An Efficient Random Walk Strategy for Sampling Based Robot Motion Planners

Sampling based planners have been successful in path planning of robots with many degrees of freedom, but still remains ineffective when the configuration space has a narrow passage. We present a new technique based on a random walk strategy to generate samples in narrow regions quickly, thus improving efficiency of Probabilistic Roadmap Planners. The algorithm substantially reduces instances of collision checking and thereby decreases computational time. The method is powerful even for cases where the structure of the narrow passage is not known, thus giving significant improvement over other known methods.

Air Fleet and Facility Planning via Optimal Control Models

A study is presented which is aimed at developing techniques suitable for effective planning and efficient operation of fleets of aircraft typical of the air force of a developing country. An important aspect of fleet management, the problem of resource allocation for achieving prescribed operational effectiveness of the fleet, is considered. For analysis purposes, it is assumed that the planes operate in a single flying-base repair-depot environment. The perennial problem of resource allocation for fleet and facility buildup that faces planners is modeled and solved as an optimal control problem. These models contain two "policy" variables representing investments in aircraft and repair facilities. The feasibility of decentralized control is explored by assuming the two policy variables are under the control of two independent decisionmakers guided by different and not often well coordinated objectives.

Hydropower Project Design Incorporating Submergence Costs

Submergence of land is a major impact of large hydropower projects. Such projects are often also dogged by siltation, delays in construction and heavy debt burdens-factors that are not considered in the project planning exercise. A simple constrained optimization model for the benefit~ost analysis of large hydropower projects that considers these features is proposed. The model is then applied to two sites in India. Using the potential productivity of an energy plantation on the submergible land is suggested as a reasonable approach to estimating the opportunity cost of submergence. Optimum project dimensions are calculated for various scenarios. Results indicate that the inclusion of submergence cost may lead to a substanual reduction in net present value and hence in project viability. Parameters such as project lifespan, con$truction time, discount rate and external debt burden are also of significance. The designs proposed by the planners are found to be uneconomic, whIle even the optimal design may not be viable for more typical scenarios. The concept of energy opportunity cost is useful for preliminary screening; some projects may require more detailed calculations. The optimization approach helps identify significant trade-offs between energy generation and land availability.

Air Fleet and Facility Planning via Optimal Control Models

A study is presented which is aimed at developing techniques suitable for effective planning and efficient operation of fleets of aircraft typical of the air force of a developing country. An important aspect of fleet management, the problem of resource allocation for achieving prescribed operational effectiveness of the fleet, is considered. For analysis purposes, it is assumed that the planes operate in a single flying-base repair-depot environment. The perennial problem of resource allocation for fleet and facility buildup that faces planners is modeled and solved as an optimal control problem. These models contain two "policy" variables representing investments in aircraft and repair facilities. The feasibility of decentralized control is explored by assuming the two policy variables are under the control of two independent decisionmakers guided by different and not often well coordinated objectives.

Vegetation Status in Uttara Kannada District

Uttara Kannada is the only district in Karnataka, which has a forested area of about 80% and falls in the region of the Western Ghats. It is considered to be a very resourceful in terms of abundant natural resources and constitutes an important district in Karnataka. The forest resources of the district are under pressure as a large portion of the forested area has been converted to non-forestry activities since independence owing to the increased demands from human and animal population resulting in degradation of the forest ecosystem. This has led to poor productivity and regenerative capacity which is evident in the form of barren hill tops, etc in Coastal taluks of Uttara Kannada, entailing regular monitoring of the forest resources very essential. The classification of forest is a prerequisite for managing forest resources. Geographical Information System (GIS), allows the spatial and temporal analysis of the features of interest, and helps in solving the problem of deforestation and associated environmental and ecological problems. Spatial and temporal tools such as GIS and remotely sensed data helps the planners and decision makers in evolving the sustainable strategies for management and conservation of natural resources. Uttara Kannada district was classified on the basis of the land-use using supervised hard classifiers. The land use categories identified were urban area, water bodies, agricultural land, forest cover, and waste land. Further classification was carried out on the basis of forest type. The types of forest categorised were semi-evergreen, evergreen, moist deciduous, dry deciduous, plantations and scrub, thorny and non-forested area. The identified classes were correlated with the ground data collected during field visits. The observed results were compared with the historic data and the changes in the forest cover were analysed. From the assessment made it was clear that there has been a considerable degree of forest loss in certain areas of the district. It was also observed that plantations and social forests have increased drastically over the last fifteen years, and natural forests have declined.

Vegetation Analysis in Uttara Kannada District Using GIS and Remote Sensing Techniques

Uttara Kannada is the only district in Karnataka, which has a forested area of about 80% and falls in the region of the Western Ghats. It is considered to be a very resourceful in terms of abundant natural resources and constitutes an important district in Karnataka. The forest resources of the district are under pressure as a large portion of the forested area has been converted to non-forestry activities since independence owing to the increased demands from human and animal population resulting in degradation of the forest ecosystem. This has led to poor productivity and regenerative capacity which is evident in the form of barren hill tops, etc in Coastal taluks of Uttara Kannada, entailing regular monitoring of the forest resources very essential. The classification of forest is a prerequisite for managing forest resources. Geographical Information System (GIS), allows the spatial and temporal analysis of the features of interest, and helps in solving the problem of deforestation and associated environmental and ecological problems. Spatial and temporal tools such as GIS and remotely sensed data helps the planners and decision makers in evolving the sustainable strategies for management and conservation of natural resources. Uttara Kannada district was classified on the basis of the land-use using supervised hard classifiers. The land use categories identified were urban area, water bodies, agricultural land, forest cover, and waste land. Further classification was carried out on the basis of forest type. The types of forest categorised were semi-evergreen, evergreen, moist deciduous, dry deciduous, plantations and scrub, thorny and non-forested area. The identified classes were correlated with the ground data collected during field visits. The observed results were compared with the historic data and the changes in the forest cover were analysed. From the assessment made it was clear that there has been a considerable degree of forest loss in certain areas of the district. It was also observed that plantations and social forests have increased drastically over the last fifteen years,and natural forests have declined.

Geographical Information System Approach for Regional Biogas Potential Assessment

The economic prosperity and quality of life in a region are closely linked to the level of its per capita energy consumption. In India more than 70% of the total population inhabits rural areas and 85-90% of energy requirement is being met by bioresources. With dwindling resources, attention of planners is diverted to viable energy alternatives to meet the rural energy demand. Biogas as fuel is one such alternative, which can be obtained by anaerobic digestion of animal residues and domestic and farm wastes, abundantly available in the countryside. Study presents the techniques to assess biogas potential spatially using GIS in Kolar district, Karnataka State, India. This would help decision makers in selecting villages for implementing biogas programmes based on resource availability. Analyses reveal that the domestic energy requirement of more than 60% population can be met by biogas option. This is based on the estimation of the per capita requirement of gas for domestic purposes and availability of livestock residues.

Fusion of multi resolution remote sensing data for urban sprawl analysis

Urban population is growing at around 2.3 percent per annum in India. This is leading to urbanisation and often fuelling the dispersed development in the outskirts of urban and village centres with impacts such as loss of agricultural land, open space, and ecologically sensitive habitats. This type of upsurge is very much prevalent and persistent in most places, often inferred as sprawl. The direct implication of such urban sprawl is the change in land use and land cover of the region and lack of basic amenities, since planners are unable to visualise this type of growth patterns. This growth is normally left out in all government surveys (even in national population census), as this cannot be grouped under either urban or rural centre. The investigation of patterns of growth is very crucial from regional planning point of view to provide basic amenities in the region. The growth patterns of urban sprawl can be analysed and understood with the availability of temporal multi-sensor, multi-resolution spatial data. In order to optimise these spectral and spatial resolutions, image fusion techniques are required. This aids in integrating a lower spatial resolution multispectral (MSS) image (for example, IKONOS MSS bands of 4m spatial resolution) with a higher spatial resolution panchromatic (PAN) image (IKONOS PAN band of 1m spatial resolution) based on a simple spectral preservation fusion technique - the Smoothing Filter-based Intensity Modulation (SFIM). Spatial details are modulated to a co-registered lower resolution MSS image without altering its spectral properties and contrast by using a ratio between a higher resolution image and its low pass filtered (smoothing filter) image. The visual evaluation and statistical analysis confirms that SFIM is a superior fusion technique for improving spatial detail of MSS images with the preservation of spectral properties.

Urban Sprawl Pattern Analysis Using GIS

Urbanisation has evinced interest from a wide section of the society including experts, amateurs, and novices. The multidisciplinary scope of the subject invokes the interest from ecologists, to urban planners and civil engineers, to sociologists, to administrators and policy makers, students and finally the common man. With the development and infrastructure initiatives mostly around the urban centres, the impacts of urbanisation and sprawl would be on the environment and the natural resources. The wisdom lies in how effectively we plan the urban growth without - hampering the environment, excessively harnessing the natural resources and eventually disturbing the natural set-up. The research on these help urban residents and policymakers make informed decisions and take action to restore these resources before they are lost. Ultimately the power to balance the urban ecosystems rests with regional awareness, policies, administration practices, management issues and operational problems. This publication on urban systems is aimed at helping scientists, policy makers, engineers, urban planners and ultimately the common man to visualise how towns and cities grow over a period of time based on investigations in the regions around the highway and cities. Two important highways in Karnataka, South India, viz., Bangalore - Mysore highway and the Mangalore - Udupi highway, in Karnataka and the Tiruchirapalli - Tanjavore - Kumbakonam triangular road network in Tamil Nadu, South India, were considered in this investigation. Geographic Information System and Remote Sensing data were used to analyse the pattern of urbanisation. This was coupled with the spatial and temporal data from the Survey of India toposheets (for 1972), satellite imageries procured from National Remote Sensing Agency (NRSA) (LANDSAT TM for 1987 and IRS LISS III for 1999), demographic details from the Census of India (1971, 1981, 1991 and 2001) and the village maps from the Directorate of Survey Settlements and Land Records, Government of Karnataka. All this enabled in quantifying the increase in the built-up area for nearly three decades. With intent of identifying the potential sprawl zones, this could be modelled and projected for the future decades. Apart from these the study could quantify some of the metrics that could be used in the study of urban sprawl.

Farmers' vulnerability to climate variability in Dimapur district of Nagaland, India

Certain parts of the State of Nagaland situated in the northeastern region of India have been experiencing rainfall deficit over the past few years leading to severe drought-like conditions, which is likely to be aggravated under a climate change scenario. The state has already incurred considerable losses in the agricultural sector. Regional vulnerability assessments need to be carried out in order to help policy makers and planners formulate and implement effective drought management strategies. The present study uses an 'index-based approach' to quantify the climate variability-induced vulnerability of farmers in five villages of Dimapur district, Nagaland. Indicators, which are reflective of the exposure, sensitivity and adaptive capacity of the farmers to drought, were quantified on the basis of primary data generated through household surveys and participatory rural appraisal supplemented by secondary data in order to calculate a composite vulnerability index. The composite vulnerability index of village New Showba was found to be the least, while Zutovi, the highest. The overall results reveal that biophysical characteristics contribute the most to overall vulnerability. Some potential adaptation strategies were also identified based on observations and discussions with the villagers.

Threats and trade-fffs in resource critical crowdsourcing tasks over networks

In recent times, crowdsourcing over social networks has emerged as an active tool for complex task execution. In this paper, we address the problem faced by a planner to incen-tivize agents in the network to execute a task and also help in recruiting other agents for this purpose. We study this mecha-nism design problem under two natural resource optimization settings: (1) cost critical tasks, where the planner’s goal is to minimize the total cost, and (2) time critical tasks, where the goal is to minimize the total time elapsed before the task is executed. We define a set of fairness properties that should beideally satisfied by a crowdsourcing mechanism. We prove that no mechanism can satisfy all these properties simultane-ously. We relax some of these properties and define their ap-proximate counterparts. Under appropriate approximate fair-ness criteria, we obtain a non-trivial family of payment mech-anisms. Moreover, we provide precise characterizations of cost critical and time critical mechanisms.

A questioning based method to automatically acquire expert assembly diagnostic knowledge

In the domain of manual mechanical assembly, expert knowledge is an important means of supporting assembly planning that leads to fewer issues during actual assembly. Knowledge based systems can be used to provide assembly planners with expert knowledge as advice. However, acquisition of knowledge remains a difficult task to automate, while manual acquisition is tedious, time-consuming, and requires engagement of knowledge engineers with specialist knowledge to understand and translate expert knowledge. This paper describes the development, implementation and preliminary evaluation of a method that asks a series of questions to an expert, so as to automatically acquire necessary diagnostic and remedial knowledge as rules for use in a knowledge based system for advising assembly planners diagnose and resolve issues. The method, called a questioning procedure, organizes its questions around an assembly situation which it presents to the expert as the context, and adapts its questions based on the answers it receives from the expert. (C) 2014 Elsevier Ltd. All rights reserved.

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.