Cramer-Rao bounds for source localization in shallow ocean with generalized Gaussian noise

Localization of underwater acoustic sources is a problem of great interest in the area of ocean acoustics. There exist several algorithms for source localization based on array signal processing.It is of interest to know the theoretical performance limits of these estimators. In this paper we develop expressions for the Cramer-Rao-Bound (CRB) on the variance of direction-of-arrival(DOA) and range-depth estimators of underwater acoustic sources in a shallow range-independent ocean for the case of generalized Gaussian noise. We then study the performance of some of the popular source localization techniques,through simulations, for DOA/range-depth estimation of underwater acoustic sources in shallow ocean by comparing the variance of the estimators with the corresponding CRBs.

Coloured Petri net models for automated manufacturing systems

In this paper, we propose an approach, using Coloured Petri Nets (CPN) for modelling flexible manufacturing systems. We illustrate our methodology for a Flexible Manufacturing Cell (FMC) with three machines and three robots. We also consider the analysis of the FMC for deadlocks using the invariant analysis of CPNs.

Collision Cones for Quadric Surfaces

The problem of collision prediction in dynamic environments appears in several diverse fields, which include robotics, air vehicles, underwater vehicles, and computer animation. In this paper, collision prediction of objects that move in 3-D environments is considered. Most work on collision prediction assumes objects to be modeled as spheres. However, there are many instances of object shapes where an ellipsoidal or a hyperboloid-like bounding box would be more appropriate. In this paper, a collision cone approach is used to determine collision between objects whose shapes can be modeled by general quadric surfaces. Exact collision conditions for such quadric surfaces are obtained in the form of analytical expressions in the relative velocity space. For objects of arbitrary shapes, exact representations of planar sections of the 3-D collision cone are obtained.

Ashort reviewondirect borohydride fuel cells

Direct borohydride fuel cells (DBFC) use aqueous alkaline sodium borohydride(NaBH4) as anode fuel to generate electric power with either oxygen or hydrogen peroxide as oxidant. The DBFCs are projected to be very handy for portable power appliances such as laptops and mobile phones in addition to their use in extreme conditions such as underwater and portable military applications. This short review discusses the progress in DBFC research based on electrode materials and membranes.

BER Analysis of Uplink OFDMA in the Presence of Carrier Frequency and Timing Offsets on Rician Fading Channels

In orthogonal frequency-division multiple access (OFDMA) on the uplink, the carrier frequency offsets (CFOs) and/or timing offsets (TOs) of other users with respect to a desired user can cause multiuser interference (MUI). Analytically evaluating the effect of these CFO/TO-induced MUI on the bit error rate (BER) performance is of interest. In this paper, we analyze the BER performance of uplink OFDMA in the presence of CFOs and TOs on Rician fading channels. A multicluster multipath channel model that is typical in indoor/ultrawideband and underwater acoustic channels is considered. Analytical BER expressions that quantify the degradation in BER due to the combined effect of both CFOs and TOs in uplink OFDMA with M-state quadrature amplitude modulation (QAM) are derived. Analytical and simulation BER results are shown to match very well. The derived BER expressions are shown to accurately quantify the performance degradation due to nonzero CFOs and TOs, which can serve as a useful tool in OFDMA system design.

Frequency domain turbo equalization for MIMO-CPSC systems with large delay spreads

In this paper, we consider low-complexity turbo equalization for multiple-input multiple-output (MIMO) cyclic prefixed single carrier (CPSC) systems in MIMO inter-symbol interference (ISI) channels characterized by large delay spreads. A low-complexity graph based equalization is carried out in the frequency domain. Because of the reduction in correlation among the noise samples that happens for large frame sizes and delay spreads in frequency domain processing, improved performance compared to time domain processing is shown to be achieved. This improved performance is attractive for equalization in severely delay spread ISI channels like ultrawideband channels and underwater acoustic channels.

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.

Fish inspired biomimetic ionic polymer metal composite pectoral fins using labriform propulsion

Ionic polymer metal composites (IPMC) are a new class of smart materials that have attractive characteristics such as muscle like softness, low voltage and power consumption, and good performance in aqueous environments. Thus, IPMC’s provide promising application for biomimetic fish like propulsion systems. In this paper, we design and analyze IPMC underwater propulsor inspired from swimming of Labriform fishes. Different fish species in nature are source of inspiration for different biomimetic flapping IPMC fin design. Here, three fish species with high performance flapping pectoral fin locomotion is chosen and performance analysis of each fin design is done to discover the better configurations for engineering applications. In order to describe the behavior of an active IPMC fin actuator in water, a complex hydrodynamic function is used and structural model of the IPMC fin is obtained by modifying the classical dynamic equation for a slender beam. A quasi-steady blade element model that accounts for unsteady phenomena such as added mass effects, dynamic stall, and the cumulative Wagner effect is used to estimate the hydrodynamic performance of the flapping rectangular shape fin. Dynamic characteristics of IPMC actuated flapping fins having the same size as the actual fins of three different fish species, Gomphosus varius, Scarus frenatus and Sthethojulis trilineata, are analyzed with numerical simulations. Finally, a comparative study is performed to analyze the performance of three different biomimetic IPMC flapping pectoral fins.

Time dependent superhydrophobicity of drag reducing surfaces

Air can be trapped on the crevices of specially textured hydrophobic surfaces immersed in water. This heterogenous state of wetting in which the water is in contact with both the solid surface and the entrapped air is not stable. Diffusion of air into the surrounding water leads to gradual reduction in the size and numbers of the air bubbles. The sustainability of the entrapped air on such surfaces is important for many underwater applications in which the surfaces have to remain submersed for longer time periods. In this paper we explore the suitability of different classes of surface textures towards the drag reduction application by evaluating the time required for the disappearance of the air bubbles under hydrostatic conditions. Different repetitive textures consisting of holes, pillars and ridges of different sizes have been generated in silicon, aluminium and brass by isotropic etching, wire EDM and chemical etching respectively. These surfaces were rendered hydrophobic with self-assembled layer of fluorooctyl trichlorosilane for silicon and aluminium surfaces and 1-dodecanethiol for brass surfaces. Using total internal reflection the air bubbles are visualized with the help of a microscope and time lapse photography. Irrespective of the texture, both the size and the number of air pockets were found to decrease with time gradually and eventually disappear. In an attempt to reverse the diffusion we explore the possibility of using electrolysis to generate gases at the textured surfaces. The gas bubbles are nucleated everywhere on the surface and as they grow they coalesce with each other and get pinned at the texture edges.

Natural motion of one-dimensional flexible objects using minimization approaches

For one-dimensional flexible objects such as ropes, chains, hair, the assumption of constant length is realistic for large-scale 3D motion. Moreover, when the motion or disturbance at one end gradually dies down along the curve defining the one-dimensional flexible objects, the motion appears ``natural''. This paper presents a purely geometric and kinematic approach for deriving more natural and length-preserving transformations of planar and spatial curves. Techniques from variational calculus are used to determine analytical conditions and it is shown that the velocity at any point on the curve must be along the tangent at that point for preserving the length and to yield the feature of diminishing motion. It is shown that for the special case of a straight line, the analytical conditions lead to the classical tractrix curve solution. Since analytical solutions exist for a tractrix curve, the motion of a piecewise linear curve can be solved in closed-form and thus can be applied for the resolution of redundancy in hyper-redundant robots. Simulation results for several planar and spatial curves and various input motions of one end are used to illustrate the features of motion damping and eventual alignment with the perturbation vector.

Modified roaming optimization for multi-modal optima

This paper explains the algorithm of Modified Roaming Optimization (MRO) for capturing the multiple optima for multimodal functions. There are some similarities between the Roaming Optimization (RO) and MRO algorithms, but the MRO algorithm is created to overcome the problems facing while applying the RO to the problems possessing large number of solutions. The MRO mainly uses the concept of density to overcome the challenges posed by RO. The algorithm is tested with standard test functions and also discussions are made to improve the efficacy of the MRO algorithm. This paper also gives the results of MRO applied for solving Inverse Kinematics (IK) problem for SCARA and PUMA robots.

Controlling air solubility to maintain `'Cassie'' state for sustained drag reduction

`'Cassie'' state of wetting can be established by trapping air pockets on the crevices of textured hydrophobic surfaces, leading to significant drag reduction. However, this drag reduction cannot be sustained due to gradual dissolution of trapped air into water. In this paper, we explore the possibility of sustaining the underwater Cassie state of wetting in a microchannel by controlling the solubility of air in water; the solubility being changed by controlling the local absolute pressure near the surface. We show that using this method, we can in fact make the water locally supersaturated with air thus encouraging the growth of trapped air pockets on the surface. In this case, the water acts as a pumping medium, delivering air to the crevices of the hydrophobic surface in the microchannel, where the presence of air pockets is most beneficial from the drag reduction perspective. In our experiments, the air trapped on a textured surface is visualized using total internal reflection based technique, at different local absolute pressures with the pressure drop (or drag) also being simultaneously measured. We find that, by controlling the pressure and hence the solubility close to the surface, we can either shrink or grow the trapped air bubbles, uniformly over a large surface area. The experiments show that, by precisely controlling the pressure and hence the solubility we can sustain the `'Cassie state'' over extended periods of time. This method thus provides a means of getting sustained drag reduction from a textured hydrophobic surface in channel flows. (C) 2014 Elsevier B.V. All rights reserved.

Fish Inspired Biomimetic Ionic Polymer-Metal Composite Pectoral Fins Using Labriform Propulsion

In this article, we analyze and design ionic polymer metal composite (IPMC) underwater propulsors inspired from swimming of labriform fishes. The structural model of the IPMC fin accounts for the electromechanical dynamics of the bean in water. A quasi steady blade element model that accounts for unsteady phenomena, such as added mass effects, dynamic stall, and cumulativeWagner effect is used to estimate the hydrodynamic performance. Dynamic characteristics of IPMC actuated flapping fins having the same size as the actual fins of three different fish species, Gomphosus varius, Scarus frenatus, and Sthethojulis trilineata, are analyzed using numerical simulations.

Broadcast Control Mechanism for Positional Consensus in Multiagent Systems

In this paper, a strategy for controlling a group of agents to achieve positional consensus is presented. The problem is constrained by the requirement that every agent must be given the same control input through a broadcast communication mechanism. Although the control command is computed using state information in a global framework, the control input is implemented by the agents in a local coordinate frame. We propose a novel linear programming (LP) formulation that is computationally less intensive than earlier proposed methods. Moreover, a random perturbation input in the control command that helps the agents to come close to each other even for a large number of agents, which was not possible with an existing strategy in the literature, is introduced. The method is extended to achieve positional consensus at a prespecified location. The effectiveness of the approach is illustrated through simulation results. A comparison between the LP approach and the existing second-order cone programming-based approach is also presented. The algorithm was successfully implemented on a robotic platform with three robots.