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River pollution monitoring over an industrial catchment in urban ecosystem: Challenges and proposed geospatial framework

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Environmental Challenges 2022年 7卷

作者： Sekharan, Sheeba Samal, Dipak R. Phuleria, Harish C. Chandel, Munish K. Gedam, Shirish Kumar, Rakesh Sethi, Virendra Supate, Amar R. Karmakar, Subhankar Interdisciplinary Program in Climate Studies Indian Institute of Technology Bombay Mumbai India Environmental Science and Engineering Department Indian Institute of Technology Bombay Maharashtra Mumbai 400076 India Centre of Studies in Resources Engineering Indian Institute of Technology Bombay Mumbai India Centre for Urban Science and Engineering Indian Institute of Technology Bombay Mumbai India National Environmental Engineering Research Institute Nagpur India Faculty of Technology CEPT University Ahmedabad India Maharashtra Pollution Control Board Mumbai India

Urban river pollution is considered a ‘necessary evil’ consequence of disproportionate developmental expansion in metropolises. Unprecedented expansion and anthropic activities amongst other reasons lead to choking of urban rivers with municipal and industrial sewage. Urban rivers are dying while awaiting rescue, despite the hard efforts by civic authorities, largely due to lack of coordination amongst river authorities and stakeholders, underlying conflicts spanning across all levels, balkanisation, pluralization, scarcity of reliable technical data, and financial constraints. Challenges faced by stakeholders in river pollution management as revealed in informational interviews are foregrounded. In an attempt to reduce some of the overwhelm faced by officials on ground, a geospatial framework is proposed which if functionally implemented can transparentize river water quality (WQ) monitoring, and facilitate pollution control. The pollution situation in a persistently polluted urban river near Mumbai city, India was explored and assessed in the middle of a restoration battle waged by environmental activists. Following secondary river water quality data acquisition, primary sample collection campaign and WQ testing, multivariate statistical data analysis was performed under data- and resource-constraint situation. Spatiotemporal monitoring and visualization of river water quality data holds great promise for effectively controlling anthropic river pollution. A subsequent geospatial analysis of the study area was performed using digital elevation model (DEM) based watershed delineation, land use land cover (LULC) classification, mapping of WQ monitoring locations, mapping of industrial clusters, integration of spatial data, and identifying polluter industries. This steered us to formulate and propose the geospatial framework and supplementary recommendations on how better to save this dying river. The framework displays near real-time information on river water qualit

关键词： GIS Industrial catchment Multivariate statistics River pollution Urban ecosystem Urban river

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End-to-end Autonomous Driving in Heterogeneous Traffic Scenario Using Deep Reinforcement Learning

End-to-end Autonomous Driving in Heterogeneous Traffic Scena...

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European control Conference (ECC)

作者： Soumyajit Chakraborty Subhadeep Kumar Nirav Bhatt Ramkrishna Pasumarthy Department of Electrical Engineering Indian Instiute of Technology Madras Chennai India Department of Electrical Engineering Robert Bosch Center of Data Sciences and Artificial Intelligence Indian Institute of Technology Madras Chennai India Department of Biotechnology Center of Data Sciences and Artificial Intelligence Prospective Center of Excellence for Network Systems Learning Control and Evolution Group Indian Institute of Technology Madras Chennai India Department of Electrical Engineering Robert Bosch Center of Data Sciences and Artificial Intelligence and Prospective Center of Excellence for Network Systems Learning Control and Evolution Group Indian Institute of Technology Madras Chennai India

In this paper, we propose an end-to-end autonomous driving architecture for safe maneuvering in heterogeneous traffic using a reinforcement learning (RL) algorithm. Using the proposed architecture we develop an RL agent that can make driving decisions directly from the sensor data. We formulate the autonomous driving problem as a Markov Decision Process and propose different architectures using Deep $Q -$Networks for two types of sensor data - top view images of the autonomous vehicle (AV) and its surrounding vehicles and information on relative position and velocities of the surrounding vehicles w.r.t the AV. We consider a highway scenario and analyze the performance of the RL agent using the proposed architectures using the highway-env simulator. We compare the driving performance of the AV for both sensor types and discuss their efficacy under varying traffic densities.

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Continent-wide Efficient and Fair Downlink Resource Allocation in LEO Satellite Constellations

arXiv

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arXiv 2022年

作者： Leyva-Mayorga, Israel Gala, Vineet Chiariotti, Federico Popovski, Petar Department of Electronic Systems Aalborg University Denmark Department of Electrical Engineering Indian Institute of Technology Bombay India Department of Information Engineering University of Padova Italy

The integration of Low Earth Orbit (LEO) satellite constellations into 5G and Beyond is essential to achieve efficient global connectivity. As LEO satellites are a global infrastructure with predictable dynamics, a pre-planned fair and load-balanced allocation of the radio resources to provide efficient downlink connectivity over large areas is an achievable goal. In this paper, we propose a distributed and a global optimal algorithm for satellite-to-cell resource allocation with multiple beams. These algorithms aim to achieve a fair allocation of time-frequency resources and beams to the cells based on the number of users in connected mode (i.e., registered). Our analyses focus on evaluating the trade-offs between average per-user throughput, fairness, number of cell handovers, and computational complexity in a downlink scenario with fixed cells, where the number of users is extracted from a population map. Our results show that both algorithms achieve a similar average per-user throughput. However, the global optimal algorithm achieves a fairness index over 0.9 in all cases, which is more than twice that of the distributed algorithm. Furthermore, by correctly setting the handover cost parameter, the number of handovers can be effectively reduced by more than 70% with respect to the case where the handover cost is not considered. Copyright © 2022, The Authors. All rights reserved.

关键词： Cells

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Three-agent Time-constrained Cooperative Pursuit-Evasion

arXiv

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arXiv 2021年

作者： Sinha, Abhinav Kumar, Shashi Ranjan Mukherjee, Dwaipayan The Intelligent Systems & Control Lab. Department of Aerospace Engineering Indian Institute of Technology Bombay Powai Mumbai400076 India Department of Electrical Engineering Indian Institute of Technology Bombay Powai Mumbai400076 India

This paper considers a pursuit-evasion scenario among three agents– an evader, a pursuer, and a defender. We design cooperative guidance laws for the evader and the defender team to safeguard the evader from an attacking pursuer. Unlike differential games, optimal control formulations, and other heuristic methods, we propose a novel perspective on designing effective nonlinear feedback control laws for the evader-defender team using a time-constrained guidance approach. The evader lures the pursuer on the collision course by offering itself as bait. At the same time, the defender protects the evader from the pursuer by exercising control over the engagement duration. Depending on the nature of the mission, the defender may choose to take an aggressive or defensive stance. Such consideration widens the applicability of the proposed methods in various three-agent motion planning scenarios such as aircraft defense, asset guarding, search and rescue, surveillance, and secure transportation. We use a fixed-time sliding mode control strategy to design the control laws for the evader-defender team and a nonlinear finite-time disturbance observer to estimate the pursuer’s maneuver. Finally, we present simulations to demonstrate favorable performance under various engagement geometries, thus vindicating the efficacy of the proposed designs. © 2021, CC BY-NC-SA.

关键词： Motion planning

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Parametric S-Parameter Prediction Using Deep Learning

Parametric S-Parameter Prediction Using Deep Learning

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IEEE Topical Meeting on Electrical Performance of Electronic Packaging (EPEPS)

作者： Vinayak Bansal Lihong Feng Valentin de la Rubia Peter Benner Department of Chemical Engineering Indian Institute of Technology Delhi India Computational Methods in Systems and Control Theory Max Planck Institute for Dynamics of Complex Technical Systems Magdeburg Germany Departamento de Mateádtica Aplicada a las TIC Universidad Politécnica de Madrid Madrid Spain

We construct a neural network model of S-parameters, from which the S-parameters can be quickly pre-dicted. Numerical tests on a filter model show that the proposed method accurately predicts the S-parameters with mul... 详细信息

ISBN: (数字)9798350351231

ISBN: (纸本)9798350351248

关键词： Deep learning Accuracy Transfer functions Predictive models Stability analysis Scattering parameters Numerical models Feedforward neural networks Numerical stability Electronics packaging

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Cooperative target capture using predefined-time consensus over fixed and switching networks

arXiv

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arXiv 2021年

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

We propose predefined-time consensus-based cooperative guidance laws for a swarm of interceptors to simultaneously capture a target capable of executing various kinds of motions. Unlike leader-follower cooperative guidance techniques, the swarm of interceptors has no leader and each interceptor executes its own guidance command in a distributive fashion, thus obviating the residency of the mission over a single interceptor. We first design cooperative guidance commands subject to target's mobility, followed by the same when the target is stationary, and also account for interceptors' changing topologies. We further show through rigorous analysis that the proposed cooperative guidance laws guarantee consensus in the interceptors' time-to-go values within a predefined-time. The proposed design allows a feasible time of consensus in time-to-go to be set arbitrarily at will during the design regardless of the interceptors' initial time-to-go values, thereby ensuring a simultaneous target interception. We also demonstrate the efficacy of the proposed design via simulations for interceptors connected over static and dynamic networks. © 2021, CC BY-NC-SA.

关键词： Switching networks

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Modelling and control of a nonlinear distillation column: A, using fractional-order controllers 18

Modelling and Control of a nonlinear distillation column: A,...

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18th IEEE India Council International Conference, INDICON 2021

作者： Hanif, Omar Tiwari, Shipra Kumar, Vivek The University of Sheffield Department of Automatic Control and Systems Engineering Sheffield United Kingdom Motilal Nehru National Institute of Technology Department of Electrical Engineering Prayagraj India Indian Institue of Technology Roorkee Department of Electrical Engineering Roorkee India

ISBN: (纸本)9781665441759

This paper takes up the challenge of modelling a complex nonlinear distillation column type-A and designs four optimal controllers for the same. The nonlinear plant is first linearized into a linear higher-order model. Thereafter, it is reduced into a lower-order model. Subsequently, the controllers are designed for the lower-order linear model. The controllers are designed by reducing the error cost functions, namely Integral Square Error (ISE), Integral Absolute Error (IAE) and Integral Time Absolute Error (ITAE). The process of optimization is done heuristically using the Genetic Algorithm method of tuning. The four controllers designed are Proportional Integral Derivative, Fractional-order Proportional Integral Derivative, Tilt Integral Derivative and Fractional-order Internal Model control. A thorough comparison is made between the three designed controllers, first on the Single Input Single Output (SISO), then to the reduced-order linear model and finally to the main plant. The FO-IMC controller is shown as an exhibition controller designed using GA to demonstrate the novelty of its kind. It has also been compared, but the results show poor performances as it has not been tuned with the same parameters as the rest. © 2021 IEEE.

关键词： controllers

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A Noise Mitigation Approach for Improving Position Estimate in Indoor Vehicle Navigation Using Inertial Measurement Unit

A Noise Mitigation Approach for Improving Position Estimate ...

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control Conference (ICC), 2019 Sixth indian

作者： Vasumathi R Subhadeep Kumar Ramkrishna Pasumarthy Nirav Bhatt Department of Electrical Engineering Robert Bosch Center of Data Sciences and Artificial Intelligence Indian Institute of Technology Madras Chennai India Department of Electrical Engineering Robert Bosch Center of Data Sciences and Artificial Intelligence and Prospective Center of Excellence for Network Systems Learning Control and Evolution Group Indian Institute of Technology Madras Chennai India Department of Biotechnology Robert Bosch Center of Data Sciences and Artificial Intelligence Prospective Center of Excellence for Network Systems Learning Control and Evolution Group Indian Institute of Technology Madras Chennai India

Accurate position estimation, especially in indoor environments, presents a formidable challenge despite significant advancements in estimation methodologies. The integration of additional sensors is often imperative to refine estimates, particularly within indoor settings. The choice of additional sensors depends on the specific applications and operational range. This study focuses on devising a position estimation framework utilizing the internal sensors such as the Inertial Measurement Unit (IMU) and wheel encoders within a scaled-down Electric Vehicle. The proposed approach entails a combination of crafting a digital filter and implementing a Kalman filter to effectively attenuate noise and errors in the IMU data, thereby enhancing the position estimate, and the methodology is validated through experiments. This work contributes to the broader discourse on advancing indoor position estimation while bypassing the need for external positioning systems.

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Connecting the Unconnected 6

Connecting the Unconnected

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6th IEEE Future Networks World Forum, FNWF 2023

作者： Dixit, Sudhir Dutta, Ashutosh Agrawal, Sandeep Olivas, Marvin Arias Bhatia, Vimal Carrillo, Carlos Daniel Altamirano Jha, Pranav Jabhera, Matogoro Karna, Amit Khanganba, Sanjram Premjit Kimambo, Catherine Lara-Cueva, Roman Martinmikko-Blue, Marja Mekuria, Fisseha Mody, Apurva Wasilwa, Nelson Kloza, Brad Polk, Craig Borst, Matt Basic Internet Foundation Norway University of Oulu Finland Wireless World Research Forum Switzerland Johns Hopkins University Applied Physics Labs United States C-DoT India National University of Engineering Nicaragua Indian Institute of Technology Indore India Universidad de Las Fuerzas Armadas - Espe Ecuador Indian Institute of Technology Bombay India University of Dodoma Tanzania United Republic of African Childs Project Tanzania United Republic of Universidad de Las Fuerzas Armadas Espe Ecuador South Africa A5 Systems Llc Communications Authority of Kenya Kenya

ISBN: (纸本)9798350324587

Connecting the Unconnected or under-connected (CTU) is the holy grail of transforming the lives of over 3 billion people around the globe with wireless internet who are yet to experience its value in multiple ways. If this could be accomplished, its impact on the society would be enormous as everyone would have access to information and an opportunity to improve their quality of life and income. This chapter from the IEEE Future Networks CTU Working Group endeavors to highlight the need to consider the CTU requirements in 5G and B5G networks in the standardization process and in the development of the use cases and affordable solutions. In its Vision 2030 SDG (Sustainability Development Goals) the United Nations has proclaimed access to internet as basic human right and has said these goals cannot be achieved without affordable access to internet by everyone on this planet[65]. While there are numerous projects and initiatives ongoing around the world, these are fragmented and lack the critical mass and coordination to be able to impact the future standards, product development, and cost of deployment otherwise achievable by economy of scale. Although difficult to pin down, to define a threshold for basic connectivity for all is important. But it would need to be flexible to adapt to changing times. It is the goal of the CTU group to create an open platform where the experts can bring their ideas, solutions, and potentially collaborate to create large global projects and influence the network service providers, manufacturers and their governments. This paper defines the CTU working group's charter, scope, and provides a brief overview of the relevant stakeholders and linkages between them. Then the paper goes into the current status of the CTU landscape and where we want to reach to accomplish the vision of connecting everybody, especially those living in rural and remote areas. We present the various standards and industry fora and how they are interlinked. While t

关键词： Human computer interaction

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Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: Challenges and a Roadmap

arXiv

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arXiv 2025年

作者： Xu, Jianye Alrifaee, Bassam Betz, Johannes Mokhtarian, Armin Mittal, Archak Cai, Mengchi Mangharam, Rahul Shehata, Omar M. Elias, Catherine M. Zaech, Jan-Nico Scheffe, Patrick Jahncke, Felix Ulhas, Sangeet Sankaramangalam Arfvidsson, Kaj Munhoz Department of Computer Science RWTH Aachen University Germany Department of Aerospace Engineering University of the Bundeswehr Munich Germany Professorship of Autonomous Vehicle Systems Technical University of Munich Germany Department of Civil Engineering Indian Institute of Technology Bombay India School of Vehicle and Mobility Tsinghua University China Department of Electrical and Systems Engineering University of Pennsylvania United States Mechatronics Engineering Department Faculty of Engineering and Materials Science The German University in Cairo Egypt Department of Computer Science Engineering The German University in Cairo Egypt INSAIT Sofia University "St. Kliment Ohridski" Bulgaria School for Engineering of Matter Transport and Energy Arizona State University United States Division of Decision and Control Systems KTH Royal Institute of Technology Sweden

This article proposes a roadmap to address the current challenges in small-scale testbeds for Connected and Automated Vehicles (CAVs) and robot swarms. The roadmap is a joint effort of participants in the workshop "1st Workshop on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms," held on June 2 at the IEEE Intelligent Vehicles Symposium (IV) 2024 in Jeju, South Korea. The roadmap contains three parts: 1) enhancing accessibility and diversity, especially for underrepresented communities, 2) sharing best practices for the development and maintenance of testbeds, and 3) connecting testbeds through an abstraction layer to support collaboration. The workshop features eight invited speakers, four contributed papers [1]–[4], and a presentation of a survey paper on testbeds [5]. The survey paper provides an online comparative table of more than 25 testbeds, available at https://***/testbeds-survey. The workshop’s own website is available at https://***/iv24-workshop. Copyright © 2025, The Authors. All rights reserved.

关键词： Testbeds

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