Srinivasan Krishnaswamy

Indian Institute of Technology Guwahati

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Somanath Majhi

Indian Institute of Technology Guwahati

Abhijit Mazumdar

Aalborg University

David L. McPherson

University of Illinois Urbana-Champaign

Joseph Menke

University of California, San Diego

Harish K. Pillai

Indian Institute of Technology Bombay

Kasturi Das

Indian Institute of Technology Guwahati

A. Thomopoulos

University of Southern California

K. Vetter

Lawrence Berkeley National Laboratory

P. Dayani

University of California, Berkeley

N. Hu

Chongqing University of Posts and Telecommunications

Cooperative Institutions

University of California, Berkeley

Indian Institute of Technology Guwahati

Lawrence Berkeley National Laboratory

Université Ibn-Tofail

Association for Computing Machinery

Indian Institute of Technology Indore

Christ University

University of California, San Diego

University of California System

Praxis (United States)

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H∞ Control of Smooth Nonlinear Systems

IFAC-PapersOnLine (2022)

Abhijit Mazumdar Srinivasan Krishnaswamy Somanath Majhi

This paper considers the L2 gain analysis of a smooth discrete-time nonlinear system. The analysis hinges on a piecewise affine approximation, where we partition the state-space into a few polyhedral cells. In each polyhedral cell, the nonlinear system is approximated by a piecewise affine system. To begin with, conditions are derived such that the L2 gain of the nonlinear system is less than or equal to a given γ > 0. Then an H∞ controller is designed which guarantees that the resulting closed-loop system has an L2 gain that is less than or equal to a prescribed value γ > 0 while maintaining stability.

10.1016/j.ifacol.2022.04.012

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Effects of kinematic force errors on robot task performance

Srinivasan Krishnaswamy Warren Seering

This paper examines the effects of errors in applied force on robot force-controlled task performance. Two configuration-dependent effects of force errors are identified. Kinematic stability errors occur when the robot configuration is such that small inaccuracies in joint torque create relatively large robot link displacements. This sensitivity to torque errors can seriously inhibit task performance in certain configurations. Task performance can also be affected by errors in the endpoint force angle which can be significant for even small changes in joint torque. Performance maps are developed as tools to identify robot configurations sensitive to these errors. The effects of force errors are demonstrated in the performance of a planar peg and hole task by a three link manipulator under joint torque control.< >

10.1109/robot.1994.350924

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Citations (1)

Immersive Operation of a Semi-Autonomous Aerial Platform for Detecting and Mapping Radiation

IEEE Transactions on Nuclear Science (2021)

P. Dayani Nitzan Orr V. Saran N. Hu Srinivasan Krishnaswamy

Recent advancements in radiation detection and computer vision have enabled small unmanned aerial systems (sUASs) to produce 3-D radiation maps, for example, composed of gamma rays and neutrons, in real time. Currently, these state-of-the-art systems require two operators: one to pilot the sUAS and another operator to monitor the detected radiation. In this work, we present a system that integrates real-time 3-D radiation visualization with semi-autonomous sUAS control. Our virtual reality (VR) interface enables a single operator to define trajectories using waypoints to abstract complex flight control and utilize the semi-autonomous maneuvering capabilities of the sUAS. The interface also displays a fused radiation visualization and environment map, thereby enabling simultaneous remote operation and radiation monitoring by a single operator. This interface and its underlying framework serves as the basis for development of a single system that can deploy and autonomously control a fleet of radiation-mapping sUASs.

Interface (matter)

Operator (biology)

Radiation monitoring

10.1109/tns.2021.3122452

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Citations (2)

Low-temperature oxidation of coal. 2. An experimental and modelling investigation using a fixed-bed isothermal flow reactor

Fuel (1996)

Srinivasan Krishnaswamy R.D. Gunn Pradeep Agarwal

Isothermal process

Spontaneous Combustion

10.1016/0016-2361(95)00177-8

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Citations (75)

H ∞ - Optimal Control over erasure channel

IFAC-PapersOnLine (2017)

Abhijit Mazumdar Srinivasan Krishnaswamy Somanath Majhi

In this paper, the optimal H∞ control of a linear time invariant (LTI) networked control system (NCS) over a lossy network is analyzed. Specifically we consider a TCP-like data network where packet drops are modelled using a two-state Markov process. By employing the theory of dynamic games, a state-feedback H∞ controller is obtained. It is shown that, subjected to a suitable H∞ disturbance attenuation level and suitable packet loss probabilities, such a controller exists for both finite and infinite horizon cases. We also show the asymptotic stability of the NCS in the mean-square sense. Finally a numerical example is presented to demonstrate our work.

Erasure

Lossy compression

LTI system theory

Packet loss

10.1016/j.ifacol.2017.08.157

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Citations (3)

On the Number of Linear Feedback Shift Registers With a Special Structure

IEEE Transactions on Information Theory (2011)

Srinivasan Krishnaswamy Harish K. Pillai

Given a primitive polynomial $p(x)$ , of degree $n$ , we deal with the problem of finding the number of possible linear feedback shift register realizations, with m-input m-output delay elements, such that the corresponding characteristic polynomial is $p(x)$ . We show the equivalence between these realizations and a set of specially structured matrices. Furthermore, the number of realizations is computed for some special cases.

10.1109/tit.2011.2174332

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Citations (26)

Information Security and Privacy in the Digital World - Some Selected Topics

IntechOpen eBooks (2022)

Jaydip Sen Joceli Mayer Subhasis Dasgupta Subrata Nandi Srinivasan Krishnaswamy

In the era of generative artificial intelligence and the Internet of Things (IoT) and while there is explosive growth in the volume of data and the associated need for processing, analysis, and storage, several new challenges have arisen in identifying spurious and fake information and protecting the privacy of sensitive data. This has led to an increasing demand for more robust and resilient schemes for authentication, integrity protection, encryption, non-repudiation, and privacy preservation of data. This book presents some of the state-of-the-art research in the field of cryptography and security in computing and communications. It is a useful resource for researchers, engineers, practitioners, and graduate and doctoral students in the field of cryptography, network security, data privacy issues, and machine learning applications in the security and privacy in the context of the IoT.

10.5772/intechopen.100776

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Citations (1)

Immersive Operation of a Semi-Autonomous Aerial Platform for Detecting and Mapping Radiation

arXiv (Cornell University) (2021)

P. Dayani Nitzan Orr A. Thomopoulos V. Saran Srinivasan Krishnaswamy

Recent advancements in radiation detection and computer vision have enabled small unmanned aerial systems (sUASs) to produce 3D nuclear radiation maps in real-time. Currently these state-of-the-art systems still require two operators: one to pilot the sUAS and another operator to monitor the detected radiation. In this work we present a system that integrates real-time 3D radiation visualization with semi-autonomous sUAS control. Our Virtual Reality interface enables a single operator to define trajectories using waypoints to abstract complex flight control and utilize the semi-autonomous maneuvering capabilities of the sUAS. The interface also displays a fused radiation visualization and environment map, thereby enabling simultaneous remote operation and radiation monitoring by a single operator. This serves as the basis for development of a single system that deploys and autonomously controls fleets of sUASs.

Operator (biology)

Interface (matter)

Source

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Citations (0)

Near-optimal interpolation-based time-limited model order reduction

International Journal of Control (2023)

Kasturi Das Srinivasan Krishnaswamy Somanath Majhi

AbstractThis paper presents an interpolatory framework for model order reduction of linear time-invariant (LTI) systems over limited time intervals of the form [0,τ], with τ<∞. We give a new proof for deriving interpolation-based first-order necessary conditions for time-limited H2 optimality. Based on these optimality conditions, we propose a time-limited rational Krylov framework for time-limited rational interpolation. The interpolatory framework is used to present an iterative algorithm that yields reduced-order models satisfying the optimality conditions approximately. The distance to optimality is quantified in terms of the interpolation errors. The errors depend primarily on the interpolating model's poles and the time interval size. We test the proposed algorithm in three numerical examples and compare its performance with various time-limited model reduction algorithms available in the literature.Keywords: Model order reductionlinear time-invariant (LTI) systemsrational Krylov methodstime-limited H2 optimality AcknowledgmentsThe authors would like to thank the anonymous reviewers for their detailed and constructive comments, which have contributed significantly to improving the quality of the paper.Disclosure statementNo potential conflict of interest was reported by the author(s).

Interpolation

Model order reduction

LTI system theory

10.1080/00207179.2023.2174408

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On Passivity, Feedback Passivity, And Feedback Passivity Over Erasure Network: A Piecewise Affine Approximation Approach

arXiv (Cornell University) (2020)

Abhijit Mazumdar Srinivasan Krishnaswamy Somanath Majhi

In this paper, we deal with the problem of passivity and feedback passification of smooth discrete-time nonlinear systems by considering their piecewise affine approximations. Sufficient conditions are derived for passivity and feedback passivity. These results are then extended to systems that operate over Gilbert-Elliott type communication channels. As a special case, results for feedback passivity of piecewise affine systems over a lossy channel are also derived.

Passivity

Erasure

10.48550/arxiv.2008.02748

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