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检索条件"机构=Systems and Control Engineering Indian Institute of Technology Bombay"

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Guided Swarm Self-Clustering in Safe Area

Guided Swarm Self-Clustering in Safe Area

引用

2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Jain, Sweksha Vachhani, Leena Indian Institute of Technology Centre for Systems and Control Bombay India

ISBN: (纸本)9798331531614

In high-stress situations, guiding a non-communicating, location-unaware swarm to the safe area is challenging, especially as they self-organize into clusters with nearby agents. This paper presents a novel decentralized non-interacting swarm algorithm to form guided swarm clusters autonomously in an area without nearby danger, termed as "safe area". The proposed strategy guides the swarm of robots towards safe area to form self-clusters in a bounded environment. It is achieved by fixing the locations of static obstacles which prevents cluster formation in the danger area. We evaluate the performance based on cluster formation in the safe area. The Monte-Carlo simulations are performed with varying percentage occupancy of obstacles in danger area, where we achieved percentage of convergence (PoC) in safe area over 85% (on an average). The proposed algorithm potentially find its application in a crowded environment, while evacuating to a safer area during emergency. © 2025 IEEE.

关键词： Intelligent systems

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IMPROVING HYDRODYNAMIC PERFORMANCE OF AN ASYMMETRIC TOWFISH USING CFD

IMPROVING HYDRODYNAMIC PERFORMANCE OF AN ASYMMETRIC TOWFISH ...

引用

ASME 2024 International Mechanical engineering Congress and Exposition, IMECE 2024

作者： Bhosale, Yugandhara Sharma, Atul Gupta, Abhishek Vachhani, Leena Department of Mechanical Engineering Indian Institute of Technology Bombay Mumbai India Department of Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9780791888667

A towfish is a passive underwater vehicle that is towed behind a surface vessel. The towfish is often designed to be symmetric from all directions primarily to achieve balanced hydrodynamic behaviour and foreseeable manoeuvrability under water. External attachments or extruded slots can induce asymmetry, which will have an effect on the hydrodynamic behaviour. An asymmetric towfish will experience an uneven distribution of hydrodynamic forces and moments. This will lead to unstable orientation and unpredictable hydrodynamic behaviour. So, the effect of asymmetry on hydrodynamic coefficients like drag coefficients, lift coefficients, pitching moment coefficients and overall stability are investigated in this paper and improved with design modification in towfish. We evaluated these hydrodynamic coefficients of the asymmetric towfish and proposed a redesign strategy. In this work, the significant parts of towfish, like the nose and hull are redesigned to improve hydrodynamic performance. A three-dimensional (3D) simulation is carried out using in Ansys Fluent as a CFD software. To simulate the turbulence, the k-ω shear stress transport (SST) model is employed due to its good prediction capability at a reasonable computational cost. Drag reduction and lift increment are observed with modification and redesigning of the nose and hull to counter the increase in drag due to the asymmetricity of towfish. These results will help to enhance our understanding of the hydrodynamics behavior of the asymmetric nature of towfish. Copyright © 2024 by ASME.

关键词： Computational fluid dynamics

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Scalable and Low-Cost Remote Lab Platforms: Teaching Industrial Robotics Using Open-Source Tools and Understanding Its Social Implications 16th

Scalable and Low-Cost Remote Lab Platforms: Teaching Indust...

引用

16th International Conference on Social Robotics, ICSR + AI 2024

作者： Kumar, Amit Jose, Jaison Jain, Archit Kulkarni, Siddharth Arya, Kavi Centre for Systems and Control Indian Institute of Technology Bombay Mumbai India Embedded Real-Time Systems / e-Yantra Lab Indian Institute of Technology Bombay Mumbai India Computer Science and Engineering Department Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9789819635214

With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring these robots, the safety of the operator and the robot, and complicated training material. This paper proposes two low-cost platforms built using open-source tools like Robot Operating System (ROS) and its latest version ROS 2 to help students learn and test algorithms on remotely connected industrial robots. Universal Robotics (UR5) arm and a custom mobile rover were deployed in different life-size testbeds, a greenhouse, and a warehouse to create an Autonomous Agricultural Harvester System (AAHS) and an Autonomous Warehouse Management System (AWMS). These platforms were deployed for a period of 7 months and were tested for their efficacy with 1,433 and 1,312 students, respectively. The hardware used in AAHS and AWMS was controlled remotely for 160 and 355 hours, respectively, by students over a period of 3 months. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Costs

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Adaptive Continuous Terminal Sliding Mode control for Unmanned Aerial Vehicle 10

Adaptive Continuous Terminal Sliding Mode Control for Unmann...

引用

10th indian control Conference, ICC 2024

作者： Kumar, Sunil Yesmin, Asifa Sinha, Arpita Guha, Anirban TIH Foundation for IoT and IoE Indian Institute of Technology Bombay Mumbai India IDP in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Department of Mechanical Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9798331517212

This paper introduces an improved control strategy for tracking the altitude and attitude of the quadcopter unmanned aerial vehicle (UAV) in the presence of external disturbance, known as adaptive super-twisting terminal sliding mode control (AST-TSMC). This approach ensures finite-time convergence of the sliding variable and error trajectories using a real second-order sliding mode. An adaptive super-twisting approach is incorporated to reduce the reliance on the upper bound of the unknown disturbance and achieve continuous control. A nonlinear sliding surface is designed to ensure the finite time convergence of the sliding variable and the tracking error. The Lyapunov-based stability analysis is presented to confirm the finite-time convergence. Comparative simulation results of AST-TSMC, ST-TSMC, and TSMC are presented to demonstrate the strategy’s performance. The effectiveness of the proposed approach is validated through MATLAB simulation results. © 2024 IEEE.

关键词： Sliding mode control

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Modified Covariance Intersection-Based Sensor Fault Tolerance of a Gas Turbine Engine

Modified Covariance Intersection-Based Sensor Fault Toleranc...

引用

AIAA Science and technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Chakraborty, Tirthankar Maity, Arnab Intelligent Systems and Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai400076 India

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

Fault tolerance is crucial in the design and operation of gas turbine engines, where even minor malfunctions can disrupt operations and compromise performance. This paper presents a modified covariance intersection-based decentralized estimator which can ensure uninterrupted operation amidst sensor failures. A network of sensor nodes within the engine is considered. Each node in the network computes a local state estimate, which is subsequently fused with the other node estimates at each time instant. The developed algorithm uses a novel weight adaptation scheme to fuse the node estimates and the associated covariances. The node weights are expressed as a function of the covariance matrix of the node estimate and a scaling matrix. This algorithm is tested through simulation by injecting faults in the sensors of a small-scale gas turbine engine primarily used for research, called the SR-30 engine. The simulation results illustrate the effectiveness of the proposed estimator in ensuring the integrity of the state estimates in the presence of drift and bias faults in the sensors. © 2025, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Gas turbines

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Zero-Error Communication with an Influencer

Zero-Error Communication with an Influencer

引用

2023 National Conference on Communications, NCC 2023

作者： Deori, Reema Kulkarni, Ankur A. Systems and Control Engineering Indian Institute of Technology Bombay Mumbai400076 India

ISBN: (纸本)9781665456258

We study a problem of communication between an influencer and a receiver where the influencer has access to a sequence of facts that the receiver is interested in knowing with zero error. The influencer sends a signal to the receiver for every such sequence and it obtains a utility that is a function of the true sequence and the sequence deduced by the receiver, and incurs a cost that is a function of the true sequence and the signal sent. The influencer may choose to induce ambiguity by sending a common signal for multiple sequences, and by performing coding. The resulting problem is studied as a Stackelberg game and operational strategies are obtained as the equilibrium of this game. Our main contribution is the study of informativeness - the minimum amount of correct information that the receiver can obtain in any such equilibrium. We characterize informativeness as the limiting value of the list chromatic number of a sequence of graphs and obtain single-letter bounds on it. Our results show that the presence of cost increases informativeness and when a certain single-letter condition holds, there is no benefit to coding in the costless case. © 2023 IEEE.

关键词： Signal receivers

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Comparative Analysis of Wavelet Transform on fPCG Signals for Denoising and Peak Extraction

Comparative Analysis of Wavelet Transform on fPCG Signals fo...

引用

2024 IEEE International Conference on Intelligent Signal Processing and Effective Communication Technologies, INSPECT 2024

作者： Mhatre, Megh Narayanan, Geetha Deshpande, Anjali Biomedical Engineering Vidyalankar Instiute of Technology Mumbai India Systems and Control Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9798350379525

Fetal Phonocardiogram (fPCG) is a bio-signal obtained from recording the heart sounds from stethoscopes or auditory transducers for auscultations of FHR. Analysis of this data helps to give early diagnosis of any irregularity throughout Fetal development process. However, the analysis of this signal poses many challenges due to noise components like Motion Artifacts and Respiration of the Foetus and Mother, Uterine Contractions, Power Line Interference, Sensor Noise as well as Background Noise. Many approaches have been presented by the researchers to extract characteristic heart sound peaks from these signals to estimate the heart rate and to detect the abnormalities like arrhythmia. In this work, we present the results of application of advanced signal processing techniques such as wavelet transform with adaptive thresholding, to extract the peaks of the fPCG signal. Simulations have been performed on the set of real data from fetus as well as simulated signals available in the resources. Simulation results show that Discrete Wavelet Transform with adaptive thresholding is a better technique for denoising the signal and isolating the heartbeat peaks as compared to other studies discussed in various resources. This study also includes evaluation of various parameters employed in the processes including the verification of peaks by setting up a window of specific time to analyze the peak count within each window for consistent peak extraction results. Various combinations of wavelets with different thresholding techniques have been studied and evaluated for accuracy. © 2024 IEEE.

关键词： Mean square error

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Nested Sliding Mode control Based Impact Angle Guidance with Bounded Input

Nested Sliding Mode Control Based Impact Angle Guidance with...

引用

AIAA Science and technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Surve, Prajakta Kumar, Shashi Ranjan Intelligent Systems & Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Powai Mumbai400076 India

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

In this paper, a nonlinear guidance law for impact angle-constrained interception of nonmaneuvering targets, respecting the bounds on the control input - the commanded interceptor lateral acceleration, is proposed. By modeling the required interceptor lateral acceleration as a first-order dynamics, which is a function of the maximum permissible value of control input and guidance command, the control input is maintained within the predefined bounds. The dynamics is chosen in such a way that the resulting input will never violate the prescribed bounds. To design the guidance command, also known as commanded lateral acceleration, we employ a sliding surface based on the error between actual and desired line-of-sight (LOS) angles and the LOS rate, facilitating a collision course with zero miss distance. A secondary sliding surface is designed as a function of the primary sliding surface and its rate. This sliding surface enables the control over the required interceptor lateral acceleration. An effective guidance command for precise interception at given impact angle, considering the bounds on control input, is then derived using the sliding mode control technique. Numerical simulations validate the merits and claims of the presented guidance approach. © 2025, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Sliding mode control

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Adaptive Unscented Kalman Filter Based Sensor Fusion for Aircraft Positioning Relative to Unknown Runway

Adaptive Unscented Kalman Filter Based Sensor Fusion for Air...

引用

AIAA Science and technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Ghosh, Nabarun Maity, Arnab Intelligent Systems and Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Maharashtra Mumbai400076 India

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper proposes an estimator to provide precise position, velocity, and orientation for a landing aircraft relative to the runway based on image sensors, IMU sensor data, and barometric sensor measurements. This work excludes GPS data, as it is expected that the proposed estimator can be used for fault detection in GPS and instrument landing systems. The runway is unknown, and hence, its width is estimated online. An adaptive UKF-based approach is adopted to estimate the states. In order to verify the nearer-to-practical performance and accuracy of bias estimation, realistically simulated data that constitute noises and biases from the sensors are taken into consideration. The proposed approach provides a solution for nonlinear state estimation in the presence of measurement noises that are non-additive. In addition to this, it provides estimates of the unknown measurement noise covariance. A comparative study is conducted between the conventional UKF and the proposed AUKF to analyze the adopted approach. Results show that the proposed algorithm gives comparable estimation results and faster convergence than the conventional UKF. © 2025, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Fault detection

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Impact Time Constrained Guidance with Bounded Field-of-View and Input

Impact Time Constrained Guidance with Bounded Field-of-View ...

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AIAA Science and technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Singh, Swati Kumar, Shashi Ranjan Mukherjee, Dwaipayan Intelligent Systems and Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Powai Mumbai400 076 India Department of Electrical Engineering Indian Institute of Technology Bombay Powai Mumbai400 076 India

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This article proposes a guidance scheme for stationary targets to achieve time-constrained interception at a desired time, considering the bounded field-of-view capability of seekerequipped interceptors and the physical limits of the actuator. Actuator saturation is a crucial problem in physical systems, often resulting in performance degradation. However, the actuator limitations are usually known to the designer, therefore, augmenting these constraints into the guidance design may enhance performance. The time-to-go error-based approach is used to satisfy the field-of-view constraint;further, the engagement kinematics are augmented with an input saturation model to incorporate the lateral acceleration constraints. Subsequently, the guidance strategy that constrains the lateral acceleration and the time-to-go values within their respective bounds is derived using Lyapunov stability concepts and the backstepping technique. Furthermore, a multi-stage approach is suggested to expand the achievable range of impact time. Numerical simulations are performed to validate the efficacy of the proposed scheme for different initial engagement geometries. © 2025, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Backstepping

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