A virtual RV-M1 robot system

Exploring a virtual model under simulated environments is the best way to learn about a real system. This is particularly true in robotics where it is quite expensive to provide the system to each individual. The interdisciplinary area of robotics is being studied commonly in various fields like electrical, computer, mechanical engineering, nanotechnology, etc. A virtual robot system can help one fully understand the controls and working of a robot. The system may also be helpful to design the path and plan the trajectory of a robot in an industrial environment or other robotics application. Virtual model of RV-M1 robot has been developed in the MATLAB environment. The virtual system performs forward kinematics and inverse kinematics in addition to providing a simulation of the robot teachbox.     

Automatic joint classification and segmentation of whole cell 3D images

We present a machine learning tool for automatic texton-based joint classification and segmentation of mitochondria in MNT-1 cells imaged using ion-abrasion scanning electron microscopy (IA-SEM). For diagnosing signatures that may be unique to cellular states such as cancer, automatic tools with minimal user intervention need to be developed for analysis and mining of high-throughput data from these large volume data sets (typically ). Challenges for such a tool in 3D electron microscopy arise due to low contrast and signal-to-noise ratios (SNR) inherent to biological imaging. Our approach is based on block-wise classification of images into a trained list of regions. Given manually labeled images, our goal is to learn models that can localize novel instances of the regions in test datasets. Since datasets obtained using electron microscopes are intrinsically noisy, we improve the SNR of the data for automatic segmentation by implementing a 2D texture-preserving filter on each slice of the 3D dataset. We investigate texton-based region features in this work. Classification is performed by k-nearest neighbor (k-NN) classifier, support vector machines (SVMs), adaptive boosting (AdaBoost) and histogram matching using a NN classifier. In addition, we study the computational complexity vs. segmentation accuracy tradeoff of these classifiers. Segmentation results demonstrate that our approach using minimal training data performs close to semi-automatic methods using the variational level-set method and manual segmentation carried out by an experienced user. Using our method, which we show to have minimal user intervention and high classification accuracy, we investigate quantitative parameters such as volume of the cytoplasm occupied by mitochondria, differences between the surface area of inner and outer membranes and mean mitochondrial width which are quantities potentially relevant to distinguishing cancer cells from normal cells. To test the accuracy of our approach, these quantities are compared against manually computed counterparts. We also demonstrate extension of these methods to segment 3D images obtained using electron tomography.     

Generating human-like soccer primitives from human data

Recently, interest in analysis and generation of human and human-like motion has increased in various areas. In robotics, in order to operate a humanoid robot, it is necessary to generate motions that have strictly dynamic consistency. Furthermore, human-like motion for robots will bring advantages such as energy optimization.This paper presents a mechanism to generate two human-like motions, walking and kicking, for a biped robot using a simple model based on observation and analysis of human motion. Our ultimate goal is to establish a design principle of a controller in order to achieve natural human-like motions. The approach presented here rests on the principle that in most biological motor learning scenarios some form of optimization with respect to a physical criterion is taking place. In a similar way, the equations of motion for the humanoid robot systems are formulated in such a way that the resulting optimization problems can be solved reliably and efficiently.The simulation results show that faster and more accurate searching can be achieved to generate an efficient human-like gait. Comparison is made with methods that do not include observation of human gait. The gait has been successfully used to control Robo-Erectus, a soccer-playing humanoid robot, which is one of the foremost leading soccer-playing humanoid robots in the RoboCup Humanoid League.     

Urban growth modeling of Kathmandu metropolitan region, Nepal

The complexity of urban system requires integrated tools and techniques to understand the spatial process of urban development and project the future scenarios. This research aims to simulate urban growth patterns in Kathmandu metropolitan region in Nepal. The region, surrounded by complex mountainous terrain, has very limited land resources for new developments. As similar to many cities of the developing world, it has been facing rapid population growth and daunting environmental problems. Three time series land use maps in a fine-scale (30 m resolution), derived from satellite remote sensing, for the last three decades of the 20th century were used to clarify the spatial process of urbanization. Based on the historical experiences of the land use transitions, we adopted weight of evidence method integrated in cellular automata framework for predicting the future spatial patterns of urban growth. We extrapolated urban development patterns to 2010 and 2020 under the current scenario across the metropolitan region. Depending on local characteristics and land cover transition rates, this model produced noticeable spatial pattern of changes in the region. Based on the extrapolated spatial patterns, the urban development in the Kathmandu valley will continue through both in-filling in existing urban areas and outward rapid expansion toward the east and south directions. Overall development will be greatly affected by the existing urban space, transportation network, and topographic complexity.     

Theorem Proving Guided Development of Formal Assertions in a Resource-Constrained Scheduler for High-Level Synthesis

This paper presents a formal specification and a proof of correctness for the widely-used Force-Directed List Scheduling (FDLS) algorithm for resource-constrained scheduling of data flow graphs in high-level synthesis systems. The proof effort is conducted using a higher-order logic theorem prover. During the proof effort many interesting properties of the FDLS algorithm are discovered. These properties are formally stated and proved in a higher-order logic theorem proving environment. These properties constitute a detailed set of formal assertions and invariants that should hold at various steps in the FDLS algorithm. They are then inserted as programming assertions in the implementation of the FDLS algorithm in a production-strength high-level synthesis system. When turned on, the programming assertions (1) certify whether a specific run of the FDLS algorithm produced correct schedules and, (2) in the event of failure, help discover and isolate programming errors in the FDLS implementation.We present a detailed example and several experiments to demonstrate the effectiveness of these assertions in discovering and isolating errors. Based on this experience, we discuss the role of the formal theorem proving exercise in developing a useful set of assertions for embedding in the scheduler code and argue that in the absence of such a formal proof checking effort, discovering such a useful set of assertions would have been an arduous if not impossible task.     

Quality aspects for component‐based systems: A metrics based approach

In component‐based development, software systems are built by assembling components already developed and prepared for integration. To estimate the quality of components, complexity, reusability, dependability, and maintainability are the key aspects. The quality of an individual component influences the quality of the overall system. Therefore, there is a strong need to select the best quality component, both from functional and nonfunctional aspects. The present paper produces a critical analysis of metrics for various quality aspects for components and component‐based systems. These aspects include four main quality factors: complexity, dependency, reusability, and maintainability. A systematic study is applied to find as much literature as possible. A total of 49 papers were found suitable after a defined search criteria. The analysis provided in this paper has a different objective as we focused on efficiency and practical ability of the proposed approach in the selected papers. The various key attributes from these two are defined. Each paper is evaluated based on the various key parameters viz. metrics definition, implementation technique, validation, usability, data source, comparative analysis, practicability, and extendibility. The paper critically examines various quality aspects and their metrics for component‐based systems. In some papers, authors have also compared the results with other techniques. For characteristics like complexity and dependency, most of the proposed metrics are analytical. Soft computing and evolutionary approaches are either not being used or much less explored so far for these aspects, which may be the future concern for the researchers. In addition, hybrid approaches like neuro‐fuzzy, neuro‐genetic, etc., may also be examined for evaluation of these aspects. However, to conclude that one particular technique is better than others may not be appropriate. It may be true for one characteristic by considering different set of inputs and dataset but may not be true for the same with different inputs. The intension in the proposed work is to give a score for each metric proposed by the researchers based on the selected parameters, but certainly not to criticize any research contribution by authors. Copyright © 2012 John Wiley & Sons, Ltd.     

A multi-step linearization technique for a class of boundary value problems in non-linear mechanics

Non-linear finite element analyses of structures (such as beams) involve construction of weak solutions for the governing equations. While a weak approach weakens the differentiability requirements of the so-called shape functions, the governing equations are only satisfied in an integral sense and not point-wise, or, even path-wise. Moreover, use of a finite mesh leads to a stiffening of the numerical model. While strong solutions obtained through some of the existing mesh-free collocation methods overcomes some of these lacunae to an extent, the quality of the numerical solutions would be considerably improved if the computational algorithm were able to faithfully reproduce (or approximate or preserve) certain geometrical features of the response surfaces or manifolds. This paper takes the first step towards realizing this objective and proposes a multi-step transversal linearization (MTL) technique for a class of non-linear boundary value problems, which are treated as conditionally dynamical systems. Numerical explorations are performed, to a limited extent, through applications to large deflection analyses of planar beams with or without plastic deformations.     

Nanoclays for polymer nanocomposites, paints, inks, greases and cosmetics formulations, drug delivery vehicle and waste water treatment

An overview of nanoclays or organically modified layered silicates (organoclays) is presented with emphasis placed on the use of nanoclays as the reinforcement phase in polymer matrices for preparation of polymer/layered silicates nanocomposites, rheological modifier for paints, inks and greases, drug delivery vehicle for controlled release of therapeutic agents, and nanoclays for industrial waste water as well as potable water treatment to make further step into green environment. A little amount of nanoclay can alter the entire properties of polymers, paints, inks and greases to a great extent by dispersing 1nm thick layered silicate throughout the matrices. The flexibility of interlayer spacing of layered silicates accommodates therapeutic agents which can later on be released to damaged cell. Because the release of drugs in drug-intercalated layered materials is controllable, these new materials have a great potential as a delivery host in the pharmaceutical field. The problem of clean water can be solved by treating industrial and municipal waste water with organoclays in combination with other sorbents like activated carbon and alum. Organoclays have proven to be superior to any other water treatment technology in applications where the water to be treated contains substantial amounts of oil and grease or humic acid.     

Multidroplet Impact Model for Prediction of Residual Stresses in Water Jet Peening of Materials

In this article, a multidroplet impact model, proposed for predicting residual stresses induced on materials subjected to water jet peening, is presented. This approach considers the impact pressure distribution due to high-velocity droplets impinging on the material surface instead of stationary pressure distribution for prediction of residual stresses on water jet-peened surfaces. It makes use of Reichardt's theory for predicting the velocity distribution of droplets and liquid impact theory for predicting the impact pressure and duration of impact of high-velocity droplets. For predicting residual stresses on the surface and subsurface of material subjected to water jet peening, finite element modeling approach was adopted by using transient elastoplastic finite element analysis by considering an impingement of a set of droplets in succession to one another over a certain time period after which this pressure is released. The effectiveness of the proposed approach was demonstrated bv comparing the predicted residual stresses with those predicted by using the single set of droplets approach proposed by Rajesh et al. [6]. Finally, the practical relevance of the proposed approach was shown by comparing the predicted results with the experimental results obtained by water peening of 6063-T6 aluminium alloy.     

Efficient clustering algorithms for self-organizing wireless sensor networks

Self-organization of wireless sensor networks, which involves network decomposition into connected clusters, is a challenging task because of the limited bandwidth and energy resources available in these networks. In this paper, we make contributions towards improving the efficiency of self-organization in wireless sensor networks. We first present a novel approach for message-efficient clustering, in which nodes allocate local “growth budgets” to neighbors. We introduce two algorithms that make use of this approach. We analyze the message complexity of these algorithms and provide performance results from simulations. The algorithms produce clusters of bounded size and low diameter, using significantly fewer messages than the earlier, commonly used, Expanding Ring approach. Next, we present a new randomized methodology for designing the timers of cluster initiators. This methodology provides a probabilistic guarantee that initiators will not interfere with each other. We derive an upper bound on the expected time for network decomposition that is logarithmic in the number of nodes in the network. We also present a variant that optimistically allows more concurrency among initiators and significantly reduces the network decomposition time. However, it produces slightly more clusters than the first method. Extensive simulations over different topologies confirm the analytical results and demonstrate that our proposed methodology scales to large networks.