Research Interests:
Research Interests:
Glaucoma is a disease that affects the optic nerve. This disease, over a period of time, can lead to loss of vision. Which is known as ‘silent thief of sight’. There are several methods in which the disease can be treated, if detected at... more
Glaucoma is a disease that affects the optic nerve. This disease, over a period of time, can lead to loss of vision. Which is known as ‘silent thief of sight’. There are several methods in which the disease can be treated, if detected at an early stage It is not possible for any technology, including artificial intelligence, to replace a doctor. However, it is possible to develop a model based on several classical image processing algorithms, combined with artificial intelligence that can detect onset of glaucoma based on certain parameters of the retinal fundus. This model would play an important role in early detection of the disease and assist the doctor. The traditional methods to detect glaucoma, as efficient as they may be, are usually expensive, a machine learning approach to diagnose from fundus images and accurately classify its severity can be considered to be efficient. Here we propose support vector machine (SVM) method to segregate, train the models using a high-end gra...
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Research Interests:
The aim of this article is to address the problem of protecting the private property of a protected object, namely: we propose an algorithm for detection of object movements by means of a neural network for the video surveillance system.... more
The aim of this article is to address the problem of protecting the private property of a protected object, namely: we propose an algorithm for detection of object movements by means of a neural network for the video surveillance system. Consistency of perception of the external world in the form of images allows for the investigation of properties of the limited number of objects on the basis of familiarization with their final number. Based on the literature analysis, the main definitions of the theory of image recognition were established, such as “image,” “sign,” and “vector realization.” A comparison is made of approaches, methods, and technologies for recognizing the movement of objects, and their strengths and weaknesses are discussed. It was found that the neuron network is the most effective method for solving the problem of recognition of the movement of objects due to the accuracy of the result, simplicity, and speed. On the basis of the structural scheme of the complex a...
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Research Interests:
Autonomous navigation is becoming a norm in all kinds of transport system and robotics, and the primary component of such system is the proximity sensors or rangefinders for creating the localized map of the environment they are in to... more
Autonomous navigation is becoming a norm in all kinds of transport system and robotics, and the primary component of such system is the proximity sensors or rangefinders for creating the localized map of the environment they are in to avoid obstacles. The processing and computational power required to perform such an in the current technology is too high to be feasible for every day applications or unmanned aerial vehicles. In this report, we present an affordable low resource consumption 3 dimensional range sensor that provides a comparable performance with commercial grade range sensors which is easy to implement and scalable.
This research is a solution to the problem of a hardware platform of object tracking drones. This platform can be used to build further advancements such as selfie drones, follow-me drones for adventure sports and robot pets. StaGaus... more
This research is a solution to the problem of a hardware platform of object tracking drones. This platform can be used to build further advancements such as selfie drones, follow-me drones for adventure sports and robot pets. StaGaus algorithm has been derived using first principles and is compared against standard algorithms like SRDCF. The algorithm is tested on, an on-board two Android phones for real-time telemetry. This paper demonstrates that StaGaus works even on memory- and performance-constrained devices. In order to standardise the development of object tracking drones’ algorithms, we have built a customised ROS-based Gazebo simulator from scratch. This simulator is capable of simulating multiple robots of multiple types. This uses actual physics Open Dynamics Engine which has been compared against the existing simulators. Finally, as a by-product, this design proved that the cost of the proposed physical quadcopter is low.
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Automatic modulation recognition is the vital part in the advanced communication system used for both military and civil applications. In this paper a new methodology is proposed for distinguishing five digital modulation schemes (ASK-2,... more
Automatic modulation recognition is the vital part in the advanced communication system used for both military and civil applications. In this paper a new methodology is proposed for distinguishing five digital modulation schemes (ASK-2, ASK-4, FSK, BPSK and QPSK). The algorithm extracts the features from the received signal and they are tested against preset thresholds to determine the modulation type of received signal. The simulations are done using MATLAB 2013 and results show that the system has an average recognition rate of 99.6 % at SNR as low as 4 dB.
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Research Interests: Geography, Computer Science, Algorithms, Computer Vision, Image Processing, and 15 moreHeuristics, GPS Applications, Embedded Systems, Motion Planning, Matlab, Greedy Algorithms, Path planning, Digital Image Processing, Gaussian processes, Optimisation, Information Entropy, Adjacency matrix method, Path Planning, Elsevier, and ADAS
<em>Abstract</em>—Diabetes0can be0mentioned as one of the most lethal and constant sicknesses0that may0cause a arise in the glucose levels<em>. </em>Design and development of performance efficient diagnosis tool is... more
<em>Abstract</em>—Diabetes0can be0mentioned as one of the most lethal and constant sicknesses0that may0cause a arise in the glucose levels<em>. </em>Design and development of performance efficient diagnosis tool is very important and plays a vigorous role in initial prediction of a disease and help medical experts and authorities to start with suitable treatment or medication. The insulin produced by pancreases in the subject's body will be affected leading to abnormal behavior and reduction in metabolism of carbohydrates and increases sugar level in the blood and urine. This could impact and damage various body organs such as kidney, heart eyes and nervous system with their normal functionalities. Hence, preliminary stage detection with proper care &amp; medication could reduce the risk of these problems. In the area of medicine to discover patient's data as well as to attain a predictive model or a set of rules, Classification techniques have been continuously used. This study helped diagnose diabetes by selecting three important AI techniques namely the optimal decision tree algorithm model, Type-2 fuzzy expert system and Adaptive Neuro fuzzy inference system which is modified (M-ANFIS). In present research work, these three methods are proposed in order to improve the classification prediction and accuracy. The Pima Indian Diabetes Dataset (PIDD) from UCI Machine Learning Repository dataset was used to carry out validation and predication of the model accuracy. The PIMA dataset was trained and validated for various classification models using MATLAB. The simulation results proved that M-ANFIS based classification provides better accuracy as compared to other methods. Based on the accuracy and validation of simulated results it proved that the proposed model would be helpful as a detection decision tool for Type 2 diabetes prediction and diagnosis.
Coordinate Rotation Digital Computer (CORDIC) algorithm is widely used to improve the efficiency of the hardware implementation of the Digital Signal Processing (DSP) algorithms and other mathematical operations. CORDIC based digital... more
Coordinate Rotation Digital Computer (CORDIC) algorithm is widely used to improve the efficiency of the hardware implementation of the Digital Signal Processing (DSP) algorithms and other mathematical operations. CORDIC based digital signal processing has become an important tool in communications, biomedical, and industrial products. The fundamental downside of the Conventional CORDIC algorithm is that there exists a considerable amount of repetitive iterations which will add up overall delay to the circuit design. In this paper, we propose a CORDIC algorithm, which is based on the reconfigurable CORDIC architectures that can be configured to operate for circular or hyperbolic trajectories in rotation or vectoring-modes and also can perform various trigonometric function (TF) and exponential functions. The calculation is performed either by using rotation mode or vectoring mode. We use Carry Select Adder (CSLA) for extensive reduction of area complication nature over the standard s...
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This paper describes about a decision system for air-lane monitoring. An automatic controlling system is developed in aircraft to handle a situation where it is very hard to take a right decision for pilot. In order to resolve this issue... more
This paper describes about a decision system for air-lane monitoring. An automatic controlling system is developed in aircraft to handle a situation where it is very hard to take a right decision for pilot. In order to resolve this issue a new fuzzy type-2 logic system is developed, which is proposed in this paper. An air-lane scenario is taken and implemented the new type-2 Fuzzy Logic system. Earlier developed Type-1 fuzzy logic system was not able to handle this scenario precisely. An overview of both type-1 and type-2 fuzzy system is presented here. In type-2 fuzzy system four parameters: distance, bearing, class and altitude are considered to compute the output matrix, based on the matrix system takes a constant decision. The computation is based on Mamdani inference method. Implemented fuzzy logic system gives a better result in terms of uncertainty handling and robustness. This is proved in our result section.
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This paper presents a concept and design of Coordinate rotation digital computer (CORDIC) algorithm with reduced number of iterations and improved percentage error. By applying the concept of Look-Ahead, existing sub-divisions of... more
This paper presents a concept and design of Coordinate rotation digital computer (CORDIC) algorithm with reduced number of iterations and improved percentage error. By applying the concept of Look-Ahead, existing sub-divisions of algorithm are redesigned, in such a way that it process two steps at a time without using extra stages of logic, with the help of one coordinate-computation (CC) units out of four, these CC units are designed to meet the computation based on four different possible cases. And an implementable shift and add logic is designed for each of these sub-divisions.
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Auto modulation recognition schemes of digitally modulated signal plays a vital role in both military and civil applications like software defined radio, electronic warfare, cognitive radio systems, radio spectrum management, threat... more
Auto modulation recognition schemes of digitally modulated signal plays a vital role in both military and civil applications like software defined radio, electronic warfare, cognitive radio systems, radio spectrum management, threat analysis and electronic surveillance. In this paper we proposed a new algorithm to distinguish between 6 digital modulation schemes (ASK-2, FSK-2, PSK-2, ASK-4, FSK-4, and PSK-4). Simulation results show that the overall recognition of the new algorithms is of 98.8% when the signal to noise ratio (SNR) = 4dB. The new methodology uses only 3 key parameters to distinguish between digital modulated signals and hence reduces the computational loads and improves the performance.
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This paper proposes the Field Programmable Gate Array (FPGA) architecture implementation of reconfigurable RootRaised Cosine (RRC), Finite Impulse Response (FIR) filter in which all the adders present in the designed filter are replaced... more
This paper proposes the Field Programmable Gate Array (FPGA) architecture implementation of reconfigurable RootRaised Cosine (RRC), Finite Impulse Response (FIR) filter in which all the adders present in the designed filter are replaced by the modified Carry-Select Adders (CSLA), which is mostly used in Digital Up Converter (DUC). The proposed filter can be reconfigured with one of three different interpolation factors of 4, 6, and 8 for 25, 37, and 49-taps filters respectively and one of two roll-off factors. The basic element of a filter is multiplier and 2-bit Binary Common Sub expression Elimination (BCSE) algorithm is used in the design of the multiplier in this work. It is a two-step optimization technique of designing a reconfigurable VLSI architecture of interpolation filter to reduce the number of slices required for the filter. The maximum operating frequency analysis is carried out using Xilinx Synthesis Tool (XST) and Cadence software.
The 3D Potter is a combination of revolutionary idea with a traditional base that adds the functionality of high speed 3D printing using FDM technology for modelling / printing spherical and circular objects at higher speed and cost... more
The 3D Potter is a combination of revolutionary idea with a traditional base that adds the functionality of high speed 3D printing using FDM technology for modelling / printing spherical and circular objects at higher speed and cost effectiveness. This thesis consists of Idea and the implementation of 3D printer. The proposed technique reduces cost of the 3D printer by more than 80%, without sacrificing the accuracy of printing. This technique cuts down the print time of such printer by 15-25 % depending on the curvature of the model to be printed.
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The VLSI (Very Large Scale Integration) industry has been growing constantly obeying Moores law to an extent where multiple processors can be implemented on a single chip. Yet, the development is unable to keep up with the demands and... more
The VLSI (Very Large Scale Integration) industry has been growing constantly obeying Moores law to an extent where multiple processors can be implemented on a single chip. Yet, the development is unable to keep up with the demands and challenges faced by the growth of device capacity in terms of VLSI design without sacrificing the quality. There is a need to produce an efficient placement solution that can address high quality placement. This paper investigates physical design methodologies for synthesizing and optimization of design in terms of power, performance and area by completing the ASIC (application-specific integrated circuit) design flow using advance industry level tools.
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TraQuad is an autonomous tracking quadcopter capable of tracking any moving (or static) object like cars, humans, other drones or any other object on-the-go. This article describes the applications and advantages of TraQuad and the... more
TraQuad is an autonomous tracking quadcopter capable of tracking any moving (or static) object like cars, humans, other drones or any other object on-the-go. This article describes the applications and advantages of TraQuad and the reduction in cost (to about 250$) that has been achieved so far using the hardware and software capabilities and our custom algorithms wherever needed. This description is backed by strong data and the research analyses which have been drawn out of extant information or conducted on own when necessary. This also describes the development of completely autonomous (even GPS is optional) low-cost drone which can act as a major platform for further developments in automation, transportation, reconnaissance and more. We describe our ROS Gazebo simulator and our STATUS algorithms which form the core of our development of our object tracking drone for generic purposes.
Research Interests:
Autonomous navigation is becoming a norm in all kinds of transport system and robotics, and the primary component of such system is the proximity sensors or rangefinders for creating the localized map of the environment they are in to... more
Autonomous navigation is becoming a norm in all kinds of transport system and robotics, and the primary component of such system is the proximity sensors or rangefinders for creating the localized map of the environment they are in to avoid obstacles. The processing and computational power required to perform such an in the current technology is too high to be feasible for every day applications or unmanned aerial vehicles. In this report, we present an affordable low resource consumption 3 dimensional range sensor that provides a comparable performance with commercial grade range sensors which is easy to implement and scalable.
Research Interests:
Designing of an efficient medical decision support system is crucial and plays an important role in early prediction of a disease and assists specialists with appropriate medication. Diabetes Mellitus is one of the chronic diseases which... more
Designing of an efficient medical decision support system is crucial and plays an important role in early prediction of a disease and assists specialists with appropriate medication. Diabetes Mellitus is one of the chronic diseases which is characterized by increased levels of glucose in blood due to defects in insulin secretion in the body. This could lead to long- term damage and failure of different organs especially eyes, nerves, kidney and heart. Thus, an early detection and proper medication could reduce the risk of these complications. Researchers have proposed several methods for diagnosis, one of which is the fuzzy based expert system suitable for diagnosis in medical domain considering ambiguous clinical data. Adaptive Neuro Fuzzy Inference System (ANFIS) is proposed in the following research paper, in order to improve the classification accuracy by considering the adaptability factor through neural networks integrated with fuzzy system. The Pima Indian Diabetic Dataset (P...
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Subband coding is a method in which the incoming digital signal is decomposed into its constituent low-pass and high-pass signal components. The decomposed components further down-sampled and encoded using lossy compression methods. The... more
Subband coding is a method in which the incoming digital signal is decomposed into its constituent low-pass and high-pass signal components. The decomposed components further down-sampled and encoded using lossy compression methods. The key application of subband coding is in speech compression, image compression etc. The subband coding method uses a set of filters called Quadrature Mirror Filters (QMF) which consists of a low-pass filter and its quadrature shift high-pass filter. Resource efficient design and reconfigurability are the key requirements of digital channelization architectures. This paper presents an architecture for realizing the 2-channel Quadrature Mirror Filter Analysis Bank on FPGA using three different multiplier structures namely Booth Multiplier, Baugh-Wooley Multiplier and Signed Vedic Multiplier. This paper also gives a brief comparison between different proposed structures in-terms of speed and area consumption. Simulations and synthesis are carried out usi...
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We present results of situation assessment that: i) uses type 1 fuzzy logic (T1FL) for decision making/fusion in some aviation scenarios, ii) uses modified situation assessment (pilot’s mental-) models, and iii) can have noisy inputs to... more
We present results of situation assessment that: i) uses type 1 fuzzy logic (T1FL) for decision making/fusion in some aviation scenarios, ii) uses modified situation assessment (pilot’s mental-) models, and iii) can have noisy inputs to the situation assessment models. The results indicate that some existing fuzzy logic implication functions in decision making/fusion work very well. This beacons to newer possibilities of applications of fuzzy logic based decision fusion and situation assessment technology to varieties of aerospace/aviation problems and other dynamic systems for intelligent decision making.
Edge detection is one of the basic operations carried out in image processing and object identification. As it plays an important role in image processing which needs to be optimized, accurate and less latency architecture. This paper... more
Edge detection is one of the basic operations carried out in image processing and object identification. As it plays an important role in image processing which needs to be optimized, accurate and less latency architecture. This paper focuses on Edge detection using Adaptive threshold technique. The efficient Canny edge detector has been used in real time application. In this paper, the Gaussian filter is applied as preprocessing block to remove the high frequency edges. The Canny coefficients are approximated to suite the hardware requirements with less LUT's and further the adaptive threshold technique is applied to obtain the finer details of edges. The proposed method of edge computation using adaptive threshold reduces memory elements significantly, because it occupies less area, reduction in delay and increased efficiency without effecting detection performance. The proposed edge detection architecture is implemented using Xilinx system generator tool on Spartan6 ATLYS (XC...
Voice communication is rapidly gaining importance in low power wireless sensor networks. In search and rescue operations, sensor nodes are deployed to relay information about the environment. This requires low power, low data rate and... more
Voice communication is rapidly gaining importance in low power wireless sensor networks. In search and rescue operations, sensor nodes are deployed to relay information about the environment. This requires low power, low data rate and self-networking protocol, such as ZigBee stack. ZigBee is based on IEEE standard 802.15.4, and supports data rate from 20kbps to 250kbps. This data rate is sufficient to transmit moderate quality voice data. The objective of this paper is to simulate a distributed network model for voice communication using ZigBee using Network Simulator — 2. This paper explores the effectiveness of transmitting voice data over distributed Ad Hoc network. To evaluate the performance of the network, different network parameters such as, throughput, average delay and packet loss ratio are monitored for different voice data rates.
Nowadays a tremendous progress has been witnessed in Global Positioning System (GPS) and Inertial Navigation System (INS). The Global Positioning System provides information as long as there is an unobstructed line of sight and it suffers... more
Nowadays a tremendous progress has been witnessed in Global Positioning System (GPS) and Inertial Navigation System (INS). The Global Positioning System provides information as long as there is an unobstructed line of sight and it suffers from multipath effect. To enhance the performance of an integrated Global Positioning System and Inertial Navigation System (GPS/INS) during GPS outages, a novel hybrid fusion algorithm is proposed to provide a pseudo position information to assist the integrated navigation system. A new model that directly relates the velocity, angular rate and specific force of INS to the increments of the GPS position is established. Combined with a Kalman filter the hybrid system is able to predict and estimate a pseud GPS position when GPS signal is unavailable. Field test data are collected to experimentally evaluate the proposed model. In this paper, the obtained GPS/INS datasets are pre-processed and semi-supervised machine learning technique has been used....
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Research Interests:
TraQuad is an autonomous tracking quadcopter capable of tracking any moving (or static) object like cars, humans, other drones or any other object on-the-go. This article describes the applications and advantages of TraQuad and the... more
TraQuad is an autonomous tracking quadcopter capable of tracking any moving (or static) object like cars, humans, other drones or any other object on-the-go. This article describes the applications and advantages of TraQuad and the reduction in cost (to about 250$) that has been achieved so far using the hardware and software capabilities and our custom algorithms wherever needed. This description is backed by strong data and the research analyses which have been drawn out of extant information or conducted on own when necessary. This also describes the development of completely autonomous (even GPS is optional) low-cost drone which can act as a major platform for further developments in automation, transportation, reconnaissance and more. We describe our ROS Gazebo simulator and our STATUS algorithms which form the core of our development of our object tracking drone for generic purposes.
Research Interests: Robotics, Computer Vision, Machine Learning, Applied Statistics, Embedded Systems, and 15 moreAerospace, Object Tracking (Computer Vision), Flight Dynamics and Control, Digital Image Processing, Android, Simulation, Software, Gaussian processes, Feature matching, Hardware, Autonomous Quadrotor, Drones, Onboard Computer, Quadcopter, and Monocular Camera
In a hybrid road network with multiple paths to same location having prior geographical knowledge, successful navigation for mobile robots is one of the main challenges. Path planning is one of the most important issues in the navigation... more
In a hybrid road network with multiple paths to same location having prior geographical knowledge, successful navigation for mobile robots is one of the main challenges. Path planning is one of the most important issues in the navigation process which enables the selection and identification of a suitable path for the robot to traverse in the workspace area. Path-planning for mapped roads can be considered as the process of navigating a mobile robot around a configured road map, which provides optimized path by considering roughness of roads. In this paper, we propose a novel navigation algorithm for outdoor environments, which permits robots to travel from one static node to another along a planned path. It utilizes Normal probability weight distribution (NPWD) to assign weights between two nodes dynamically. Heuristics based shortest path (HSP) algorithm is employed to solve complex optimization problems concerned with real-world scenarios. The experiments performed on categorized road databases show significant improvement in timings and complexity of system. Our results justify the effectiveness for the implementation of driver-assist system.