R. Madhavan

Tirunelveli Medical College

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Elena R. Messina

National Institute of Standards and Technology

Satyam Suwas

Indian Institute of Science Bangalore

Craig Schlenoff

National Institute of Standards and Technology

K.V. Govindan Kutty

Indira Gandhi Centre for Atomic Research

Stephen Balakirsky

Georgia Institute of Technology

Roger Bostelman

National Institute of Standards and Technology

R. Asuvathraman

Indira Gandhi Centre for Atomic Research

Hugh Durrant‐Whyte

Spectrum Research (United States)

Kitheri Joseph

Indira Gandhi Centre for Atomic Research

Tsai Hong Hong

National Institute of Standards and Technology

Cooperative Institutions

Indira Gandhi Centre for Atomic Research

Homi Bhabha National Institute

National Institute of Standards and Technology

Indian Institute of Science Bangalore

National Institute of Standards

Indian Institute of Technology Madras

Centre National de la Recherche Scientifique

Vellore Institute of Technology University

University of Maryland, College Park

Indian Institute of Technology Kanpur

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Sensor modeling for achieving the tracking control of a pendulum

R. Madhavan

Sufficiently accurate modeling and understanding of the sensors and actuators is necessary to arrive at numerically efficient state estimation and control algorithms since the measurement and sensors provided are corrupted to some degree by the presence of noise, biases and device inaccuracies. This paper describes the sensor and actuator modeling issues that were encountered while trying to achieve the trajectory tracking control of a simple pendulum.

Tracking (education)

Pendulum

10.1109/tencon.1999.818593

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Citations (0)

2012 Proceedings of the Performance Metrics for Intelligent Systems (PerMI'12) Workshop

R. Madhavan Elena R. Messina Brian A. Weiss

10.6028/nist.sp.1113-permis

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Citations (1)

Study of the Microstructure, Texture and Tensile Properties in as-Extruded AZ91 and ZM21 Magnesium Alloys

Materials science forum (2011)

M. Thirumurugan R. Madhavan S. Thirumalai Kumaran T. Srinivasa Rao Satyam Suwas

In this paper, the microstructure, texture and tensile properties of the magnesium alloys AZ91 and ZM21 extruded at 350°C to the ratio 25:1 are investigated. After extrusion, the mean grain size reduces from 400 µm to 30 µm in ZM21 alloy and from 350 µm to 40 µm in AZ91 alloy. Bulk texture analysis indicates the formation of characteristic extrusion texture in both the alloys. The occurrence of dynamic recrystallization, as revealed through necklace structure formation, and the precipitation of second phase (Mg17Al12) particles in the AZ91 alloy are observed.

Texture (cosmology)

Recrystallization (geology)

Dynamic Recrystallization

10.4028/www.scientific.net/msf.702-703.659

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Robotic Tools in Hospitals [Industry Spotlight]

IEEE Robotics & Automation Magazine (2011)

R. Madhavan

Recognizing the labor-intensive and high employee turnover rate of sterile processing of surgical instruments in hos pitals, Robotic Systems & Technolo gies, Inc. (RST), of Bronx, New York, thought that hospitals can benefit from lessons learned in manufacturing by using the tried and true automation techniques manufacturers employ to improve efficiency and quality They saw a correlation between the repetitive nature of the sterile process department and assembly in the world of manufac turing. "When you think about it, the sterile processing department's tasks for the most part consist of counting, sort ing, inspecting, and processing instru ments just like an assembly line," said Dr. Michael R. Treat, an associate pro fessor of clinical surgery in the College of Physicians and Surgeons of Colum bia University, an attending surgeon at the New York-Presbyterian Hospital and founder of Robotic Systems & Technology, Inc. "Automation can per form these tasks precisely, automatically, and reliably 24 hours a day and seven days a week, allowing the administrators to cut costs, redeploy valuable employees to more challenging tasks, reduce errors, and ultimately protect patients."

Turing

10.1109/mra.2011.940896

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Citations (1)

Immobilization of contaminated sodium: an optimization study

Journal of Nuclear Materials (2021)

A. Manivannan Parkavi Ravisankar G. Saravanan Abhiram Senapati R. Madhavan

Borosilicate glass

Volatilisation

Vitrification

10.1016/j.jnucmat.2021.152899

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Citations (3)

Performance Analysis of an Autonomous Mobile Robot Mapping System for Outdoor Environments

Roger Bostelman Tao Hong R. Madhavan Tommy Chang Harry A. Scott

As unmanned ground vehicles take on more and more intelligent tasks, determination of potential obstacles and accurate estimation of their position become critical for successful navigation and path planning. The performance analysis of obstacle mapping and unmanned vehicle positioning in outdoor environments is the subject of this paper. Recently, the National Institute of Standards and Technology's (NIST) Intelligent Systems Division has been a part of the Defense Advanced Research Project Agency LAGR (Learning Applied to Ground Robots) Program. NIST's objective for the LAGR Project is to insert learning algorithms into the modules that make up the NIST 4D/RCS (Four Dimensional/Real-Time Control System) standard reference model architecture which has been successfully applied to many intelligent systems. We detail world modeling techniques used in the 4D/RCS architecture and then analyze the high precision maps generated by the vehicle world modeling algorithms as compared to ground truth obtained from an independent differential GPS system operable throughout most of the NIST campus. This work has implications, not only for outdoor vehicles but also, for indoor automated guided vehicles where future systems will have more and more onboard intelligence requiring non-contact sensors to provide accurate vehicle and object positioning

NIST

Unmanned ground vehicle

10.1109/icarcv.2006.345411

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Citations (3)

Transversely loaded Bragg grating pressure transducer with mechanically enhancing the sensitivity

Tsutomu Yamate Rogerio T. Ramos R. J. Schroeder R. Madhavan S.C. Balkunas

In this paper, we describe a transversely loaded Bragg grating pressure transducer with mechanically enhanced the sensitivity utilizing fiber Bragg gratings written onto a single mode fiber, and demonstrate pressure sensitivity up to 5k psi with low temperature sensitivity.

Fiber Bragg Grating

PHOSFOS

10.1109/ofs.2002.1000764

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Citations (9)

Micro-mechanisms of deformation texture evolution in nanocrystalline nickel-cobalt alloys

Acta Materialia (2016)

R. Madhavan Satyam Suwas

Nanocrystalline material

Stacking-fault energy

Brass

Texture (cosmology)

10.1016/j.actamat.2016.08.036

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Citations (29)

Distributed heterogeneous outdoor multi-robot localization

R. Madhavan Kingsley Fregene Lynne E. Parker

An extended Kalman filter (EKF)-based algorithm for the localization of a team of robots is described in this paper. The distributed EKF localization scheme is straightforward in that the individual robots maintain a pose estimate using EKFs that are local to every robot. We then show how these results can be extended to perform heterogeneous cooperative localization in the absence or degradation of absolute sensors aboard the team members. The proposed algorithms are implemented using field data obtained from a team of ATRV-mini robots traversing on uneven outdoor terrain.

Traverse

10.1109/robot.2002.1013389

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Citations (84)

Map-building and map-based localization in an underground-mine by statistical pattern matching

R. Madhavan Gamini Dissanayake Hugh Durrant‐Whyte

This paper reports on the map-building and map-based localization of a load-haul-dump (LHD) truck in an underground mine using statistical pattern-matching techniques utilizing range images obtained from a scanning laser range-finder The map-building approach is based on an extended Kalman filter (EKF) and the resulting map is composed of poly-lines. Three approaches are proposed for the localization of the vehicle, namely the iterative closest point (ICP) approach, a reflective beacon based approach and the combined ICP-EKF approach, wherein, the last two approaches explicitly take into account the uncertainty associated with the observation data. These approaches are then compared using data gathered from an underground mine in Queensland, Australia for their relative merits subject to various factors and the corresponding results are presented.

Iterative closest point

Map matching

10.1109/icpr.1998.712063

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Citations (21)