Department of Electrical Engineering

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IIT Jodhpur

A smart wheelchair can restore autonomy to patients with sensori-motor disabilities by enabling them to move around freely without depending on the care givers. The objective of a smart wheelchair is to reduce user effort in controlling the wheelchair and to ensure safety during movement. In this paper, our focus is to design and develop a smart wheelchair using inexpensive hardware and open-source software so as to make it affordable to a larger section of the target population, particularly in developing nations. The user can control the wheelchair using three interfaces namely, keyboard, a webcam and a microphone. Webcam is used to detect head-tilt which can be used for turning the wheelchair. Microphone is used for controlling the wheelchair through discrete voice commands. The wheelchair can be operated in three modes namely, manual, automatic and tele-operation modes. The software and hardware architecture of the platform is described in detail and experiments are performed to demonstrate the usability of the platform. © 2013 ACM.

World University root node

ACM International Conference Proceeding Series

Design and implementation of a smart wheelchair

This chapter discusses two methods of designing a sliding surface in the face of an actuator saturation constraint for a class of nonlinear uncertain systems. The first approach uses an ARE based approach to design the sliding surface and the second approach uses the parametric Lyapunov equation to design the surface. These methods are based on the low gain approach proposed by Lin et al. The design methods give a surface matrix as a function of the designed parameter. This parameter can be modulated to reduce the control amplitude which ensures that the control limits are respected in a region of the state space. This region can be made sufficiently large by choosing appropriate values of the design parameter. © Springer-Verlag Berlin Heidelberg 2013.

Lecture Notes in Control and Information Sciences

Design of Sliding Mode Controller with Actuator Saturation

Many image interpolation algorithms have been developed in the recent past aiming for high prediction accuracy. But these algorithms are focused only towards better predictor design. In this paper, we propose a generic two phase image interpolation algorithm based upon error feedback mechanism. In the first phase, we learn error pattern occurred during interpolation of down sampled version of original Low Resolution (LR) image. It is assumed that similar error pattern also occurrs during the interpolation of original LR image. Hence, error pattern learnt in first phase, is employed during the interpolation of original LR image (second phase). From extensive experiments, we found that our algorithm gives a significant improvement in prediction accuracy of existing interpolation algorithms. In particular, our algorithm plays a significant role in improving prediction accuracy of those algorithms which have inherently poor prediction capability for certain types of images. © 2013 IEEE.

IEEE Workshop on Signal Processing Systems, SiPS: Design and Implementation

An efficient two phase image interpolation algorithm based upon error feedback mechanism

In this paper we have proposed Noise Induced HSI model based noisy and blurred colour image segmentation technique. This approach uses additive noise to suppress the effect of internal noise present in an image for proper detection of objects from such images. In this algorithm we decompose a given image in Hue, Saturation and Intensity (HSI) components and then apply processing on intensity component of the decomposed image. We measured performance of proposed algorithm in terms of correlation coefficient and number of mismatch pixels. The effectiveness of the proposed algorithm is compared with the different existing techniques. It is observed that the computational complexity of our algorithm is less in comparison with several existing techniques, because it deals only with intensity component of the decomposed image. Furthermore, an additional advantage, our technique of segmentation gives better performance as compared to SSR based segmentation using RGB model, SR-extended, integrated region matching, watershed and marker controlled watershed based segmentation method. © 2013 IEEE.

2013 National Conference on Communications, NCC 2013

Noise induced segmentation of noisy color image

In this paper, we propose a new reversible watermarking algorithm based on additive prediction-error expansion which can recover original image after extracting the hidden data. Embedding capacity of such algorithms depend on the prediction accuracy of the predictor. We observed that the performance of a predictor based on full context prediction is preciser as compared to that of partial context prediction. In view of this observation, we propose an efficient adaptive prediction (EAP) method based on full context, that exploits local characteristics of neighboring pixels much effectively than other prediction methods reported in literature. Experimental results demonstrate that the proposed algorithm has a better embedding capacity and also gives better Peak Signal to Noise Ratio (PSNR) as compared to state-of-the-art reversible watermarking schemes. © 2013 IEEE.

2013 IEEE International Conference on Image Processing, ICIP 2013 - Proceedings

Efficient adaptive prediction based reversible image watermarking

The thermal oxidation process of the indium nitride (InN) nanorods (NRs) was studied. The SEM studies reveal that the cracked and burst mechanism for the formation of indium oxide (In2O3) nanostructures by oxidizing the InN NRs at higher temperatures. XRD results confirm the bcc crystal structure of the as prepared In2O3 nanostructures. Strong and broad photoluminescence spectrum located at the green to red region with maximum intensity at 566 nm along with a weak ultraviolet emission at 338 nm were observed due to oxygen vacancy levels and free excitonic transitions, respectively. The valence band onset energy of 2.1 eV was observed from the XPS valence band spectrum, clearly justifies the alignment of Fermi level to the donor level created due to the presence of oxygen vacancies which were observed in the PL spectrum. The elemental ratio In:O in as prepared In2O 3 was found to be 42:58 which is in close agreement with the stoichiometric value of 40:60. A downward shift was observed in the Raman peak positions due to a possible phonon confinement effect in the nanoparticles formed in bursting mechanism. Such single junction devices exhibit promising photovoltaic performance with fill factor and conversion efficiency of 21% and 0.2%, respectively, under concentrated AM1.5 illumination. Copyright © 2013 American Scientific Publishers All rights reserved.

Journal of Nanoscience and Nanotechnology

Spectroscopic studies of In2O3 nanostructures; Photovoltaic demonstration of In2O3/p-Si heterojunction

High voltage power transformer is widely used in all over the world as generation of Electrical Power in either voltage level. In power-transformer lots of equipment working together like cooling fan, Buchholz relay, breather, bushing, differential relay and so on. So It is necessary to find out problems occur in it and to eradicate them as early as possible so the high cost of High voltage power transformer does not get damage and optimum use. Here we should focus how to diminish and operate them in smarter way. In this paper an attempt has been made to elaborate the use of computer and modern automation system for protection and optimum use of High voltage power transformer, its advantages and cost effectiveness. Programmable logic controllers (PLC) can be used for control & automation of High voltage power transformer. The main reason for this is cost effectiveness and optimum use. Various functions and controls can be achieved by programming the PLC. They can be used for full plant automation including governing of auto-operation includes cooling fan, control, oil level control, automatic start/stop of pump, transformer oil leakage control, replacement of Buchholz relay by pressure sensor control, start/stop of auxiliary systems, and protection requirement etc Functions other than control like continuous monitoring, data recording, instrumentation and protections can also be performed. For remote operation, communication with PLC can be performed. For continuous monitoring purpose, a personal computer can be interfaced with PLC and continuous data can be recorded regularly. © 2013 IEEE.

2013 International Conference on Computer Communication and Informatics, ICCCI 2013

Application of computer and modern automation system for protection and optimum use of High voltage power transformer

This paper presents a novel, highly compact capacitive shunt RF MEMS switch. In the presented configuration interdigitation of signal lines with actuation electrodes is considered. The compactness has been achieved further by incorporating HfO2 a high-k dielectric material in place of traditionally used SiO2. The capacitive overlap area reduces by 70%, leading to the overall reduction of about 15% in the switch size. Switch with HfO2 optimized for X - band shows-56.78 dB isolation and - 0.058 dB insertion loss at 10 GHz as compared to the -40.8 dB isolation, -0.1 dB insertion loss for the switch with SiO2. Significant improvement in switching time is also observed. Pull-in voltage of 5.6V is obtained at a gap of 1um between bridge and transmission line. The compact switch can be useful for the future communication applications.

Technical Proceedings of the 2013 NSTI Nanotechnology Conference and Expo, NSTI-Nanotech 2013

On the investigation of an interdigitated, high capacitance ratio shunt RF-MEMS switch for X- band applications

Bio-MEMS devices are applicable for diagnosis, prosthesis, drug delivery, and many other bio-related applications. Development of bio-MEMS devices require a range of materials that include inorganic materials such as metals, ceramics, glasses, and organic materials like natural and synthetic polymers. One of the widely used polymers is hydrogel, some of which has photo- and thermoresponsive property. This paper shows the swelling properties of gold nanoshell reinforced positive hydrogel under various parametric conditions. The simulation results have been presented in this work to show the spatial and temporal aspect of swelling of the light-sensitive positive hydrogel under various parametric conditions of gold nanoshells. © 2013 Springer Science+Business Media New York.

BioNanoScience

Mechanical Behavior of Thermoresponsive Hydrogel Embedded with Gold Nanoshell

Recent work in [1]-[3] quantified, in the form of a complexity exponent, the computational resources required for ML and lattice sphere decoding to achieve a certain diversity-multiplexing performance. For a specific family of layered lattice designs and a specific set of decoding orderings, this complexity was shown to be an exponential function in the number of codeword bits and was shown to meet a universal upper bound on complexity exponents. The same results raised the question of whether complexity reductions away from the universal upper bound are feasible, for example, with a proper choice of decoder (ML vs lattice), or with a proper choice of lattice codes and decoding ordering policies. The current work addresses this question by first showing that for almost any full-rate DMT optimal lattice code, there exists no decoding ordering policy that can reduce the complexity exponent of ML or lattice based sphere decoding away from the universal upper bound, i.e., that a randomly picked lattice code (randomly and uniformly drawn from an ensemble of DMT optimal lattice designs) will almost surely be such that no decoding ordering policy can provide exponential complexity reductions away from the universal upper bound. As a byproduct of this, the current work proves the fact that ML and (MMSE-preprocessed) lattice decoding share the same complexity exponent for a very broad setting, which now includes almost any DMT optimal code (again randomly drawn) and all decoding order policies. Under a basic richness of codes assumption, this is in fact further extended to hold, with probability one, over all full-rate codes. Under the same assumption, the result allows for a meaningful rate-reliability-complexity tradeoff that holds, almost surely in the random choice of the full-rate lattice design and which holds irrespective of the decoding ordering policy. This tradeoff can be used to, for example, describe the optimal achievable diversity gain of ML or lattice sphere decoding in the presence of limited computational resources. {\textcopyright} 2013 IEEE.