Modeling of wheeled mobile robots using dextrous manipulation kinematics

Abstract—This document introduces a new kinematic simulation of a wheeled mobile robot operating on uneven terrain. Our modeling method borrows concepts from dextrous manipulation. This allows for an accurate simulation of the way 3-dimensional wheels roll over a smooth ground surface. The purpose of the simulation is to validate a new concept for design of off-road wheel suspensions, called Passive Variable Camber (PVC). We show that PVC eliminates kinematic slip for an outdoor robot. Both forward and inverse kinematics are discussed and simulation results are presented.

LZW Based Distance Measures for Spoken Language Identification

We present a new approach to spoken language modeling for language identification (LID) using the Lempel-Ziv-Welch (LZW) algorithm. The LZW technique is applicable to any kind of tokenization of the speech signal. Because of the efficiency of LZW algorithm to obtain variable length symbol strings in the training data, the LZW codebook captures the essentials of a language effectively. We develop two new deterministic measures for LID based on the LZW algorithm namely: (i) Compression ratio score (LZW-CR) and (ii) weighted discriminant score (LZW-WDS). To assess these measures, we consider error-free tokenization of speech as well as artificially induced noise in the tokenization. It is shown that for a 6 language LID task of OGI-TS database with clean tokenization, the new model (LZW-WDS) performs slightly better than the conventional bigram model. For noisy tokenization, which is the more realistic case, LZW-WDS significantly outperforms the bigram technique

Predictive distribution modeling for rare Himalayan medicinal plant Berberis aristata DC

Predictive distribution modelling of Berberis aristata DC, a rare threatened plant with high medicinal values has been done with an aim to understand its potential distribution zones in Indian Himalayan region. Bioclimatic and topographic variables were used to develop the distribution model with the help of three different algorithms viz. GeneticAlgorithm for Rule-set Production (GARP), Bioclim and Maximum entroys(MaxEnt). Maximum entropy has predicted wider potential distribution (10.36%) compared to GARP (4.63%) and Bioclim (2.44%). Validation confirms that these outputs are comparable to the present distribution pattern of the B. atistata. This exercise highlights that this species favours Western Himalaya. However, GARP and MaxEnt's prediction of Eastern Himalayan states (i.e. Arunachal Pradesh, Nagaland and Manipur) are also identified as potential occurrence places require further exploration.

Spectral Finite Element Modeling of Complex Structures for Applications in Real-time Structural Health Monitoring

In this paper we discuss the recent progresses in spectral finite element modeling of complex structures and its application in real-time structural health monitoring system based on sensor-actuator network and near real-time computation of Damage Force Indicator (DFI) vector. A waveguide network formalism is developed by mapping the original variational problem into the variational problem involving product spaces of 1D waveguides. Numerical convergence is studied using a h()-refinement scheme, where is the wavelength of interest. Computational issues towards successful implementation of this method with SHM system are discussed.

Modeling of active fiber composite for delamination sensing

In order to demonstrate the feasibility of Active Fiber Composites (AFC) as sensors for detecting damage, a pretwisted strip made of AFC with symmetric free-edge delamination is considered in this paper. The strain developed on the top/bottom of the strip is measured to detect and assess delamination. Variational Asymptotic Method (VAM) is used in the development of a non-classical non-linear cross sectional model of the strip. The original three dimensional (3D) problem is simplified by the decomposition into two simpler problems: a two-dimensional (2D) problem, which provides in a compact form the cross-sectional properties using VAM, and a non-linear one-dimensional (1D) problem along the length of the beam. This procedure gives the non-linear stiffnesses, which are very sensitive to damage, at any given cross-section of the strip. The developed model is used to study a special case of cantilevered laminated strip with antisymmetric layup, loaded only by an axial force at the tip. The charge generated in the AFC lamina is derived in closed form in terms of the 1D strain measures. It is observed that delamination length and location have a definite influence on the charge developed in the AFC lamina. Also, sensor voltage output distribution along the length of the beam is obtained using evenly distributed electrode strip. These data could in turn be used to detect the presence of damage.