A Beacon based Localization System for Autonomous Mobile Robots and its Applications in Traffic and Transport Control

ACCURATE sensing of vehicle position and attitude is still a very challenging problem in many mobile robot applications. The mobile robot vehicle applications must have some means of estimating where they are and in which direction they are heading. Many existing indoor positioning systems are limited in workspace and robustness because they require clear lines-of-sight or do not provide absolute, driftfree measurements.The research work presented in this dissertation provides a new approach to position and attitude sensing system designed specifically to meet the challenges of operation in a realistic, cluttered indoor environment, such as that of an office building, hospital, industrial or warehouse. This is accomplished by an innovative assembly of infrared LED source that restricts the spreading of the light intensity distribution confined to a sheet of light and is encoded with localization and traffic information. This Digital Infrared Sheet of Light Beacon (DISLiB) developed for mobile robot is a high resolution absolute localization system which is simple, fast, accurate and robust, without much of computational burden or significant processing. Most of the available beacon's performance in corridors and narrow passages are not satisfactory, whereas the performance of DISLiB is very encouraging in such situations. This research overcomes most of the inherent limitations of existing systems.The work further examines the odometric localization errors caused by over count readings of an optical encoder based odometric system in a mobile robot due to wheel-slippage and terrain irregularities. A simple and efficient method is investigated and realized using an FPGA for reducing the errors. The detection and correction is based on redundant encoder measurements. The method suggested relies on the fact that the wheel slippage or terrain irregularities cause more count readings from the encoder than what corresponds to the actual distance travelled by the vehicle.The application of encoded Digital Infrared Sheet of Light Beacon (DISLiB) system can be extended to intelligent control of the public transportation system. The system is capable of receiving traffic status input through a GSM (Global System Mobile) modem. The vehicles have infrared receivers and processors capable of decoding the information, and generating the audio and video messages to assist the driver. The thesis further examines the usefulness of the technique to assist the movement of differently-able (blind) persons in indoor or outdoor premises of his residence.The work addressed in this thesis suggests a new way forward in the development of autonomous robotics and guidance systems. However, this work can be easily extended to many other challenging domains, as well.

Studies on some generalizations of line graph and the power domination problem in graphs

Department of Mathematics, Cochin University of Science and Technology

Studies on Simple and Encapsulated Transition Metal Complexes of Schiff Bases Derived from Diaminonaphthalene

Schiff base complexes of transition metal ions have played a significant role in coordination chemistry.In the present study we have synthesized some new Mn(II),Co(II) and Cu(II) complexes of Schiff bases derived from 1,8-diaminonaphthalene.Even though we could not isolate theses Schiff bases (as they readily cyclise to form the perimidine compounds),we were able to characterize unequivacally the complexes synthesized from these compounds as complexes of Schiff Bases. We Synthesized three perimidine derivatives ,2-(quinoxalin-2-yl)-2,3-dihydro-1H-perimidine,2-(2,3-dihydro-1H-perimidin-2-yl)-6-methoxyphenol and 4-(2,3-dihyro-1H-perimidin-2-yl)-2-methoxyphenol by the condensation of 1,8-diaminonaphthalene with quinoxaline-2-carboxaldehyde,2- hydroxy-3-methoxybenzaldehyde or 4-hydroxy-3-methoxybenzaldehyde respectively.Theses compounds were used as precursor ligands for the preparation of Schiff base complexes.The complexes were characterized by using elemental analysis ,conductance and magnetic susceptibility measuremets ,infrared and UV-Visible spectroscopy ,thermogravimetric analysis and EPR spectroscopy .We also encapsulated the complexes in zeolite Y matrix and these encapsulated complexes were also characterized. We have also tried theses complexes as catalysts in the oxidation of cyclohexanol and decomposition of hydrogen peroxide.

Studies on the Spectrum and the Energy of Graphs

Department of Mathematics, Cochin University of Science and Technology

Simple and Encapsulated Transition Metal Complexes of Schiff Bases Derived from Quinoxaline-2-Carboxaldehyde and Diamines: Biological and Catalytic Activity Studies

This thesis is mainly concerned with the synthesis and characterisation of new simple and zeolite encapsulated transition metal (manganese(II),nickel(II),and copper(II)complexes of quinoxaline based double Schiff base ligands.Theses ligands are N,N'-bis(quinoxaline-2-carboxalidene)hydrazine,N,N'-bis(quinoxaline-2-carboxalidene)-1,2-diaminoethane,N,N'-bis(quinoxaline-2-carboxalidene)-1,3-diamonopropane,N,N'-bis(quinoxaline-2-carboxalidene)-1,4-diaminobutane,N,N'-bis(quinoxaline-2-carboxalidene)-1,2-diaminocyclohexane and N,N'-bis(quinoxaline-2-carboxalidene)-1,2-diaminobenzene.The Schiff base ligands have been characterised by spectral and single crystal XRD studies.Theses ligands provide great structural diversity during complexation.Mn(II) and Ni(II) form octahedral with these Schiff bases,whereas Cu(II) forms both octahedral and tetrahedral complexes.Studies on the biological and Catalytic activity of the copper(ll) complexes are also presented in this thesis.

On infinite graphs and related matrices

This thesis Entitled On Infinite graphs and related matrices.ln the last two decades (iraph theory has captured wide attraction as a Mathematical model for any system involving a binary relation. The theory is intimately related to many other branches of Mathematics including Matrix Theory Group theory. Probability. Topology and Combinatorics . and has applications in many other disciplines..Any sort of study on infinite graphs naturally involves an attempt to extend the well known results on the much familiar finite graphs. A graph is completely determined by either its adjacencies or its incidences. A matrix can convey this information completely. This makes a proper labelling of the vertices. edges and any other elements considered, an inevitable process. Many types of labelling of finite graphs as Cordial labelling, Egyptian labelling, Arithmetic labeling and Magical labelling are available in the literature. The number of matrices associated with a finite graph are too many For a study ofthis type to be exhaustive. A large number of theorems have been established by various authors for finite matrices. The extension of these results to infinite matrices associated with infinite graphs is neither obvious nor always possible due to convergence problems. In this thesis our attempt is to obtain theorems of a similar nature on infinite graphs and infinite matrices. We consider the three most commonly used matrices or operators, namely, the adjacency matrix

Speech sample estimation from composite zerocrossings and encoding via adaptive switching of transforms

This thesis investigates the potential use of zerocrossing information for speech sample estimation. It provides 21 new method tn) estimate speech samples using composite zerocrossings. A simple linear interpolation technique is developed for this purpose. By using this method the A/D converter can be avoided in a speech coder. The newly proposed zerocrossing sampling theory is supported with results of computer simulations using real speech data. The thesis also presents two methods for voiced/ unvoiced classification. One of these methods is based on a distance measure which is a function of short time zerocrossing rate and short time energy of the signal. The other one is based on the attractor dimension and entropy of the signal. Among these two methods the first one is simple and reguires only very few computations compared to the other. This method is used imtea later chapter to design an enhanced Adaptive Transform Coder. The later part of the thesis addresses a few problems in Adaptive Transform Coding and presents an improved ATC. Transform coefficient with maximum amplitude is considered as ‘side information’. This. enables more accurate tfiiz assignment enui step—size computation. A new bit reassignment scheme is also introduced in this work. Finally, sum ATC which applies switching between luiscrete Cosine Transform and Discrete Walsh-Hadamard Transform for voiced and unvoiced speech segments respectively is presented. Simulation results are provided to show the improved performance of the coder

‘Studies on some topics in product graphs’

For routing problems in interconnection networks it is important to find the shortest containers between any two vertices, since the w-wide diameter gives the maximum communication delay when there are up to w−1 faulty nodes in a network modeled by a graph. The concept of ‘wide diameter’ was introduced by Hsu [41] to unify the concepts of diameter and The concept of ‘domination’ has attracted interest due to its wide applications in many real world situations [38]. A connected dominating set serves as a virtual backbone of a network and it is a set of vertices that helps in routing. In this thesis, we make an earnest attempt to study some of these notions in graph products. This include, the diameter variability, the diameter vulnerability, the component factors and the domination criticality.connectivity

A simple device for the separation of weak larvae of Macrobrachium rosenbergii (De Man)

Larvae of Macrobrachium rosenbergii (De Man) are photopositive (Ling 1969a.b) and negatively rheotactic. While investigating larval diseases of M, rosenbergii it was observed that weak larvae failed to show both these responses. It was felt that this lack of response could be used to develop a device for separating the weak larvae from the apparently healthy ones. Such a device would be a valuable tool for assessing the health of a batch in terms of the percentage of 'healthy' and 'weak' larvae. What follows is a description and mode of operation of the 'photo-flow' device developed by the authors

Computing median and antimedian sets in median graphs

The median (antimedian) set of a profile π = (u1, . . . , uk) of vertices of a graphG is the set of vertices x that minimize (maximize) the remoteness i d(x,ui ). Two algorithms for median graphs G of complexity O(nidim(G)) are designed, where n is the order and idim(G) the isometric dimension of G. The first algorithm computes median sets of profiles and will be in practice often faster than the other algorithm which in addition computes antimedian sets and remoteness functions and works in all partial cubes

On the remoteness function in median graphs

A profile on a graph G is any nonempty multiset whose elements are vertices from G. The corresponding remoteness function associates to each vertex x 2 V.G/ the sum of distances from x to the vertices in the profile. Starting from some nice and useful properties of the remoteness function in hypercubes, the remoteness function is studied in arbitrary median graphs with respect to their isometric embeddings in hypercubes. In particular, a relation between the vertices in a median graph G whose remoteness function is maximum (antimedian set of G) with the antimedian set of the host hypercube is found. While for odd profiles the antimedian set is an independent set that lies in the strict boundary of a median graph, there exist median graphs in which special even profiles yield a constant remoteness function. We characterize such median graphs in two ways: as the graphs whose periphery transversal number is 2, and as the graphs with the geodetic number equal to 2. Finally, we present an algorithm that, given a graph G on n vertices and m edges, decides in O.mlog n/ time whether G is a median graph with geodetic number 2

Almost Self-Centered Median And Chordal Graphs

Almost self-centered graphs were recently introduced as the graphs with exactly two non-central vertices. In this paper we characterize almost selfcentered graphs among median graphs and among chordal graphs. In the first case P4 and the graphs obtained from hypercubes by attaching to them a single leaf are the only such graphs. Among chordal graph the variety of almost self-centered graph is much richer, despite the fact that their diameter is at most 3. We also discuss almost self-centered graphs among partial cubes and among k-chordal graphs, classes of graphs that generalize median and chordal graphs, respectively. Characterizations of almost self-centered graphs among these two classes seem elusive

The median function on graphs with bounded profiles

The median of a profile = (u1, . . . , uk ) of vertices of a graph G is the set of vertices x that minimize the sum of distances from x to the vertices of . It is shown that for profiles with diameter the median set can be computed within an isometric subgraph of G that contains a vertex x of and the r -ball around x, where r > 2 − 1 − 2 /| |. The median index of a graph and r -joins of graphs are introduced and it is shown that r -joins preserve the property of having a large median index. Consensus strategies are also briefly discussed on a graph with bounded profiles.

On the generalized obnoxious center problem: antimedian subsets

The set of vertices that maximize (minimize) the remoteness is the antimedian (median) set of the profile. It is proved that for an arbitrary graph G and S V (G) it can be decided in polynomial time whether S is the antimedian set of some profile. Graphs in which every antimedian set is connected are also considered.

Median computation in graphs using consensus strategies

Following the Majority Strategy in graphs, other consensus strategies, namely Plurality Strategy, Hill Climbing and Steepest Ascent Hill Climbing strategies on graphs are discussed as methods for the computation of median sets of pro¯les. A review of algorithms for median computation on median graphs is discussed and their time complexities are compared. Implementation of the consensus strategies on median computation in arbitrary graphs is discussed