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
to

135 results found

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

Vaidyanathan R, Williams CA, Prince TS, Ritzmann RE, Quinn RDet al., 2002, An insect-inspired targeting/evasion reflex for autonomous air vehicles

This paper investigates a biologically inspired target seeking reflex for the endgame phase of autonomous munition flight. The reflex is based upon an artificial neural network model of the American Cockroach's escape reflex, and combines exteroceptive and proprioceptive inputs to produce output commands to a Linear Quadratic Regulator (LQR) autopilot that guides the munition to an optimal path destination and orientation for target strike. Simulation and flight test results are presented that demonstrate the reflex's capability for instantaneous target strike on evasive targets, even in the presence of false or disruptive sensor data.

Conference paper

Yang G, Kapila V, Vaidyanathan R, 2001, A dynamic-programming-styled algorithm for a class of multi-agent optimal task assignment, Pages: 1245-1251

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 QS, Kapila V, Palmer D, Vaidyanathan Ret al., 2001, Fuel optimal maneuvers for multiple spacecraft formation reconfiguration using multi-agent optimization, 40th IEEE Conference on Decision and Control, Publisher: IEEE, Pages: 1083-1088, ISSN: 0191-2216

Conference paper

Vaidyanathan R, Hocaoglu C, Prince TSS, Quinn RDet al., 2001, Evolutionary path planning for autonomous air vehicles using multiresolution path representation, IEEE Conference on Intelligent Robots and Systems (IROS 2001), Publisher: IEEE, Pages: 69-76

Conference paper

Vaidyanathan R, Quinn RD, Ritzmann RE, Prince TSet al., 2001, An insect-inspired endgame targeting reflex for autonomous munitions, IEEE Conference on Intelligent Robots and Systems (IROS 2001), Publisher: IEEE, Pages: 1609-1615

Conference paper

Sarpkaya T, Vaidyanathan R, 2000, Spray generation from free and half-free jets

The present work is aimed at the quantification of the mutual interaction between the free surface structures (filaments and droplets) and the turbulent flow beneath them (high-speed free or wall-bounded liquid jets). Using water, seawater, and water solutions of polymer additives, measurements were made with several high-speed imagers and analyzed through the use of appropriate software. Four control parameters were considered: Reynolds, Froude and Weber numbers, and relative roughness. The Reynolds number ranged from 2.4×104 to 8.5×104, the Froude number from 15 to 30, and the Weber number from 1,500 to 7,500. Intersection of the turbulent boundary layer with the free surface, ligament and drop sizes, and the velocities and accelerations of the ligaments were determined from the Eulerian and Lagrangian measurements of the free-surface structures.

Conference paper

Vaidyanathan R, Chiel HJ, Quinn RD, 2000, A hydrostatic robot for marine applications, ROBOTICS AND AUTONOMOUS SYSTEMS, Vol: 30, Pages: 103-113, ISSN: 0921-8890

Journal article

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