Shri Ramdeobaba Kamla Nehru Engineering College

Nāgpur, India

Shri Ramdeobaba Kamla Nehru Engineering College

Nāgpur, India

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Chiddarwar S.S.,Shri Ramdeobaba Kamla Nehru Engineering College | Babu N.R.,Indian Institute of Technology Madras
International Journal of Advanced Robotic Systems | Year: 2011

This article presents an agent based framework for coordinated motion planning of multiple robots. The emerging paradigm of agent based systems is implemented to address various issues related to safe and fast task execution when multiple robots share a common workspace. In the proposed agent based framework, each issue vital for coordinated motion planning of multiple robots and every robot participating in coordinated task is considered as an agent. The identified agents are interfaced with each other in order to incorporate the desired flexibility in the developed framework. This framework gives a complete strategy for determination of optimal trajectories of robots working in coordination with due consideration to their kinematic, dynamic and payload constraint. The complete architecture of the proposed framework and the detailed discussion on various modules are covered in this paper.


Thakkar K.S.,G.H. Raisoni College of Engineering | Dharaskar R.V.,G.H. Raisoni College of Engineering | Chandak M.B.,Shri Ramdeobaba Kamla Nehru Engineering College
Proceedings - 3rd International Conference on Emerging Trends in Engineering and Technology, ICETET 2010 | Year: 2010

Summarization is a brief and accurate representation of input text such that the output covers the most important concepts of the source in a condensed manner. Text Summarization is an emerging technique for understanding the main purpose of any kind of documents. To visualize a large text document within a short duration and small visible area like PDA screen, summarization provides a greater flexibility and convenience. This paper presents innovative unsupervised methods for automatic sentence extraction using graph-based ranking algorithms and shortest path algorithm. © 2010 IEEE.


Dhondge S.S.,P.A. College | Pandhurnekar C.P.,Shri Ramdeobaba Kamla Nehru Engineering College | Garade S.,Rashtrasant Tukadoji Maharaj Nagpur University | Dadure K.,Rashtrasant Tukadoji Maharaj Nagpur University
Journal of Chemical and Engineering Data | Year: 2011

Densities and viscosities of aqueous solutions and 1.0 mol·kg -1 aqueous urea solutions of glucose, fructose, sucrose, and lactose have been measured at two different temperatures [(308.15 and 318.15) K] in the concentration range (0 to 3) mol·kg-1. The different derived parameters such as the apparent molal volume of solute (φV) and Jones-Dole equation viscosity B- and D-coefficients have been obtained for these binary and ternary mixtures. Partial molal volumes (V̄20) at infinite dilution were obtained by smooth extrapolation of the φV-m curves to zero concentration. These data were used to obtain the corresponding volume of transfer (ΔtransV̄20) for saccharides from pure water to 1.0 mol·kg-1 aqueous urea solutions at two different temperatures. The results are interpreted in terms of various interactions among solute and solvent molecules. © 2011 American Chemical Society.


Asamwar R.S.,Shri Ramdeobaba Kamla Nehru Engineering College | Bhurchandi K.M.,Shri Ramdeobaba Kamla Nehru Engineering College | Gandhi A.S.,Visvesvaraya National Institute of Technology
International Journal of Automation and Computing | Year: 2010

This paper presents discrete wavelet transform (DWT) and its inverse (IDWT) with Haar wavelets as tools to compute the variable size interpolated versions of an image at optimum computational load. As a human observer moves closer to or farther from a scene, the retinal image of the scene zooms in or out, respectively. This zooming in or out can be modeled using variable scale interpolation. The paper proposes a novel way of applying DWT and IDWT in a piecewise manner by non-uniform down- or up-sampling of the images to achieve partially sampled versions of the images. The partially sampled versions are then aggregated to achieve the final variable scale interpolated images. The non-uniform down- or up-sampling here is a function of the required scale of interpolation. Appropriate zero padding is used to make the images suitable for the required non-uniform sampling and the subsequent interpolation to the required scale. The concept of zeroeth level DWT is introduced here, which works as the basis for interpolating the images to achieve bigger size than the original one. The main emphasis here is on the computation of variable size images at less computational load, without compromise of quality of images. The interpolated images to different sizes and the reconstructed images are benchmarked using the statistical parameters and visual comparison. It has been found that the proposed approach performs better as compared to bilinear and bicubic interpolation techniques. © 2010 Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.


Chiddarwar S.S.,Shri Ramdeobaba Kamla Nehru Engineering College | Ramesh Babu N.,Indian Institute of Technology Madras
Robotics and Autonomous Systems | Year: 2011

In this paper, a practically viable approach for conflict free, coordinated motion planning of multiple robots is proposed. The presented approach is a two phase decoupled method that can provide the desired coordination among the participating robots in offline mode. In the first phase, the collision free path with respect to stationary obstacles for each robot is obtained by employing an A* algorithm. In the second phase, the coordination among multiple robots is achieved by resolving conflicts based on a path modification approach. The paths of conflicting robots are modified based on their position in a dynamically computed path modification sequence (PMS). To assess the effectiveness of the developed methodology, the coordination among robots is also achieved by different strategies such as fixed priority sequence allotment for motion of each robot, reduction in the velocities of joints of the robot, and introduction of delay in starting of each robot. The performance is assessed in terms of the length of path traversed by each robot, time taken by the robot to realize the task and computational time. The effectiveness of the proposed approach for multi-robot motion planning is demonstrated with two case studies that considered the tasks with three and four robots. The results obtained from realistic simulation of multi-robot environment demonstrate that the proposed approach assures rapid, concurrent and conflict free coordinated path planning for multiple robots. © 2011 Elsevier B.V. All rights reserved.


Chandak M.B.,Shri Ramdeobaba Kamla Nehru Engineering College | Dharaskar R.,G.H. Raisoni College of Engineering
International Journal of Smart Home | Year: 2010

The one of the upcoming research stream of Computer Science and Engineering is Natural Language Processing (NLP), which is widely being used in design of Interfaces for Human-Computer Interaction. One of the basic applications of NLP, is design of "Smart Homes", in which; based on user input certain actions can be performed either locally inside the house or globally outside the house. The smart homes designed are either based on remote input provided to the system from one place in the house or limited to only certain type of actions which the system can handle. The current state of art of the Smart Home design methodologies, does not includes the design of customized systems capable of handling inputs from different gender i.e., in different pitches, similarly the methodologies does not provides facilities to handle input in different language. The systems existing are not capable of understanding the context of situation and determining actions based on context. The paper describes a Smart Home application which can be used by elderly people living alone in the home to serve their basic needs, which specifically includes security issues. The system is initially based on generic architecture, and can be further customized to user needs. The main component of the generic architecture is ability to fix a certain language or set of languages in which the input will be provided to the system. This enables the user to interact with the system in multiple languages, thus the specific instruction set is not limited to one language. The interface designed is based on speech input, can handle multiple languages and is not gender specific. The system designed is also "Context Specific", to understand the context of current state in which input is given to the system and perform the necessary action. The context understanding feature makes the system more specific to understand the urgency of action to be performed based on input. The system can deployed for a building incorporating a wireless sensor network, and provide a high quality, efficient contextsensitive data transmission facility.


Dhondge S.S.,P.A. College | Paliwal R.L.,Rashtrasant Tukadoji Maharaj Nagpur University | Bhave N.S.,Rashtrasant Tukadoji Maharaj Nagpur University | Pandhurnekar C.P.,Shri Ramdeobaba Kamla Nehru Engineering College
Journal of Chemical Thermodynamics | Year: 2012

In the present communication, experimental values of density (ρ) and speed of sound (u) of aqueous solutions of three amino acids, namely glycine, l-alanine and β-alanine at different temperatures i.e. T = (275.15, 279.15, and 283.15) K are reported. From the experimental values, different derived parameters such as apparent molar volume of solute (φV), isentropic compressibility of solution (βS), apparent molar isentropic compressibility of solute (φKS) have been calculated. The limiting values of apparent molar volume of solute (φV0), apparent molar isentropic compressibility of solute (φKS0) and apparent molar expansivity (φE0) in the aqueous medium have also been obtained. The temperature coefficients of these limiting properties have also been computed. The results obtained were interpreted in terms of solute-solvent and solute-solute interactions, and structure making and structure breaking abilities of the solute in aqueous medium. © 2011 Elsevier Ltd. All rights reserved.


Renge M.M.,Shri Ramdeobaba Kamla Nehru Engineering College | Suryawanshi H.M.,Visvesvaraya National Institute of Technology
Journal of Power Electronics | Year: 2011

In this paper, an approach to reduce common-mode voltage (CMV) at the output of multilevel inverters using a phase opposition disposed (POD) sinusoidal pulse width modulation (SPWM) technique is proposed. The SPWM technique does not require computations therefore, this technique is easy to implement on-line in digital controllers. A good tradeoff between the quality of the output voltage and the magnitude of the CMV is achieved in this paper. This paper realizes the implementation of a POD-SPWM technique to reduce CMV using a five-level diode clamped inverter for a three phase induction motor. Experimental and simulation results demonstrate the feasibility of the proposed technique.


Dhondge S.S.,P.A. College | Pandhurnekar C.P.,Shri Ramdeobaba Kamla Nehru Engineering College | Parwate D.V.,Rashtrasant Tukadoji Maharaj Nagpur University
Journal of Chemical and Engineering Data | Year: 2010

The experimental data of densities (p), speeds of sound (u), and refractive indices (n D) of aqueous solutions of different glycol ethers, namely, ethylene glycol iso-propyl ether (EGIPE), ethylene glycol monobutyl ether (EGMBE), diethylene glycol dimethyl ether (DEGDME), diethylene glycol monobutyl ether (DEGMBE), propylene glycol monomethyl ether (PGMME), and dipropylene glycol monomethyl ether (DPGMME), over the entire composition range, at temperature T = 298.15 K, and at one atmospheric pressure have been obtained. The derived parameters such as the apparent molar volume (φ V) of solute, isentropic compressibility of solution (β S), apparent molar isentropic compressibility (φ KS) of solute, excess molar volume (V E) of solution, molar refraction ([R] 1,2), deviation in refractive index (Δn D) of solutions, deviation in molar refraction (Δ[R] 1,2), and the deviation in isentropic compressibility (Δβ S) have been computed. The limiting apparent molar volumes of solutes (φ V 0), limiting apparent molar isentropic compressibilities of solutes (φKS0), and the limiting excess partial molar volumes of solutes (V 20 E) have also been obtained. The results are interpreted in terms of hydrogen bonding, solute-solute, and solute-solvent interactions. © 2010 American Chemical Society.


Dhondge S.S.,Sk Porwal College | Pandhurnekar C.P.,Shri Ramdeobaba Kamla Nehru Engineering College | Sheikh S.,Rashtrasant Tukadoji Maharaj Nagpur University | Deshmukh D.W.,Rashtrasant Tukadoji Maharaj Nagpur University
Journal of Chemical Thermodynamics | Year: 2011

The experimental data for the density (q) and viscosity (g) are reported for aqueous binary mixtures of different glycol ethers, namely ethylene glycol monomethyl ether (EGMME), ethylene glycol monoethyl ether (EGMEE), diethylene glycol monomethyl ether (DEGMME), and diethylene glycol monoethyl ether (DEGMEE), at different temperatures (T = 275.15 K and 283.15 K) within the concentration range 0 mol · kg -1 to 0.1 mol · kg -1. The values of density (ρ) and viscosity (g) of the solutions were used to compute different derived parameters, such as apparent molar volume (φV) of the solute, excess molar volume (V E) of the solution, viscosity B and D coefficients of solution and temperature coefficient of viscosity B-coefficient (dB/dT) of solution. The limiting apparent molar volume of the solutes (φ V 0) have been obtained for aqueous binary mixtures of these glycol ethers by smooth extrapolation of φV-m curves to zero concentration. By using the values of φ V 0, the limiting excess partial molar volumes (V̄ 2 0E ) have also been calculated. The results are interpreted in term of various interactions such as solute-solvent interactions and hydrogen bonding. © 2011 Elsevier Ltd. All rights reserved.

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