidizer injection pressure and mass flux of gaseous oxidizer (GOx). A series of static tests firing were conducted with Polyvinyl Chloride (PVC) as solid fuel in a lab scale ballistic test motor. Ballistic tests were performed with different gaseous oxidizer injection pressure ranging from 150 psi to 350 psi. The effect of oxidizer injection pressure on local regression rate was evaluated using the Marxman's theoretical formulation and compared with experimental data. It was observed that the variation of regression rates along the length of the grain depended on the oxidizer injection pressure, injector design parameter, grain position in the chamber, combustion chamber pressure and oxidizer injection velocity. The local regression rate was found to depend on the length of burned fuel and varied throughout the grain axial length before achieving a constant value. The theoretical pressure dependence of average regression rate was determined using a power law and the experimental data exhibited a similar trend. The theoretically calculated pressure exponent value was found 4 % lower compare to experimentally determined one. The lower value may be attributed to increase in mass diffusion of oxygen at the flame zone and also due to increased heat transfer from the flame zone to the fuel regressing surface. From the present theoretical validation, it was found that the solid fuel regression rate depended on oxygen mass flux rate and as well as on the chemical pyrolysis at the solid fuel surface due to enhanced entrainment. The dependence of local regression rate along the axial length of burnt fuel increased quite appreciably at the beginning and then decreased due to lower oxidizer concentration.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128783920","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design of PID controllers for 4-DOF planar and spatial manipulators","authors":"R. Mandava, P. R. Vundavalli","doi":"10.1109/RACE.2015.7097269","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097269","url":null,"abstract":"Robotic manipulators are the most important components in the present manufacturing industry for handling materials and manipulation. It is important to note that these manipulators are used in the complex planar and spatial work spaces to perform the task. Further, it is also very difficult to manipulate and dynamically control the manipulators when the degrees of freedom (DOF) of the manipulator are increased. In the present manuscript, the dynamic analysis and design of PID controller for two different manipulator configurations, namely planar and spatial manipulators have been attempted. Moreover, both the manipulators considered in this study are provided with 4-DOF and dynamic analysis has been carried out using Lagrange-Euler (L-E) formulation. The main difference between the planar and spatial manipulator is that the former works in the two dimensional space and later works in a three dimensional space. In addition to the dynamic analysis, PID controllers have also been designed for the said configurations to follow a path between the given boundary conditions. Further, the developed controllers are tested in simulations, and found working satisfactorily.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128975999","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"DSDPC: Delay signatures at different process corners based hardware trojan detection technique for FPGAs","authors":"G. Sumathi, L. Srivani, D. Thirugnana Murthy, N. Murali, S. S. Satya Murty, T. Jayakumar","doi":"10.1109/RACE.2015.7097284","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097284","url":null,"abstract":"In applications such as nuclear power plant, space and military, safety critical systems play an important role, where security is one of the crucial design parameters. Similar to software Trojans (virus), Hardware Trojans (HT) are raising security concerns in recent years. HTs are malicious additions or modifications to existing circuit elements which are implemented either as always on or triggered only under certain conditions, to disable functionality, reduce reliability and leak valuable information from the integrated chip. In this paper, we consider the scenario of HTs inserted in field programmable gate array (FPGA) devices during field operating conditions and propose a delay signature based HT detection technique. Static timing analysis is performed to measure the delay signatures of original netlist with that of netlist extracted from field configuration bit file. Since the results of electronic design automation tools are repetitive, we compare both the delay signatures and any deviation will indicate that configuration bit file/ netlist file of the original design is altered. To increase the detection efficiency, we perform static timing analysis at various process corners such as slow, typical and fast corners (at different voltage and temperature combinations) which allows us to measure the best and worst circuit delay values. Using this property, we performed simulations with Xilinx ISE tool by targeting standard benchmark circuits on Xilinx device. Experimental results reflected the difference in delay signatures if configuration bit file is tampered with in the field. The delay difference between with and without HT circuit is enhanced from slow to fast process corner, which in turn increased the HT detection efficiency.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116827694","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}