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ACE in the Hole: Adaptive Contour Estimation Using Collaborating Mobile Sensors

Authors: Sumana Srinivasan, Research Scholar, Department of Computer Science and


Engineering, IIT Bombay
Proceedings of International Conference on Information Processing in Sensor Networks 2008.
http://doi.ieeecomputersociety.org/10.1109/IPSN.2008.38
Application Area: Wireless mobile sensor networks
Platform: Fire Bird II
To design algorithms for efficient estimation of level sets in a scalar field using mobile sensors,
Fire Bird 2 robots were used to conduct a feasibility test of the algorithm. Fire Bird 2 was
programmed to move in a light field on a white line grid and sense light intensity in its
neighborhood. It computes the gradient on line and uses the gradient to move towards a level set
and further, uses the wall moving algorithm to trace the level set.
Two Fire Bird 2 robots were used in the experiment, one for navigation and the other as a base
station to record values sent by the navigating robot while tracing the level set.


Autonomous Robot Navigation of Corners with Uncertain Sensor Information Using Fuzzy
Control
Authors: Abhimanyu Bhargava, Rohit Narula and Prof. Satish Kumar; Dayalbaug Educational
Institute
Application area: Robotics
Platform: Fire Bird IV
It represents implementation of microcontroller progranmming blended with fuzzy logic for
smooth and economic corner navigation by an autonomous robot.The application considered has
a Fire Bird IV robot placed in the vicinity of corner.With no prior knowledge about the
envoinment and its orientation,the robot is capable of aligning itself parallel to wall and then
proceeding to negotiate a turn around the corner.
Evalution has shown that the robot can perform the above task with sufficient
accuracy,maintainig a safe distance from the wall.Use of a fuzzy contol syatem for navigation
helps to compensate for sensor errors, thus providing for a robust implementation.
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Efficient Real-Time Support for Automotive Applications: A Case Study
Authors: Gurulingesh Raravi, Neera Sharma, Krithi Ramamritham, Sachitanand Malewar
12th IEEE International Conference on Embedded and Real-Time Computing Systems and
Applications (RTCSA), Sydney, Australia.
http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=1691332
Application Area: Automotive
Platform: Dexter 6
The number of computer-controlled functions in an automobile is increasing at a rapid rate and
so is the number of microprocessors implementing and controlling these functionalities.
Therefore, there is a need to minimize the computing power provided without affecting the
performance and safety of the applications. The latter is especially important since intelligent
automotive applications deal with critical data and involve deadline bound computations on data
gathered from the automobiles environment. These applications have stringent requirements on
the freshness of data items and completion time of the tasks. Our work studies one such safety-
critical application, namely Adaptive Cruise Control (ACC). We take a task+data centric
approach for designing and implementing this application.
Two Dexter 6 series robots were used in this experiment. ACC was implemented on these robots.
The robot was controlled by onboard PC running on RTLinux-3.1 platform. The PC performed
all the computations and issued commands to the robot. The controller polled the data values
from different sensors and performed computations to decide the action to be taken and drove the
actuators to carry out the appropriate actions. The sensors were used to measure the host vehicle
speed and leading vehicle distance.


Towards Intelligent Vehicles: Automatic Merge Control
Authors: Gurulingesh Raravi, Jatin Bharadia, Krithi Ramamritham
Workshop on Model and Analysis Methods for Automotive Systems held in conjunction with
RTSS 2006, Brazil.
http://www.it.iitb.ac.in/~erts/index.php?page=publications
Application Area: Automotive
Platform: Fire Bird II


Merge Algorithms for Intelligent Vehicles
Authors: Gurulingesh Raravi, Vipul Shingde, Krithi Ramamritham, Jatin Bharadia
Proceedings of workshop on Next Generation Design and Verification Methodologies for
Distributed Embedded Control Systems, Springer-Verlag, 2007, India.
http://www.springerlink.com/content/h775164136ln2332/
Application Area: Automotive
Platform: Fire Bird III


Merge-by-Wire: Algorithms and System Support
Authors: Vipul Shingde, Gurulingesh Raravi, Ashish Gudhe, Prakhar Goyal, Krithi
Ramamritham
Accepted in Real Time Systems Symposium 2008, Spain and in Miscrosoft Research India
Techvista 2008, India.
http://www.it.iitb.ac.in/research/techreport/reports/52.pdf
Application Area: Automotive
Platform: Fire Bird III, Dexter 6


Real-Time Data Services for Automotive Applications
Authors: Gurulingesh Raravi, Krithi Ramamritham and Neera Sharma
Application Area: Automotive
Platform: Dexter 6
In the recent years, the amount of data that needs to be sensed, stored and processed has
increased significantly in an automobile with the rapid growth of electronics and control
software applications. The number of microprocessors required to implement these applications
have also gone up significantly. These applications deal with safety-enhancing vehicle functions
and hence with critical data having stringent requirements on freshness and involving deadline
bound computations. Therefore, there is a need for effective real-time data services to handle the
data without affecting the performance and
safety of these applications and also minimizing the computational resource requirements. Using
computational resources efficiently is very important which helps in reducing the additional cost
of the car manufacturer incurred due to electronics and control software. These applications
generally being distributed across several communicating Electronic Control Units(ECUs)
increases the problem complexity. Our work studies one such critical application namely,
Adaptive Cruise Control(ACC). We take data+task centric approach in providing real-time data
services, designing and implementing this application.
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Fire Bird robot deployment in courses
Post Graduate Embedded Systems course CS684 offered by Department of Computer
Science and Engineering, IIT Bombay
Under Graduate Embedded Systems course CS308 offered by Department of Computer
Science and Engineering, IIT Bombay
Fire Bird Robot deployment in Research Organisations
IIT Bombay, Department of Computer Science and Engineering
IIT Bombay, Department of Aerospace Engineering
IIT Delhi, Department of Computer Science and Engineering
TIFR (Tata Institute of Fundamental Research)
DRDO (Defence Research and Development Organisation)
Indian Armys Centre for Excellence in Robotics
CEERI (Central Electronics Engineering Research Institute)
WIPRO Technologies
Fire Bird Robot deployment in NITs
Dr. B.R.A.National Inst. Of Technology, Jalandar
SVNIT., Surat
NIT, Calicut
VNIT, Nagpur
NIT-Trichy
NIT Durgapur
NIT, Allahabad
NITK Surathkal
NIT Agartala
National Institute of Technology, Bhopal
NIT Hamirpur
NIT, Rourkela
Fire Bird Robot Deployment in Universities
Delhi University
Dayalbagh Educational Institute Aggra
Jadavpur University, Kolkata
Amrita School of Engineering, Amrita Vishwa Vidyapeetham
Sikkim Manipal Inst. Of Technology, Sikkim
Mepco Schlenk Engg. College, Sivakasi
College of Engineering, Pune
L.D.College of Engg, Ahmedabad
D.K.T.E. Society's Textile &Engg. Ins.Ichalkaranjii
PRIMIT (Prof. Ram Meghe institute of technology and research)
Govt. College of Engg.&Leather Tech., Kolkata
M.G.M.College of Engg. & Tech., Noida
Bhagwant Inst. Of Technology, Muzaffarnagar
Padmabhushan Vasant dada Patil College of Engg.Sion
Padre Conceicao Collage of Engineering
D.D. University, Nadiad, Gujarat,
JNTUH College of Engineering, Hyderabad
SDM college of engineering and Technology
LDRP - Vidhyanagar
BVM - Vidhyanagar
VGEC, Chandkheda,Dist. Gandhinagar. Pin. 382424*
VVP - Rajkot
G.H. Patel College of Engg and Tech. Vidhyanagar
A.C.Patil College of Engg. Khargar
Vedavyasa Institute of Technology
SIES, Nerul
SCET,Surat
BIT,Vadodara
SVIT,Vasad
ADIT,VVNAGAR
Atmiya Rajkot
Government Engineering College ,Bhavnagar
SAKEC, Chembur
Rizvi College of Engineerng

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