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.

Monitoring Himalayan cryosphere using remote sensing techniques

In the Himalayas, large area is covered by glaciers, seasonal snow and changes in its extent can influence availability of water in the Himalayan Rivers. In this paper, changes in glacial extent, glacial mass balance and seasonal snow cover have been discussed. Field and satellite based investigations suggest, most of the Himalayan glaciers are retreating though the rate of retreat is varying from glacier to glacier, ranging from few meters to almost 50 meters per year, depending upon the numerous glacial, terrain and meteorological parameters. Retreat was estimated for 1868 glaciers in eleven basins distributed across the Indian Himalaya since 1962 to 2001/02. Estimates show an overall reduction in glacier area from 6332 to 5329 sq km, an overall deglaciation of 16 percent.Snow line at the end of ablation season on the Chhota Shigri glacier suggests a change in altitude from 4900 to 5200 m from late 1970’s to the present. Seasonal snow cover monitoring of the Himalaya has shown large amounts of snow cover depletion in early part of winter, i.e. from October to December. For many basins located in lower altitude and in south of Pir Panjal range, snow ablation was observed through out the winter season. In addition, average stream runoff of the Baspa basin during the month of December shows an increase by 75 per cent. This combination of glacial retreat, negative mass balance, early melting of seasonal snow cover and winter time increase in stream runoff suggest an influence of climate change on the Himalayan cryosphere.

Controls on intense silicate weathering in a tropical river, southwestern India

The Silicate Weathering Rate (SWR) and associated Carbon dioxide Consumption Rate (CCR) in tropical silicate terrain is assessed through a study of the major ion chemistry in a small west flowing river of Peninsular India, the Nethravati River. The specific features of the river basin are high mean annual rainfall and temperature, high runoff and a Precambrian basement composed of granitic-gneiss, charnockite and minor metasediments. The water samples (n = 56) were collected from three locations along the Nethravati River and from two of its tributaries over a period of twelve months. Chemical Weathering Rate (CWR) for the entire watershed is calculated by applying rainwater correction using river chloride as a tracer. Chemical Weathering Rate in the Nethravati watershed is estimated to 44 t.km(-2).y(-1) encompassing a SWR of 42 t.km(-2).y(-1) and a maximum carbonate contribution of 2 t.km(-2).y(-1). This SWR is among the highest reported for granito-gneissic terrains. The assessed CCR is 2.9 . 10(5) mol.km(-2).y(-1). The weathering index (Re). calculated from molecular ratios of dissolved cations and silica in the river, suggests an intense silicate weathering leading to kaolinite-gibbsite precipitation in the weathering covers. The intense SWR and CCR could be due to the combination of high runoff and temperature along with the thickness and nature of the weathering cover. The comparison of silicate weathering fluxes with other watersheds reveals that under similar morpho-climatic settings basalt weathering would be 2.5 times higher than the granite-gneissic rocks. (C) 2012 Elsevier B.V. All rights reserved.

Random forest algorithm with derived geographical layers for improved classification of remote sensing data

Effective conservation and management of natural resources requires up-to-date information of the land cover (LC) types and their dynamics. The LC dynamics are being captured using multi-resolution remote sensing (RS) data with appropriate classification strategies. RS data with important environmental layers (either remotely acquired or derived from ground measurements) would however be more effective in addressing LC dynamics and associated changes. These ancillary layers provide additional information for delineating LC classes' decision boundaries compared to the conventional classification techniques. This communication ascertains the possibility of improved classification accuracy of RS data with ancillary and derived geographical layers such as vegetation index, temperature, digital elevation model (DEM), aspect, slope and texture. This has been implemented in three terrains of varying topography. The study would help in the selection of appropriate ancillary data depending on the terrain for better classified information.

AEROSAT - a space-borne sensor for continental aerosols: evaluation of the conceptual model

Even though satellite observations are the most effective means to gather global information in a short span of time, the challenges in this field still remain over continental landmass, despite most of the aerosol sources being land-based. This is a hurdle in global and regional aerosol climate forcing assessment. Retrieval of aerosol properties over land is complicated due to irregular terrain characteristics and the high and largely uncertain surface reflection which acts as `noise' to the much smaller amount of radiation scattered by aerosols, which is the `signal'. In this paper, we describe a satellite sensor the - `Aerosol Satellite (AEROSAT)', which is capable of retrieving aerosols over land with much more accuracy and reduced dependence on models. The sensor, utilizing a set of multi-spectral and multi-angle measurements of polarized components of radiation reflected from the Earth's surface, along with measurements of thermal infrared broadband radiance, results in a large reduction of the `noise' component (compared to the `signal). A conceptual engineering model of AEROSAT has been designed, developed and used to measure the land-surface features in the visible spectral band. Analysing the received signals using a polarization radiative transfer approach, we demonstrate the superiority of this method. It is expected that satellites carrying sensors following the AEROSAT concept would be `self-sufficient', to obtain all the relevant information required for aerosol retrieval from its own measurements.

Crevasses detection in Himalayan glaciers using ground-penetrating radar

Identification and mapping of crevasses in glaciated regions is important for safe movement. However, the remote and rugged glacial terrain in the Himalaya poses greater challenges for field data collection. In the present study crevasse signatures were collected from Siachen and Samudra Tapu glaciers in the Indian Himalaya using ground-penetrating radar (GPR). The surveys were conducted using the antennas of 250 MHz frequency in ground mode and 350 MHz in airborne mode. The identified signatures of open and hidden crevasses in GPR profiles collected in ground mode were validated by ground truthing. The crevasse zones and buried boulder areas in a glacier were identified using a combination of airborne GPR profiles and SAR data, and the same have been validated with the high-resolution optical satellite imagery (Cartosat-1) and Survey of India mapsheet. Using multi-sensor data, a crevasse map for Samudra Tapu glacier was prepared. The present methodology can also be used for mapping the crevasse zones in other glaciers in the Himalaya.

Optimum steering input determination and path-tracking of all-wheel steer vehicles on uneven terrains based on constrained optimization

In this paper we propose a framework for optimum steering input determination of all-wheel steer vehicles (AWSV) on rough terrains. The framework computes the steering input which minimizes the tracking error for a given trajectory. Unlike previous methodologies of computing steering inputs of car-like vehicles, the proposed methodology depends explicitly on the vehicle dynamics and can be extended to vehicle having arbitrary number of steering inputs. A fully generic framework has been used to derive the vehicle dynamics and a non-linear programming based constrained optimization approach has been used to compute the steering input considering the instantaneous vehicle dynamics, no-slip and contact constraints of the vehicle. All Wheel steer Vehicles have a special parallel steering ability where the instantaneous centre of rotation (ICR) is at infinity. The proposed framework automatically enables the vehicle to choose between parallel steer and normal operation depending on the error with respect to the desired trajectory. The efficacy of the proposed framework is proved by extensive uneven terrain simulations, for trajectories with continuous or discontinuous velocity profile.

Observed changes in Himalayan glaciers

In the Himalaya, large areas are covered by glaciers and seasonal snow. They are an important source of water for the Himalayan rivers. In this article, observed changes in glacial extent and mass balance have been discussed. Various studies suggest that most of the Himalayan glaciers are retreating though the rate of retreat varies from glacier to glacier, ranging from a few meters to almost 61 m/year, depending upon the terrain and meteorological parameters. In addition, mapping of almost 11,000 out of 40,000 sq. km of glaciated area, distributed in all major climatic zones of the Himalaya, suggests an almost 13% loss in area in the last 4-5 decades. The glacier mass balance observations and estimates made using methods like field, AAR, ELA and geodetic measurements, suggest a significant increase in mass wastage of Himalayan glaciers in the last 3-4 decades. In the last four decades loss in glacial ice has been estimated at 19 +/- 7 m. This suggests loss of 443 +/- 136 Gt of glacial mass out of a total 3600-4400 Gt of glacial stored water in the Indian Himalaya. This study has also shown that mean loss in glacier mass in the Indian Himalaya is accelerated from -9 +/- 4 to -20 +/- 4 Gt/year between the periods 1975-85 and 2000-2010. The estimate of glacial stored water in the Indian Himalaya is based on glacier inventory on a 1 : 250,000 scale and scaling methods; therefore, we assume uncertainties to be large.

Assessment of Seismically Induced Landslide Hazard for the State of Karnataka Using GIS Technique

Landslide hazards are a major natural disaster that affects most of the hilly regions around the world. In India, significant damages due to earthquake induced landslides have been reported in the Himalayan region and also in the Western Ghat region. Thus there is a requirement of a quantitative macro-level landslide hazard assessment within the Indian subcontinent in order to identify the regions with high hazard. In the present study, the seismic landslide hazard for the entire state of Karnataka, India was assessed using topographic slope map, derived from the Digital Elevation Model (DEM) data. The available ASTER DEM data, resampled to 50 m resolution, was used for deriving the slope map of the entire state. Considering linear source model, deterministic seismic hazard analysis was carried out to estimate peak horizontal acceleration (PHA) at bedrock, for each of the grid points having terrain angle 10A degrees and above. The surface level PHA was estimated using nonlinear site amplification technique, considering B-type NEHRP site class. Based on the surface level PHA and slope angle, the seismic landslide hazard for each grid point was estimated in terms of the static factor of safety required to resist landslide, using Newmark's analysis. The analysis was carried out at the district level and the landslide hazard map for all the districts in the Karnataka state was developed first. These were then merged together to obtain a quantitative seismic landslide hazard map of the entire state of Karnataka. Spatial variations in the landslide hazard for all districts as well as for the entire state Karnataka is presented in this paper. The present study shows that the Western Ghat region of the Karnataka state is found to have high landslide hazard where the static factor of safety required to resist landslide is very high.

Modeling Equitable Distribution of Water: Dynamic Inversion-Based Controller Approach

It is a well-known fact that most of the developing countries have intermittent water supply and the quantity of water supplied from the source is also not distributed equitably among the consumers. Aged pipelines, pump failures, and improper management of water resources are some of the main reasons for it. This study presents the application of a nonlinear control technique to overcome this problem in different zones in the city of Bangalore. The water is pumped to the city from a large distance of approximately 100km over a very high elevation of approximately 400m. The city has large undulating terrain among different zones, which leads to unequal distribution of water. The Bangalore, inflow water-distribution system (WDS) has been modeled. A dynamic inversion (DI) nonlinear controller with proportional integral derivative (PID) features (DI-PID) is used for valve throttling to achieve the target flows to different zones of the city. This novel approach of equitable water distribution using DI-PID controllers that can be used as a decision support system is discussed in this paper.

Influence of dust deposition on photovoltaic panel performance

Solar photovoltaic power plants are ideally located in regions with high insolation levels. Photovoltaic performance is affected by high cell temperatures, soiling, mismatch and other balance-of-systems related losses. It is crucial to understand the significance of each of these losses on system performance. Soiling, highly dependent on installation conditions, is a complex performance issue to accurately quantify. The settlement of dust on panel surfaces may or may not be uniform depending on local terrain and environmental factors such as ambient temperature, wind and rainfall. It is essential to investigate the influence of dust settlement on the operating characteristics of photovoltaic systems to better understand losses in performance attributable to soiling. The current voltage (I-V) characteristics of photovoltaic panels reveal extensive information to support degradation analysis of the panels. This paper attempts to understand performance losses due to dust through a dynamic study into the I-V characteristics of panels under varying soiling conditions in an outdoor experimental test-bed. Further, the results of an indoor study simulating the performance of photovoltaic panels under different dust deposition regimes are discussed in this paper. (C) 2014 Monto Mani. Published by Elsevier Ltd. This is all open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/3.0/).

MODELING AND SIMULATION OF A THREE-WHEELED MOBILE ROBOT ON UNEVEN TERRAINS WITH TWO-DEGREE-OF-FREEDOM SUSPENSION MECHANISMS

A wheeled mobile robot (WMR) will move on an uneven terrain without slip if its torus-shaped wheels tilt in a lateral direction. An independent two degree-of-freedom (DOF) suspension is required to maintain contact with uneven terrain and for lateral tilting. This article deals with the modeling and simulation of a three-wheeled mobile robot with torus-shaped wheels and four novel two-DOF suspension mechanism concepts. Simulations are performed on an uneven terrain for three representative pathsa straight line, a circular, and an S'-shaped path. Simulations show that a novel concept using double four-bar mechanism performs better than the other three concepts.

Investigation of orographic features influencing spatial distribution of rainfall over the Western Ghats of India using satellite data

Using remotely sensed Tropical Rainfall Measuring Mission (TRMM) 3B42 rainfall and topographic data from the Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) Digital Elevation Model (DEM), the impact of oroghraphical aspects such as topography, spatial variability of elevation and altitude of apexes are examined to investigate capacious summer monsoon rainfall over the Western Ghats (WG) of India. TRMM 3B42 v7 rainfall data is validated with Indian Meteorological Department (IMD) gridded rainfall data at 0.5 degrees resolution over the WG. The analysis of spatial pattern of monsoon rainfall with orography of the WG ascertains that the grade of orographic precipitation depends mainly on topography of the mountain barrier followed by steepness of windward side slope and altitude of the mountain. Longer and broader, i.e. cascaded topography, elevated summits and gradually increasing slopes impel the enhancement in precipitation. Comparing topography of various states of the WG, it has been observed that windward side of Karnataka receives intense rainfall in the WG during summer monsoon. It has been observed that the rainfall is enhanced before the peak of the mountain and confined up to the height about 800m over the WG. In addition to this, the spatial distribution of heavy and very heavy rainfall events in the last 14 years has also been explored. Heavy and very heavy rain events on this hilly terrain are categorized with a threshold of precipitation (R) in the range 150>R>120mmday(-1) and exceeding 150mmday(-1) using probability distribution of TRMM 3B42 v7 rainfall. The areas which are prone to heavy precipitation are identified. The study would help policy makers to manage the hazard scenario and, to improve weather predictions on mountainous terrain of the WG.

Crustal Evolution of Kolli-Massif, Southern India

Southern India is a collage of numerous crustal fragments formed since the Archean (2500 Ma ago) and reworked several times during the geological history. A close look at these terrains provides a window to understand the crustal evolutionary processes experienced by the continental crust in the past, such as crustal growth (formation of crust through addition of new magma) and crustal reworking (modification of an already existing crust). Here we discuss the evolutionary history of such a crustal fragment from the Southern Granulite Terrain (SGT) in peninsular India, namely Kolli-massif. Geology, structural deformation through time, and the implications in crustal assembly of southern India are exponded.

Archean tectonics and crustal evolution of the Biligiri Rangan Block, southern India

The Southern Granulite Terrain in India is a collage of crustal blocks ranging in age from Archean to Neoproterozoic. This study investigate the tectonic evolution of one of the northernmost block- the Biligiri Block (BRB) through a multidisciplinary approach involving field investigation, petrographic studies, LA-ICPMS zircon U-Pb geochronology, Hf isotopic analyses, metamorphic P-T phase diagram computations, and crustal thickness modeling. The garnet bearing quartzofeldspathic gneiss from the central BRB preserve Mesoarchean magmatic zircons with ages between 3207 and 2806 Ma and positive epsilon Hf value (+2.7) which possibly indicates vestiges of a Mesoarchean primitive continental crust. The occurrence of quartzite-iron formation intercalation as well as ultramafic lenses along the western boundary of the BRB is interpreted to indicate that the Kollegal structural lineament is a possible paleo-suture. Phase diagram computation of a metagabbro from the southwestern periphery of the Kollegal suture zone reveals high-pressure (similar to 18.5 kbar) and medium-temperature (similar to 840 degrees C) metamorphism, likely during eastward subduction of the Western Dharwar oceanic crust beneath the Mesoarchean BRB. In the model presented here, slab subduction, melting and underplating processes generated arc magmatism and subsequent charnockitization within the BRB between ca. 2650 Ma and ca. 2498 Ma. These results thus reveal Meso- to Neoarchean tectonic evolution of the BRB. The spatial variation of crustal thickness, derived from flexure inversion technique, provides additional constraints on the tectonic linkage of the BRB with its surrounding terrains. In conjunction with published data, the Moyar and the Kollegal suture zones are considered to mark the trace of ocean closure along which the Nilgiri and Biligiri Rangan Blocks accreted on to the Western Dharwar Craton. (C) 2016 Elsevier B.V. All rights reserved.