Imperial College London

DrRaviVaidyanathan

Faculty of EngineeringDepartment of Mechanical Engineering

Reader in Biomechatronics
 
 
 
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Contact

 

+44 (0)20 7594 7020r.vaidyanathan CV

 
 
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Location

 

717City and Guilds BuildingSouth Kensington Campus

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Summary

 

Publications

Publication Type
Year
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127 results found

Kirshenbaum M, Palmer D, McCullick P, Vaidyanathan Ret al., 2008, Explaining Swarm Design Concepts Using an Interactive, Bottom-up Simulation Tool, International Conference on Engineering Education, Instructional Technology, Assessment and E-learning, Publisher: SPRINGER, Pages: 298-+

Conference paper

Conn AT, Burgess SC, Ling CS, Vaidyanathan Ret al., 2008, The design optimisation of an insect-inspired micro air vehicle, International Journal of Design and Nature and Ecodynamics, Vol: 3, Pages: 12-27, ISSN: 1755-7437

Insect-inspired micro air vehicles (MAVs) have been the subject of extensive research in recent years for a range of novel applications. The current generation of vehicles, however, has yet to match even a fraction of the performance of insect flight, in particular with respect to manoeuvrability and payload capacity. Precise reproduction of insect-like flapping motion on the micro-vehicle scale holds significant potential to address this deficiency. The design and optimisation of this critical aspect of an insect-inspired MAV is the subject of this paper. The actuated flapping mechanism must deliver a high power output via complex wing kinematics, which should be dynamically adjustable for controlled flight without the need for traditional control surfaces. This paper first addresses several key flapping MAV design criteria that greatly influence the power requirements and aerodynamic forces for flight, through an assessment of design parameters such as wing length and wingbeat frequency. Two solutions are then proposed that meet these requirements while satisfying the current limitations of miniature actuation technologies and issues related to mechanism constraint. The first of these, the development of an artificial muscle actuator is crucial to the feasibility of a highly adjustable, lightweight under-constrained flapping mechanism. A prototype artificial muscle based on a silicone dielectric elastomer was tested and found to produce a strain output comparable to muscle. We also report the development of an alternative flapping mechanism solution utilising conventional rotary DC motors. The novel parallel crankrocker (PCR) mechanism produces similar wing kinematics to insects and, unlike previously developed DC motor-driven MAV flapping mechanisms, it allows dynamically adjustable control of the wing angle of attack. Aerodynamic testing of a PCR prototype found that it produced a maximum lift force of 6.4 g per wing pair at a wingbeat frequency of 13.2 Hz. Wind

Journal article

Kota S, Gupta L, Molfese D, Vaidyanathan Ret al., 2008, Spatio-Temporal Modeling for Dense Array ERP Classification, 30th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society, Publisher: IEEE, Pages: 2091-+, ISSN: 1557-170X

Conference paper

Lock RJ, Vaidyanathan R, Burgess S, 2008, Morphing modes of mobility in natural and engineered systems, 4th International Conference on Comparing Design in Nature with Science and Engineering, Publisher: WIT PRESS, Pages: 157-167, ISSN: 1746-448X

Conference paper

'Dirk'Bindi V, Strunk J, Baker J, Bacon R, Boensel MG, Shoup FE, Vaidyanathan Ret al., 2008, Littoral undersea warfare: A case study in process modelling for functionality and interoperability of complex systems, International Journal of System of Systems Engineering, Vol: 1, Pages: 18-58, ISSN: 1748-0671

The goal of this investigation is to demonstrate the application of a process modelling approach to architect a System of Systems (SoS) capable of conducting Anti-Suhmarine Warfare (ASW) operations projecting to the year 2025. Process modelling is a methodology for architectural analysis for complex systems whose operation is characterised by 'processes' whose sequential execution may be scaled-up to understand overall system behaviour. It is ideally suited to address complexity and interoperability issues of an ASW SoS. New contributions of this work include the successful implementation of a process modelling approach to architect an ASW SoS and a cohesive set of results analysing its operation with future projections to the year 2025. We believe this work may serve as a foundation for future systems engineering research addressing interoperability and performance of complex systems whose function is closely tied to time-dependent processes, with particular application to military and security systems. Copyright © 2008 Inderscience Enterprises Ltd. littoral undersea warfare, Anti-Submarine Warfare, ASW, process modelling, system architectures, functional analysis. interoperability.

Journal article

Gupta L, Kota S, Murali S, Molfese D, Vaidyanathan Ret al., 2008, Dimensionality Reduction Strategies for the Design of Human Machine Interface Signal Classifiers, IEEE International Conference on System, Man, and Cybernetic, Publisher: IEEE, Pages: 2431-+, ISSN: 1062-922X

Conference paper

Vaidyanathan R, Wang S, Gupta L, 2008, A Wavelet Denoising Approach for Signal Action Isolation in the Ear Canal, 30th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society, Publisher: IEEE, Pages: 2677-+, ISSN: 1557-170X

Conference paper

Vaidyanathan R, Prince TS, Modarreszadeh M, Lisy FJet al., 2008, Computationally Efficient Predictive Adaptive Control for Robot Control in Dynamic Environments and Task Domains, IEEE/RSJ International Conference on Intelligent Robots and Systems, Publisher: IEEE, Pages: 3306-+

Conference paper

Vaidyanathan R, Chung B, Gupta L, Kook H, Kota S, West JDet al., 2007, Tongue-movement communication and control concept for hands-free human-machine interfaces, IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS, Vol: 37, Pages: 533-546, ISSN: 1083-4427

Journal article

Vaidyanathan R, James CJ, 2007, Independent component analysis for extraction of critical features from tongue movement ear pressure signals, 29th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society, Publisher: IEEE, Pages: 5481-5484, ISSN: 1094-687X

Conference paper

Vaidyanathan R, Fargues MP, Serdar Kurcan R, Gupta L, Kota S, Quinn RD, Lin Det al., 2007, A Dual Mode Human-Robot Teleoperation Interface Based on Airflow in the Aural Cavity, The International Journal of Robotics Research, Vol: 26, Pages: 1205-1223-1205-1223

Robot teleoperation systems have been limited in their utility due to the need for operator motion, lack of portability and limitation to singular input modalities. In this article, the design and construction of a dual-mode human—machine interface system for robot teleoperation addressing all these issues is presented. The interface is capable of directing robotic devices in response to tongue movement and/or speech without insertion of any device in the vicinity of the oral cavity. The interface is centered on the unique properties of the human ear as an acoustic output device. Specifically, we present: (1) an analysis of the sensitivity of human ear canals as acoustic output device; (2) the design of a new sensor for monitoring airflow in the aural canal; (3) pattern recognition procedures for recognition of both speech and tongue movement by monitoring aural flow across several human test subjects; and (4) a conceptual design and simulation of the machine interface system. We believe this work will lay the foundation for a new generation of human machine interface systems for all manner of robotic applications.

Journal article

Vaidyanathan R, Fargues M, Gupta L, Kota S, Lin D, West Jet al., 2006, A dual-mode human-machine interface for robotic control based on acoustic sensitivity of the aural cavity, Pages: 927-932

We introduce an unobtrusive sensor-based control system for human-machine interface to control robotic and rehabilitative devices. The interface is capable of directing assistive robotic devices in response to tongue movement and/or speech without insertion of any device in the vicinity of the oral cavity. The interface is centered on the unique properties of the human ear as an acoustic output device. Our work has shown that various movements within the oral cavity create unique, traceable pressure changes in the human ear, which can be measured with a simple sensor (such as a microphone) and analysed to produce commands signals, which can in turn be used to control robotic devices. In this work, we present: 1) an analysis of the sensitivity of human ear canals as acoustic output device, 2) the design of a new sensor for monitoring airflow in the aural canal, 3) pattern recognition procedures for recognition of both speech and tongue movement by monitoring aural flow across several human test subjects, and 4) a conceptual design and simulation of the machine interface system.

Conference paper

Kurcan RS, Fargues MP, Vaidyanathan R, 2006, In-ear microphone speech data recognition using HMMs, 12th IEEE Digital Signal Processing Workshop/4th IEEE Signal Processing Education Workshop, Publisher: IEEE, Pages: 268-272

Conference paper

Vaidyanathan R, Gupta L, Kook H, West Jet al., 2006, Decision fusion classification architecture for mapping of tongue movements based on aural flow monitoring, IEEE International Conference on Robotics and Automation (ICRA), Publisher: IEEE, Pages: 3610-+, ISSN: 1050-4729

Conference paper

Bulbuller G, Fargues MP, Vaidyanathan R, 2006, In-ear microphone speech data segmentation and recognition using neural networks, 12th IEEE Digital Signal Processing Workshop/4th IEEE Signal Processing Education Workshop, Publisher: IEEE, Pages: 262-267

Conference paper

Vaidyanathan R, Fargues M, Gupta L, Kota S, Lin D, West Jet al., 2006, A dual-mode human-machine interface for robotic control based on acoustic sensitivity of the aural cavity, 1st IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006), Publisher: IEEE, Pages: 194-+, ISSN: 2155-1782

Conference paper

McCarthy C, Wyllie R, Vaidyanathan R, Paulo EPet al., 2006, An Integrated Systems Architecture to Provide Maritime Domain Protection, The Journal of Defense Modeling and Simulation: Applications, Methodology, Technology, Vol: 3, Pages: 63-75-63-75

The focus of this research is to address the criticality and vulnerability of commercial shipping in the Straits of Mallacca by designing and evaluating competing systems architectures that could provide sufficient maritime domain protection. The category of primary concern was the introduction of a weapon of mass destruction (WMD) in a cargo container. The Maritime Domain Protection (MDP) physical architecture alternatives combined five separate systems: 1) a land-based cargo inspection system, 2) a sensor system, 3) a C3I (command and control, communications, and intelligence) system, 4) a force response system, and 5) a sea-based cargo inspection system. Individual models for each system were developed and combined into an overarching integrated architecture model to evaluate overall performance. Study results based on current technology showed that while solutions were found to effectively reduce risk in the WMD threat scenario, effective suppression came at great expense and included the participation of commercial shipping companies. A range of alternative cost-effective solutions were also found, but with limited performance. Future work involves using the developed architecture as a test bed for evaluating the overall impact and effectiveness of new technologies and research (such as “smart containers”) on MDP and homeland security.

Journal article

Quinn RD, Ritzmann RE, Chiel HJ, Vaidyanathan Ret al., 2005, Neuromechanics of biorobots, Annual Meeting of the Society-for-Integrative-and-Comparative-Biology, Publisher: OXFORD UNIV PRESS INC, Pages: 1059-1059, ISSN: 1540-7063

Conference paper

Walton DJ, Paulo EP, McCarthy CJ, Vaidyanathan Ret al., 2005, Modeling force response to small boat attack against high value commercial ships, 2005 Winter Simulation Conference (WSC 05), Publisher: IEEE, Pages: 988-991

Conference paper

Bachmann RJ, Boria FJ, Ifju PG, Quinn RD, Kline JE, Vaidyanathan Ret al., 2005, Utility of a sensor platform capable of aerial and terrestrial locomotion, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Publisher: IEEE, Pages: 1581-1586, ISSN: 2159-6255

Conference paper

Boria FJ, Bachmann RJ, Ifju PG, Quinn RD, Vaidyanathan R, Perry C, Wagener Jet al., 2005, A sensor platform capable of aerial and terrestrial locomotion, IEEE/RSJ International Conference on Intelligent Robots and Systems, Publisher: IEEE, Pages: 4024-4029

Conference paper

Boxerbaum AS, Werk P, Quinn RD, Vaidyanathan Ret al., 2005, Design of an autonomous amphibious robot for surf zone operation: Part I - Mechanical design for multi-mode mobility, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Publisher: IEEE, Pages: 1459-1464, ISSN: 2159-6255

Conference paper

Harkins R, Ward J, Vaidyanathan R, Boxerbaum AS, Quinn RDet al., 2005, Design of an autonomous amphibious robot for surf zone operations: Part II - Hardware, control implementation and simulation, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Publisher: IEEE, Pages: 1465-1470, ISSN: 2159-6255

Conference paper

Vaidyanathan R, Gupta L, Chung B, Allen TJ, Quinn RD, Tabib-Azar M, Zarycki J, Levin Jet al., 2004, Human-machine interface for tele-robotic operation: Mapping of tongue movements based on aural flow monitoring, Pages: 859-865

A new human-machine interface is introduced for "hands-free" tele-operation of mobile robots. This interface consists of tracking tongue movement by monitoring changes in airflow that occur in the ear canal. Tongue movements within the human oral cavity create unique, subtle pressure signals in the ear that can be processed to produce commands signals in response to that movement. Once recognized, said movements can in turn be used in for robotic tele-operation. The complete strategy is tested on 4 tongue actions: touching the tongue to the left and right corners of the mouth, and to the top and bottom center of the mouth. Through extensive experiments, it is shown that the pressure signals due to tongue movements are distinct and can be detected with over 97% accuracy. A case study to control the Whegs II robotic platform has specifically been investigated. Based on simulation results, it is concluded that this unique strategy will make hands-free robotic tele-operation a practical reality.

Conference paper

Wong H, Kapila V, Vaidyanathan R, 2004, UAV optimal path planning using C-C-C class paths for target touring, 43rd IEEE Conference on Decision and Control, Publisher: IEEE, Pages: 1105-1110, ISSN: 0743-1546

Conference paper

Vaidyanathan R, Kook H, Gupta L, West Jet al., 2004, Parametric and non-parametric signal analysis for mapping air flow in the ear-canal to tongue movements: A new strategy for hands-free human-machine interfaces, IEEE International Conference on Acoustics, Speech, and Signal Processing, Publisher: IEEE, Pages: 613-616

Conference paper

Palmer D, Kirschenbaum M, Murton J, Zajac K, Kovacina M, Vaidyanathan Ret al., 2003, Decentralized cooperative auction for multiple agent task allocation using synchronized random number generators, IEEE/RSJ International Conference on Intelligent Robots and Systems, Publisher: IEEE, Pages: 1963-1968

Conference paper

Yang G, Kapila V, Vaidyanathan R, 2002, A dynamic-programming-styled algorithm for a class of multi-agent optimal task assignment, Pages: 293-299

In this paper, we use a dynamic programming formulation to address a class of multi-agent task assignment problems that arise in the study of fuel optimal control of multiple agents. The fuel optimal multi-agent control is highly relevant to multiple spacecraft formation reconfiguration, an area of intense current research activity. Based on the recurrence relation derived from the celebrated principle of optimality, we develop an algorithm with a distributed computational architecture for the global optimal task assignment. In addition, we propose a communication protocol to facilitate decentralized decision making among agents. Illustrative studies are included to demonstrate the efficacy of the proposed multi-agent optimal task assignment algorithm.

Conference paper

Yang GA, Yang GS, Kapila V, Palmer D, Vaidyanathan Ret al., 2002, Fuel optimal manoeuvres for multiple spacecraft formation reconfiguration using multi-agent optimization, INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Vol: 12, Pages: 243-283, ISSN: 1049-8923

Journal article

Kovacina MA, Palmer D, Yang G, Vaidyanathan Ret al., 2002, Multi-agent control algorithms for chemical cloud detection and mapping using unmanned air vehicles, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2002), Publisher: IEEE, Pages: 2782-2788

Conference paper

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