Scientific Publications
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Research Categories
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Computer Science & Engineering
Core computing paradigms, algorithm design, software architectures, advanced computing theory, and hardware engineering.
Computer Networks
Network architectures, wireless ad-hoc protocols, vehicular networks (VANET), buffering, and communications.
Electronics Department
Circuits, semiconductor devices, flexible electronics, solar array modeling, signal processing, and photonics.
Civil Engg
Structural analysis, thermal stability of fluid layers, environmental infrastructure, and applied materials engineering.
Recent Publications (2)
Geometry Based Recursive Algorithm to Control the End Effectors of Coordinated TRRLR Manipulators
A mobile manipulator which is combination of a mobile platform and a manipulator, provides a highly flexible system, which can be used in hazardous application. One of the challenges with mobile manipulators is the construction of control systems, enabling the robot to operate safely in potentially dynamic and all terrain environments. In this paper we will present work in which a mobile manipulator is controlled using the hybrid approach. The method presented is a real time approach in which geometry of the arm with onboard sensor data processing are used both for the overall coordination of the mobile platform and the manipulator as well as the trajectory planning along a straight line parallel to two planes.
Embedded Programming Based Precise Control of a Mobile Manipulator
A mobile manipulator which is combination of a mobile platform and a manipulator provide a highly flexible system, which can be used in hazardous application. One of the challenges with mobile manipulators is the construction of control systems, enabling the robot to operate safely in potentially dynamic and all terrain environments. In this paper we will present work in which a mobile manipulator is controlled using the hybrid approach. The method presented is a real time approach in which inverse kinematics of the arm with onboard sensor data processing are used both for the overall coordination of the mobile platform and the manipulator as well as the lower level fusion of obstacle avoidance and target acquisition behaviors.