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.

Drought Climatology of Indo-Gangetic Region of India Using Remote Sensing and Crop Growth Simulation Models

Department of Atmospheric Sciences, Cochin University of Science and Technology

Remote Sensing the Signatures of Upwelling in South Eastern Arabian Sea

In this thesis, a variety of available satellite data products have been made use of to bring out a synergistic analysis on the upwelling phenomenon in SEAS. Basic concepts of remote sensing, upwelling and linked oceanography topics have been dealt in this work .Auxiliary data products utilized in this study are described in chapter 2. The climatological monthly variability of the upwelling signatures are detailed under chapter 3. Chapter 4 presents the forcing factors that trigger the upwelling process in SEAS. Chapter 5 describes the oceanic response to the forcing factors with respect to the SST cooling and CHLA blooms. Chapter 6 presents the heat budget of the region and the variability of heat budget terms with respect to upwelling. Chapter 7 describes the inter-annual variability of upwelling intensity in SEAS and the influence of climatic events on upwelling.

Spatio-Temporal Changes in the Wetland Ecosystem of Cochin City using Remote Sensing and GIS

Urban developments have exerted immense pressure on wetlands. Urban areas are normally centers of commercial activity and continue to attract migrants in large numbers in search of employment from different areas. As a result, habitations keep coming up in the natural areas / flood plains. This is happening in various Indian cities and towns and large habitations are coming up in low-lying areas, often encroaching even over drainage channels. In some cases, houses are constructed even on top of nallahs and drains. In the case of Kochi the situation is even worse as the base of the urban development itself stands on a completely reclaimed island. Also the topography and geology demanded more reclamation of land when the city developed as an agglomerative cluster. Cochin is a coastal settlement interspersed with a large backwater system and fringed on the eastern side by laterite-capped low hills from which a number of streams drain into the backwater system. The ridge line of the eastern low hills provides a welldefined watershed delimiting Cochin basin which help to confine the environmental parameters within a physical limit. This leads to an obvious conclusion that if physiography alone is considered, the western flatland is ideal for urban development. However it will result in serious environmental deterioration, as it comprises mainly of wetland and for availability of land there has to be large scale filling up of these wetlands which includes shallow mangrove-fringed water sheets, paddy fields, Pokkali fields, estuary etc.Chapter 1 School 4 of Environmental Studies The urban boundaries of Cochin are expanding fast with a consequent over-stretching of the existing fabric of basic amenities and services. Urbanisation leads to the transformation of agricultural land into built-up areas with the concomitant problems regarding water supply, drainage, garbage and sewage disposal etc. Many of the environmental problems of Cochin are hydrologic in origin; like water-logging / floods, sedimentation and pollution in the water bodies as well as shoreline erosion

Ecological studies of the Parambikulam Tiger Reserve in the Western Ghats of India, using Remote Sensing and GIS

mbikulam Tiger Reserve of Western Ghats using Geospatial technology. The major objectives of the study are Land use land cover mapping (LULC) and Phytodiversity analysis. Satellite data was used to map the land use / land cover using supervised classification techniques in Erdas imagine. The change for a period of 32 years was assessed using the multi-temporal satellite datasets from Landsat MSS (1973), Landsat TM (1990), and IRS P6 LISS III (2005). A geospatial approach was used for the land cover analysis. Digital elevation models, Satellite imageries and SOI topo sheets were the data sets used in the analysis. Vegetation sampling plots distributed over the different forest types were enumerated and studied for Phytodiversity analysis.

Thread Scheduling Mechanisms for Multiple-Context Parallel Processors

Scheduling tasks to efficiently use the available processor resources is crucial to minimizing the runtime of applications on shared-memory parallel processors. One factor that contributes to poor processor utilization is the idle time caused by long latency operations, such as remote memory references or processor synchronization operations. One way of tolerating this latency is to use a processor with multiple hardware contexts that can rapidly switch to executing another thread of computation whenever a long latency operation occurs, thus increasing processor utilization by overlapping computation with communication. Although multiple contexts are effective for tolerating latency, this effectiveness can be limited by memory and network bandwidth, by cache interference effects among the multiple contexts, and by critical tasks sharing processor resources with less critical tasks. This thesis presents techniques that increase the effectiveness of multiple contexts by intelligently scheduling threads to make more efficient use of processor pipeline, bandwidth, and cache resources. This thesis proposes thread prioritization as a fundamental mechanism for directing the thread schedule on a multiple-context processor. A priority is assigned to each thread either statically or dynamically and is used by the thread scheduler to decide which threads to load in the contexts, and to decide which context to switch to on a context switch. We develop a multiple-context model that integrates both cache and network effects, and shows how thread prioritization can both maintain high processor utilization, and limit increases in critical path runtime caused by multithreading. The model also shows that in order to be effective in bandwidth limited applications, thread prioritization must be extended to prioritize memory requests. We show how simple hardware can prioritize the running of threads in the multiple contexts, and the issuing of requests to both the local memory and the network. Simulation experiments show how thread prioritization is used in a variety of applications. Thread prioritization can improve the performance of synchronization primitives by minimizing the number of processor cycles wasted in spinning and devoting more cycles to critical threads. Thread prioritization can be used in combination with other techniques to improve cache performance and minimize cache interference between different working sets in the cache. For applications that are critical path limited, thread prioritization can improve performance by allowing processor resources to be devoted preferentially to critical threads. These experimental results show that thread prioritization is a mechanism that can be used to implement a wide range of scheduling policies.

Modelling of Mercury’s surface composition and remote detection from the orbit with the BepiColombo Mercury Planetary Orbiter

It can be assumed that the composition of Mercury’s thin gas envelope (exosphere) is related to the composition of the planets crustal materials. If this relationship is true, then inferences regarding the bulk chemistry of the planet might be made from a thorough exospheric study. The most vexing of all unsolved problems is the uncertainty in the source of each component. Historically, it has been believed that H and He come primarily from the solar wind, while Na and K originate from volatilized materials partitioned between Mercury’s crust and meteoritic impactors. The processes that eject atoms and molecules into the exosphere of Mercury are generally considered to be thermal vaporization, photonstimulated desorption (PSD), impact vaporization, and ion sputtering. Each of these processes has its own temporal and spatial dependence. The exosphere is strongly influenced by Mercury’s highly elliptical orbit and rapid orbital speed. As a consequence the surface undergoes large fluctuations in temperature and experiences differences of insolation with longitude. We will discuss these processes but focus more on the expected surface composition and solar wind particle sputtering which releases material like Ca and other elements from the surface minerals and discuss the relevance of composition modelling

Remote and Connected

The Web offers new possibilities to link remote and rural places into economic, political and social activities in ways that transcend earlier restrictions of distance. Dyroy Kommune, off the northern coast of Norway, welcomes Web Science students to undertake research on its digital strategy.

Version Control with Git for beginners

A brief intro to version control concepts using Git

Construir Europa a trav??s del intercambio intercultural : una experiencia del Centro de Profesorado de Almer??a, El Goldsmiths College (Universidad de Londres) y el Ayuntamiento de Tower Hamlet

Resumen basado en el de la publicaci??n

Trace elements biogeochemistry in high mountain lake catchments: identifying anthropogenic versus natural components from the atmospheric contamination legacy in remote natural areas

Human activities have been interfering with the natural biogeochemical cycles of trace elements since the ancient civilizations. Although they are inaccessible and remote, high mountain lake catchments are irrefutably trace-element contaminated by anthropogenic emissions, which can travel by long-range atmospheric transport before they are deposited. This has been revealed by several natural archives. High mountain lake catchments are thus excellent sentinels of long-range contamination. Continuous accumulation can lead to a build up of potentially toxic trace elements in these remote, or relatively remote, ecosystems. The thesis focuses on the biogeochemistry of a suite of trace elements of environmental concern (Ni, Cu, Zn, As, Se, Cd and Pb) in Pyrenean lake catchments, with special emphasis on discerning the “natural” components from the “anthropogenic” contributions. Five other metallic elements (Al, Fe, Ti, Mn and Zr) have also been studied to trace natural fluxes and biogeochemical processes within the lake catchment systems.