Robust controller for an autonomous small refrigeration unit

The authors describe the constructional features of a controller for operating an autonomous refrigeration unit powered by a field of photovoltaic panels and backed up by a generator set. The controller enables three voltage levels of operation of an inverter to meet the start, run and off cycle conditions of the refrigerator compressor. The algorithm considers several input and output parameters and status signals from each subsystem of the unit to deduce a control strategy. Such units find application for storage of vaccines and life-saving medicines requiring uninterrupted refrigeration, in medical shops, rural health centres, veterinary laboratories etc.

Autonomous and non-autonomous traits mediate social cooperation in Dictyostelium discoideum

In the trishanku (triA(-)) mutant of the social amoeba Dictyostelium discoideum, aggregates are smaller than usual and the spore mass is located mid-way up the stalk, not at the apex. We have monitored aggregate territory size, spore allocation and fruiting body morphology in chimaeric groups of (quasi-wild-type) Ax2 and triA(-) cells. Developmental canalisation breaks down in chimaeras and leads to an increase in phenotypic variation. A minority of triA(-) cells causes largely Ax2 aggregation streams to break up; the effect is not due to the counting factor. Most chimaeric fruiting bodies resemble those of Ax2 or triA(-). Others are double-deckers with a single stalk and two spore masses, one each at the terminus and midway along the stalk. The relative number of spores belonging to the two genotypes depends both on the mixing ratio and on the fruiting body morphology. In double-deckers formed from 1:1 chimaeras, the upper spore mass has more Ax2 spores, and the lower spore mass more triA(-) spores, than expected. Thus, the traits under study depend partly on the cells' own genotype and partly on the phenotypes, and so genotypes, of other cells: they are both autonomous and non-autonomous. These findings strengthen the parallels between multicellular development and behaviour in social groups. Besides that, they reinforce the point that a trait can be associated with a genotype only in a specified context.

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.

Performance of a class of multi-robot deploy and search strategies based on centroidal voronoi configurations

This article considers a class of deploy and search strategies for multi-robot systems and evaluates their performance. The application framework used is deployment of a system of autonomous mobile robots equipped with required sensors in a search space to gather information. The lack of information about the search space is modelled as an uncertainty density distribution. The agents are deployed to maximise single-step search effectiveness. The centroidal Voronoi configuration, which achieves a locally optimal deployment, forms the basis for sequential deploy and search (SDS) and combined deploy and search (CDS) strategies. Completeness results are provided for both search strategies. The deployment strategy is analysed in the presence of constraints on robot speed and limit on sensor range for the convergence of trajectories with corresponding control laws responsible for the motion of robots. SDS and CDS strategies are compared with standard greedy and random search strategies on the basis of time taken to achieve reduction in the uncertainty density below a desired level. The simulation experiments reveal several important issues related to the dependence of the relative performances of the search strategies on parameters such as the number of robots, speed of robots and their sensor range limits.

Autonomous Star Camera Calibration and Spacecraft Attitude Determination

This paper presents two methods of star camera calibration to determine camera calibrating parameters (like principal point, focal length etc) along with lens distortions (radial and decentering). First method works autonomously utilizing star coordinates in three consecutive image frames thus independent of star identification or biased attitude information. The parameters obtained in autonomous self-calibration technique helps to identify the imaged stars with the cataloged stars. Least Square based second method utilizes inertial star coordinates to determine satellite attitude and star camera parameters with lens radial distortion, both independent of each other. Camera parameters determined by the second method are more accurate than the first method of camera self calibration. Moreover, unlike most of the attitude determination algorithms where attitude of the satellite depend on the camera calibrating parameters, the second method has the advantage of computing spacecraft attitude independent of camera calibrating parameters except lens distortions (radial). Finally Kalman filter based sequential estimation scheme is employed to filter out the noise of the LS based estimation.

Algorithm for Autonomous Reorganization of Mobile Wireless Camera Sensor Networks to Improve Coverage

In this paper, sensing coverage by wireless camera-embedded sensor networks (WCSNs), a class of directional sensors is studied. The proposed work facilitates the autonomous tuning of orientation parameters and displacement of camera-sensor nodes in the bounded field of interest (FoI), where the network coverage in terms of every point in the FoI is important. The proposed work is first of its kind to study the problem of maximizing coverage of randomly deployed mobile WCSNs which exploits their mobility. We propose an algorithm uncovered region exploration algorithm (UREA-CS) that can be executed in centralized and distributed modes. Further, the work is extended for two special scenarios: 1) to suit autonomous combing operations after initial random WCSN deployments and 2) to improve the network coverage with occlusions in the FoI. The extensive simulation results show that the performance of UREA-CS is consistent, robust, and versatile to achieve maximum coverage, both in centralized and distributed modes. The centralized and distributed modes are further analyzed with respect to the computational and communicational overheads.

Smooth Path Planning for Passages with Heading and Curvature Discontinuities

The problem of continuous curvature path planning for passages is considered. This problem arises when an autonomous vehicle traverses between prescribed boundaries such as corridors, tunnels, channels, etc. Passage boundaries with curvature and heading discontinuities pose challenges for generating smooth paths passing through them. Continuous curvature half-S shaped paths derived from the Four Parameter Logistic Curve family are proposed as a prospective path planning solution. Analytic conditions are derived for generating continuous curvature paths confined within the passage boundaries. Zero end curvature highlights the scalability of the proposed solution and its compatibility with other path planners in terms of larger path planning domains. Various scenarios with curvature and heading discontinuities are considered presenting viability of the proposed solution.