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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. Source

Paranjape-Voditel P.,Shri Ramdeobaba Kamla Nehru Engineering College | Deshpande U.,Visvesvaraya National Institute of Technology
Journal of Software | Year: 2011

A distributed algorithm based on Dynamic Itemset Counting (DIC) for generation of frequent itemsets is presented by us. DIC represents a paradigm shift from Apriori-based algorithms in the number of passes of the database hence reducing the total time taken to obtain the frequent itemsets. We exploit the advantage of Dynamic Itemset Counting in our algorithm- that of starting the counting of an itemset as early as possible at the different site as soon as they become frequent at atleast one site. Hence, our algorithm shows remarkable improvement in the amount of time taken because of reduction in the number of passes of the database and comparatively lesser number of candidates generated. Distributed frequent itemset counting and association rule generation have basically used algorithms based on Apriori or Sampling. This is the first algorithm which is based on DIC. © 2011 ACADEMY PUBLISHER. Source

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. Source

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. Source

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. Source

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