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 (1)
SIMULATION OF TRAJECTORY GENERATION FOR DUAL ARM ROBOT
A This paper aim is to carry out the simulation of dual arm cooperative manipulator and develop different mission demanded custom based trajectories. Since the dual arm will be in folded condition on a mobile platform, it has to be deployed during mission to detect buried objects below the ground by means of remote control from a base vehicle through telemetry command and control. This paper discusses the method to control dual arm robot for task-space system with highly uncertain kinematics and dynamics. Trajectory generation simulations are presented to validate the performance of the developed control algorithms dual arm robot. The MATLAB based deployment of dual arm manipulator using simulation is discussed. The simulation generated trajectory of dual arm cooperative manipulator for mission requirement of deploying from folded condition for using in unmanned teleoperated vehicle is accomplished and high scope of using this method in embedded system is elaborated. By porting on to a real time embedded controller with ease of feeding parameters of any serial or dual arm robot, the trajectories can easily be generated in physical hardware.