Abstract

This paper presents a realtime, incremental multibody visual SLAM system that allows choosing between full 3D reconstruction or simply tracking of the moving objects. Motion reconstruction of dynamic points or objects from a monocular camera is considered very hard due to well known problems of observability. We attempt to solve the problem with a Bearing only Tracking (BOT) and by integrating multiple cues to avoid observability issues. The BOT is accomplished through a particle filter, and by integrating multiple cues from the reconstruction pipeline. With the help of these cues, many real world scenarios which are considered unobservable with a monocular camera is solved to reasonable accuracy. This enables building of a unified dynamic 3D map of scenes involving multiple moving objects. Tracking and reconstruction is preceded by motion segmentation and detection which makes use of efficient geometric constraints to avoid difficult degenerate motions, where objects move in the epipolar plane. Results reported on multiple challenging real world image sequences verify the efficacy of the proposed framework.

Abstract

In this paper we propose a novel physics based motion planning and trajectory generation framework for vehicle operating on uneven terrains. The proposed framework provides for a fully 3D analysis of the dynamic constraints of the vehicle on uneven terrain and hence comes as a better approach than the existing motion planning framework which makes simplifying assumptions for the terrain conditions or the vehicle geometry or both. The entire framework consists of three major parts which are: 1. A framework for determination of the posture of a vehicle in 3D for a given terrain. 2. A framework for determination of maximum feasible velocities and acceleration based on contact and no-slip constraints. 3. Combining the above two framework to generate feasible trajectories for the vehicle. Trajectories are generated through a Dynamic Window paradigm extended to fully 3D terrains, wherein the next best node is selected through a new metric that maximizes the space of feasible velocities and accelerations and reduces the distance to be traversed to the goal.

Abstract

We present a web-based environment along with an interactive interface for VLSI schematic design, simulation, and layout design. It consist of 10 experiments starting from transistor level design of inverter, then some basic gates such as NAND, NOR, XOR etc, finally design of D latch and flip flop. In each experiment student will learn how to design VLSI circuits both schematic and layout. It also consists of experiment components such as objective, introduction, quiz, and theory etc. which gives step by step explanation of each experiment. It is a powerful self learning supplement for the VLSI design course offered in undergraduate engineering program. Along with teaching schematics and layouts of circuits, this virtual lab also consists of some experiment explaining about SPICE coding, VHDL and Verilog coding. An interactive panel is given in which student will write programming codes, simulate and see real time waveforms. The web based schematic and layout editor is designed to maintain the commonality with EDA tools such as Cadence Virtuoso, HSpice Cosmos, Tanner tools etc.

Abstract

Schmitt triggers (ST) are well known and very widely used in the field of communications and signal processing techniques. It is robust, less sensitive to noise and is a building block in analog to digital converters. This work concentrates on all-optical Schmitt trigger for the purpose of using it in the field of optical modulation and signal processing. As the size of ring lasers is small these devices are best to use on a single integrated photonic chip. In this paper various dynamic effects of a binary Schmitt trigger is simulated and discussed. Control on various properties such as size of the ring, gain of SOA of a Schmitt trigger enables one to use it in developing all-optical devices.

Abstract

One of the biggest challenges for antenna designers is to design an RFID tag antenna for use on a metallic object. In this paper we present a slotted slim RFID tag antenna for metallic applications. The proposed design contains two coplanar rectangular metallic patches which are electrically connected to ground plane through conducting vias. Inductive slots are introduced on coplanar patches which are used to match tag ICs. The tag antenna was fabricated and tested in an Anechonic Chamber for its read range. Results showed that the read range of the proposed antenna is 1.1 m in absence of metallic object and 1.7 m when antenna was mounted on a 180 cm × 120 cm metallic sheet.

Abstract

This paper presents spiral inductors for V-band (50GHz-75GHz) wireless Integrated Circuits (ICs). The effects of variation of various design parameters of spiral inductors viz. number of turns, internal radius and width & spacing of metal turns on self resonant frequency and quality factor of inductor are studied. Based on the observations spiral inductor for V-band wireless ICs has been designed. The proposed 1.5 Turn spiral inductor, which has an internal radius of 11μm and spiral & underpass metal thicknesses of 0.3μm, gives an inductance of 6.6nH with a quality factor of 7.3 at 60GHz.

Abstract

The shortage of experimental platforms needed for learning IT systems in a hands-on way is one reason for the lack of quality education in the area of IT. For most students who have access to a PC, their ability to experiment on that machine is limited by the risk of possible irrecoverable damage their experimentation may cause to the equipment. We report the development of a 'Virtual Laboratory for Systems and Software' that teaches the basics of Linux. The goal of this laboratory is to give the students a platform through which they can learn the essentials of linux. The student interacts with a virtual instance of a linux machine through the browser on his machine to learn basic tasks of linux system administration. The student's machine could be running any operating system (not necessarily linux). This obviates the need to have a linux machine on the part of the student. The lab consists of a suite of experiments designed as web applications which are based on IT Workshop courses at undergraduate level in universities.

Abstract

Distributed and concurrent development of virtual labs across multiple institutes and teams presents several challenges, both organizational and technical in nature. We present models for managing the process of virtual lab development, deployment and distribution. Close to twenty labs in computer science and chemical sciences are currently following our model. The architecture is designed to ultimately encourage and support a community ecosystem where teachers or students from any college could contribute to lab development, and a college could choose to subscribe to a set of virtual labs. Our deployment model, yet to be fully implemented, has as its back end a flexible virtualization architecture for running experiments and and a package based distribution model that encourages community participation in the use of virtual labs.

Abstract

As education and technology merge, the opportunity for teaching and learning expand even more. However, the juxtaposition of the latest technologies has also raised concern for academic institutions as to which technologies are most effective in terms of cost, reach, richness, and, most importantly, learning. In this paper, we present a novel development framework, which we call as DISCOVIR, for asynchronous virtual lab development. Our aim is to simplify the process of developing the content for a virtual lab and to make the resulting labs more consistent for the learners (students). We incorporate the popular Model View Controller architecture, in building the user interface for the virtual lab. It allows the lab developers to focus completely on the quality of the content while the look and the feel for the resultant lab is provided in the form of customizable themes. We define an HTML5 based semantic structure for writing the lab content. It ensures long term sustainability of the lab and supports semantic search capabilities. Our model makes no prior assumptions or requisites in terms of expertise and tools required to use it in practice. A lab developer is free to use any html editor on any operating system to build his lab. It requires no costly software installations and runs locally without a web server support. Our proposed model is currently being used by 16 of the 28 virtual labs from IIIT, Hyderabad.

Abstract

We define the class of primal maps using the concepts of mapcode theory and show that a map is primal if and only if it is partial recursive.