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.

Luminescence studies of strontium sulphide based phosphors for display applications

This thesis has focused on the synthesis and analysis of some important phosphors (nano, bulk and thin film) for display applications. ACTFEL device with SrS:Cu as active layer was also fabricated.Three bulk phosphors: SrS:Cu,CI; SrS:Dy,Cl; and SrS:Dy,Cu,Cl were synthesized and their structural, optical and electrical properties were investigated. Special emphasis was given to, the analysis of the role of defects and charge compensating centers, on the structural changes of the host and hence the luminance. A new model describing the sensitizing behaviour of Cu in SrS:Dy,Cu,Cl two component phosphor was introduced. It was also found that addition of NH4CI as flux in SrS:Cu caused tremendous improvement in the structural and luminescence properties.A novel technique for ACTFEL phosphor deposition at low temperature was introduced. Polycrystalline films of SrS:Cu,F were synthesized at low temperature by concomitant evaporation of host and dopant by electron beam evaporation and thermal evaporatin methods.Copper doped strontium sulphide nanophosphor was synthesized for the first time. Improvement in the luminescence properties was observed in the nanophosphor with respect to it' s bulk counterpart.

Development of thermoplastic conducting polymer composites based on polyaniline and polythiophenes for microwave and electrical applications

The microwave and electrical applications of some important conducting polymers are analyzed in this investigation.One of the major drawbacks of conducting polymers is their poor processability,and a solution to overcome this is sought in this investigation.Conducting polymer thermoplastic composites were prepared by the insitu polymerization method to improve the extent of miscibility probably to a semi IPN level.The attractive features of the conducting composite developed are excellent processability,good microwave and electrical conductivity,good microwave absorption,load sensitivity and satisfactory mechanical properties.The composite shows typical frequency selective microwave absorption and refelection behaviors.

Applications of Fractal Based Structures in Radar Cross Section Reduction

This thesis presents the Radar Cross Section measurements of different geometric structures such as flat plate,cylinder, corner reflector and circular cone loaded with fractal based metallo dielectric structures.Use of different fractal geometris,metallizations of different shapes as well as the frequency tanability is investigated for TE and TM polarization of the incident electromagnetic field.Application of fractal based metallo-dielectric structures results in RCS reduction over a wide range of frequency bands.RCS enhancement of dihedral corner is observed at certain acute and obtuse corner angles.The experimental results are validated using electromagnetic simulation softwares.

Microwave studies of a poly vinyl acetate (PVA)-based phantom for applications in medical imaging

A phantom that exhibits complex dielectric properties similar to low-water-content biological tissues over the electromagnetic spectrum of 2000–3000 MHz has been synthesized from carbon black, graphite powder, and poly vinyl acetate (PVA)-based adhesive. The material overcomes various problems that are inherent in conventional phantoms such as decomposition and deterioration due to the invasion of bacteria or mold. The absorption coefficients of the material for various concentrations of carbon and graphite are studied. A combination of 50% poly-vinyl-acetate-based adhesive, 20% carbon, and 30% graphite exhibits a high absorption coefficient, which suggests another application of the material as a good microwave absorber for the interior lining of tomographic chamber in microwave imaging. The cavity-perturbation technique is adopted to study the dielectric properties of the material.

Dielectric studies of polyvinyl-acetate-based phantom for applications in microwave medical imaging

Phantoms that exhibit complex dielectric properties similar to low water content biological tissues over the electromagnetic spectrum of 2–3 GHz have been synthesized from carbon black powder, graphite powder and polyvinyl-acetate-based adhesive. The materials overcome various problems that are inherent in conventional phantoms such as decomposition and deterioration due to the invasion of bacteria or mold. The absorption coefficients of the materials for various compositions of carbon black and graphite powder are studied. A combination of 50% polyvinylacetate- based adhesive, 20% carbon black powder and 30% graphite powder exhibits high absorption coefficient, which suggests another application of the material as good microwave absorber for interior lining of tomographic chamber in microwave imaging. Cavity perturbation technique is adopted to study the dielectric properties of the material.

Fabrication and Characterization of Chalcogenide nano composite based materials for Photonic device applications

In this context,in search of new materials based on chalcogenide glasses,we have developed a novel technique for fabrication of chalcogenide nano composites which are presented in this theis.The techniques includes the dissolution of bulk chalcogenide glasses in amine solvent.This solution casting method allows to retain the attractive optical properties of chalcogenide glasses enabling new fabrication routes for realization of large area thick-thin films with less cost. Chalcogenide glass fiber geometry opens new possibilities for a large number of applications in optics,like remote temperature measurements ,CO2 laser power delivery, and optical sensing and single mode propagation of IR light.We have fabricated new optical polymer fibers doped with chalcogenide glasses which can be used for many optical applications.The present thesis also describes the structural,thermal and optical characterization of certain chalocogenide based materials prepared for different methods and its applications.

Cadmium Selenide Based Core-Shell Quantum Dots for Biosensing and Imaging Applications

The overall focus of the thesis involves the synthesis and characterization of CdSe QDs overcoated with shell materials for various biological and chemical sensing applications. Second chapter deals with the synthesis and characterization of CdSe and CdSe/ZnS core shell QDs. The primary attention of this work is to develop a simple method based on photoinduced charge transfer to optimize the shell thickness. Synthesis of water soluble CdSe QDs, their cytotoxicity analysis and investigation of nonlinear optical properties form the subject of third chapter. Final chapter deals with development of QD based sensor systems for the selective detection of biologically and environmentally important analytes from aqueous media.

Investigations on polyaniline based systems for technologically important applications and some novel polymers as prospective candidates for fabricating polymer light emitting diodes

Light emitting polymers (LEP) have drawn considerable attention because of their numerous potential applications in the field of optoelectronic devices. Till date, a large number of organic molecules and polymers have been designed and devices fabricated based on these materials. Optoelectronic devices like polymer light emitting diodes (PLED) have attracted wide-spread research attention owing to their superior properties like flexibility, lower operational power, colour tunability and possibility of obtaining large area coatings. PLEDs can be utilized for the fabrication of flat panel displays and as replacements for incandescent lamps. The internal efficiency of the LEDs mainly depends on the electroluminescent efficiency of the emissive polymer such as quantum efficiency, luminance-voltage profile of LED and the balanced injection of electrons and holes. Poly (p-phenylenevinylene) (PPV) and regio-regular polythiophenes are interesting electro-active polymers which exhibit good electrical conductivity, electroluminescent activity and high film-forming properties. A combination of Red, Green and Blue emitting polymers is necessary for the generation of white light which can replace the high energy consuming incandescent lamps. Most of these polymers show very low solubility, stability and poor mechanical properties. Many of these light emitting polymers are based on conjugated extended chains of alternating phenyl and vinyl units. The intra-chain or inter-chain interactions within these polymer chains can change the emitted colour. Therefore an effective way of synthesizing polymers with reduced π-stacking, high solubility, high thermal stability and high light-emitting efficiency is still a challenge for chemists. New copolymers have to be effectively designed so as to solve these issues. Hence, in the present work, the suitability of a few novel copolymers with very high thermal stability, excellent solubility, intense light emission (blue, cyan and green) and high glass transition temperatures have been investigated to be used as emissive layers for polymer light emitting diodes.

Investigations on some amino acid based single crystals for nonlinear optical applications and amino acid capped nanocrystals

Organic crystals possess extremely large optical nonlinearity compared to inorganic crystals. Also organic compounds have the amenability for synthesis and scope for introducing desirable characteristics by inclusions. A wide variety of organic materials having electron donor and acceptor groups, generate high order of nonlinearity. In the present work, a new nonlinear optical crystal, L-citrulline oxalate (LCO) based on the aminoacid L-citrulline was grown using slow evaporation technique. Structural characterization was carried out by single crystal XRD. It crystallizes in the noncentrosymmetric, orthorhombic structure with space group P21 P21 P21. Functional groups present in the sample were identified by Fourier transform infra red (FTIR) and FT-Raman spectral analysis. On studying the FTIR and Raman spectra of the precursors L-citrulline and oxalic acid, used for growing L-citrulline oxalate crystal, it is found that the significant peaks of the precursors are present in the spectra of the L-citrulline oxalate crystal . This observation along with the presence of NH3 + group in the spectra of L-citrulline oxalate, confirms the formation of the charge transfer complex

Quantile based stop-loss transform and its applications

Partial moments are extensively used in actuarial science for the analysis of risks. Since the first order partial moments provide the expected loss in a stop-loss treaty with infinite cover as a function of priority, it is referred as the stop-loss transform. In the present work, we discuss distributional and geometric properties of the first and second order partial moments defined in terms of quantile function. Relationships of the scaled stop-loss transform curve with the Lorenz, Gini, Bonferroni and Leinkuhler curves are developed

A microwave absorber based on strontium ferrite–carbon black–nitrile rubber for S and X-band applications

Flexible and thin single layer microwave absorbers based on strontium ferrite–carbon black–nitrile rubber composites have been fabricated employing a specific recipe and their reflection loss characteristics were studied in the S (2–4 GHz) and X-bands (8–12 GHz). The incorporation of carbon black not only reinforces the rubber by improving the mechanical properties of the composite but also modifies the dielectric permittivity of the composite. Strontium ferrite when impregnated into a rubber matrix imparts the required magnetic permeability to the composite. The combination of strontium ferrite and carbon black can then be employed to tune the microwave absorption characteristics of the resulting composite. The complex dielectric permittivity and permeability were measured by employing a cavity perturbation technique. The microwave absorption characteristics of composites were modelled in that an electromagnetic wave incident normally on the metal terminated single layer absorber. The influence of filler volume fraction, frequency, absorber thickness on the bandwidth of absorption are discussed and correlated

Flexible microwave absorbers based on barium hexaferrite, carbon black, and nitrile rubber for 2–12 GHz applications

Flexile single layer electromagnetic wave absorbers were designed by incorporating appropriate amounts of carbon black in a nitrile butadiene rubber matrix along with an optimized amount of magnetic counterpart, namely, barium hexaferrite for applications in S, C, and X-bands. Effective dielectric permittivity and magnetic permeability were measured using cavity perturbation method in the frequency range of 2–12 GHz. The microwave absorbing characteristics of the composites were studied in the S, C, and X-bands employing a model in which an electromagnetic wave is incident normally on a metal terminated single layer. Reflection loss exceeding 20 dB is obtained for all the samples in a wide frequency range of 2–12 GHz when an appropriate absorber thickness between 5 and 9mm is chosen. The impact of carbon black is clearly observed in the optimized composites on the mechanical strength, thickness, band width of absorption, dielectric properties,

Towards Realization of Magnetocaloric and Magnetoelectric Applications based on Bulk and Thin film forms of Sodium substituted Lanthanum Manganites

The present thesis work focuses on hole doped lanthanum manganites and their thin film forms. Hole doped lanthanum manganites with higher substitutions of sodium are seldom reported in literature. Such high sodium substituted lanthanum manganites are synthesized and a detailed investigation on their structural and magnetic properties is carried out. Magnetic nature of these materials near room temperature is investigated explicitly. Magneto caloric application potential of these materials are also investigated. After a thorough investigation of the bulk samples, thin films of the bulk counterparts are also investigated. A magnetoelectric composite with ferroelectric and ferromagnetic components is developed using pulsed laser deposition and the variation in the magnetic and electric properties are investigated. It is established that such a composite could be realized as a potential field effect device. The central theme of this thesis is also on manganites and is with the twin objectives of a material study leading to the demonstration of a device. This is taken up for investigation. Sincere efforts are made to synthesize phase pure compounds. Their structural evaluation, compositional verification and evaluation of ferroelectric and ferromagnetic properties are also taken up. Thus the focus of this investigation is related to the investigation of a magnetoelectric and magnetocaloric application potentials of doped lanthanum manganites with sodium substitution. Bulk samples of sodium substituted lanthanum manganites. Bulk samples of sodium substituted lanthanum manganites with Na substitution ranging from 50 percent to 90 percent were synthesized using a modified citrate gel method and were found to be orthorhombic in structure belonging to a pbnm spacegroup. The variation in lattice parameters and unit cell volume with sodium concentration were also dealt with. Magnetic measurements revealed that magnetization decreased with increase in sodium concentrations.

Simulation of interlaminar and intralaminar damage in polymer-based composites for aeronautical applications under impact loading

La aplicación de materiales compuestos de matriz polimérica reforzados mediante fibras largas (FRP, Fiber Reinforced Plastic), está en gradual crecimiento debido a las buenas propiedades específicas y a la flexibilidad en el diseño. Uno de los mayores consumidores es la industria aeroespacial, dado que la aplicación de estos materiales tiene claros beneficios económicos y medioambientales. Cuando los materiales compuestos se aplican en componentes estructurales, se inicia un programa de diseño donde se combinan ensayos reales y técnicas de análisis. El desarrollo de herramientas de análisis fiables que permiten comprender el comportamiento mecánico de la estructura, así como reemplazar muchos, pero no todos, los ensayos reales, es de claro interés. Susceptibilidad al daño debido a cargas de impacto fuera del plano es uno de los aspectos de más importancia que se tienen en cuenta durante el proceso de diseño de estructuras de material compuesto. La falta de conocimiento de los efectos del impacto en estas estructuras es un factor que limita el uso de estos materiales. Por lo tanto, el desarrollo de modelos de ensayo virtual mecánico para analizar la resistencia a impacto de una estructura es de gran interés, pero aún más, la predicción de la resistencia residual después del impacto. En este sentido, el presente trabajo abarca un amplio rango de análisis de eventos de impacto a baja velocidad en placas laminadas de material compuesto, monolíticas, planas, rectangulares, y con secuencias de apilamiento convencionales. Teniendo en cuenta que el principal objetivo del presente trabajo es la predicción de la resistencia residual a compresión, diferentes tareas se llevan a cabo para favorecer el adecuado análisis del problema. Los temas que se desarrollan son: la descripción analítica del impacto, el diseño y la realización de un plan de ensayos experimentales, la formulación e implementación de modelos constitutivos para la descripción del comportamiento del material, y el desarrollo de ensayos virtuales basados en modelos de elementos finitos en los que se usan los modelos constitutivos implementados.