Abstract

This paper presents a methodology for achieving SLAM onto the occupancy grid framework with the data only from sonar sensors. Sonar data are highly noisy and unpredictable. Sonar does not give the consistent readings for a point from two different positions, so the approaches which rely on correspondence reading matching will prone to fail without exhaustive mathematical calculations of sonar modeling and environment modeling. Also, if features are being use to localize then the robot needs to revisit those features exactly, to localize, which itself will not be accurate because robot will not be at the exact position from where that feature has been detected. Hence it will not get back those feature readings using sonar. Here we are presenting a hybrid approach based on feature chain. Instead of relying completely on feature mapping and point matching, it finds the links between features to localize. It will drastically reduce the need of revisiting a feature to localize and hence reducing the exploration overhead, while handling other issues of problems with point or feature matching. We map features onto occupancy grid (OG) framework taking advantage of its dense representation of the world. Combining features onto OG overcomes many of its limitations such as the independence assumption between cells and provides for better modeling of the sonar implicitly providing more accurate maps

Abstract

This paper studies the problem of traversing a rough terrain by wheeled vehicles. The criterion for mobility of a wheeled vehicle in any terrain is formally developed, providing insights into the mechanical structure requirements of the vehicle. A vehicle structure with an actively articulated suspension is found as a solution to improved rough terrain mobility. The contact forces of the vehicle with the surface being traversed are identified as the critical factor in determining the traversability of the surface. Hence a control strategy involving the control of the contact forces (normal and traction) is proposed. The key feature of the locomotion strategy, thus, developed is that it provides a solution for mobility in terrain which cannot be traversed using a solution involving assumptions that ignore the dynamics of the main body of the vehicle.

Abstract

A document image is composed of a variety of physical entities or regions such as text blocks, lines, words, figures, tables, and background. We could also assign functional or logical labels such as sentences, titles, captions, author names, and addresses to some of these regions. The process of document structure and layout analysis tries to decompose a given document image into its component regions and understand their functional roles and relationships. The processing is carried out in multiple steps, such as preprocessing, page decomposition, structure understanding, etc. We will look into each of these steps in detail in the following sections. Document images are often generated from ph

Abstract

This paper describes the procedure of vulnerability assessment of structures for site specific peak ground acceleration. The objective of this paper is to define the building classification and development of damage probability matrix which represent the vulnerability of structure. The organization of this paper is as follows. First, the types of the structures are reviewed and a classification of structure based on the available data with Vulnerability Atlas of India is done. Second, the description of methodologies developed under various organizations is studied, adopted and summarized. Third, the theoretical methodology of the vulnerability analysis using fragility curve parameters given by HAZUS and capacity curve generated using SAP2000 for typical structure are presented and performance of structure is calculated by using capacity spectrum method.

Abstract

Earthquake Problems are not new to the country. We have witnessed several moderate earthquakes in the last two decades causing innumerable property loss and life loss. In order to minimize the loasses. We need to raise the awareness about earthquake resistant design of structures. This can be achieved by spreading the information on hazard vulnerability and risk to concerend people.

Abstract

This paper describes the procedure of vulnerability assessment for building structures in AP India. The objective of this paper is to define the building classification and development of damage probability matrix using fragility curve parameters of the building structures in Andhra Pradesh by using the avaiable information in Vulnerability Atlas of India developed by Building Materials and Technology promotion council Govt. of India (BMTPC).

Abstract

This paper considers the problem of unicasting in wireless ad hoc networks. Unicasting is the problem of finding a route between a source and a destination and forwarding the message from the source to the destination. In theory, models that have been used oversimplify the problem of route discovery in ad hoc networks. The achievement of this paper is threefold. First we use a more general model in which nodes can have different transmission and interference ranges and we present a new routing algorithm for wireless ad hoc networks that has several nice features. We then combine our algorithm with that of known greedy algorithms to arrive at an average case efficient routing algorithm in the situation that GPS information is available. Finally we show how to schedule unicast traffic between a set of source-destination pairs by providing a proper vertex coloring of the nodes in the wireless ad hoc network. Our coloring algorithm achieves a O(Δ)–coloring that is locally distinct within the 2-hop neighborhood of any node.

Abstract

In the perfectly secure message transmission (PSMT) problem, two synchronized non-faulty players (or processors), the Sender S and the Receiver R are connected by n wires (each of which facilitates 2-way communication); S has a message, represented by a sequence oft elements from a finite field, that he wishes to send to R; after exchanging messages in phases R should correctly obtain S 's message, while an adversary listening on and actively controlling any set of t (or less) wires should have no information about S 's message. Similarly, in the problem of perfect reliable message transmission (PRMT), the receiver R should correctly obtain S's message, in spite of the adversary actively controlling any set oft (or less) wires.

Abstract

This work deals with the problem of fault-tolerant communication over networks, some of whose nodes are corrupted by a centralized byzantine adversary. The extant literature’s perspective of the problem of reliable communication, especially in networks whose topology is known, is that of a simple problem to which even some naive solutions (like message-flooding etc.) turn out to be reasonably efficient. In this paper, we give an example of a directed graph and a non threshold adversary structure, which will require every protocol for perfect reliable unicast to transmit exponential number of bits in order to reliably transmit a single bit.

Abstract

This paper presents a multi-component; distributed system (MuDiS) based solution for building a virtual learning environment which combines a wide range of technology, tools and digital gaming concepts to create an interactive tool for science education. MuDiS has been designed to be an extensible and easy-to-use system. The proposed environment is intended for designing and monitoring of educational content as well as creating a platform for exploring ideas. The system allows exchange of educational content and integrate different pedagogical approaches to learning and teaching under the same environment. We have developed a virtual physics lab that serves as an exemplar for the proposed virtual environment. We present the design details of the physics lab and discuss its performance.