COCrIP: Compliant OmniCrawler In-Pipe Climbing Robot
This paper presents a modular in-pipeline climbing robot with a novel compliant foldable OmniCrawler mechanism. The circular cross-section of the OmniCrawler module enables a holonomic motion to facilitate the alignment of the robot in the direction of bends. Additionally, the crawler mechanism provides a fair amount of traction, even on slippery surfaces. These advantages of crawler modules have been further supplemented by incorporating active compliance in the module itself which helps to negotiate sharp bends in small diameter pipes. The robot has a series of 3 such compliant foldable modules interconnected by the links via passive joints. For the desirable pipe diameter and curvature of the bends, the spring stiffness value for each passive joint is determined by formulating a constrained optimization problem using the quasi-static model of the robot.
CObRaSO: Compliant Omni-Direction Bendable Hybrid Rigid and Soft OmniCrawler Module
This paper presents a novel design of an Omnidirectional bendable Omnicrawler module. Compared to conventional crawlers, OmniCrawler module possesses an extra degree of freedom for sideways rolling motion, and the circular crosssection of the module enables holonomic motion of the robot. These advantages are further enhanced by the introduction of Omnidirectional joint with-in the module, which is the key contribution of this paper. This achieves high maneuverability and adaptability of the OmniCrawler module on an uneven surface. The Omni-directional bending is realized by means of two mechanisms: a Telescopic screw drive mechanism, and an arrangement of two independent 1-DOF joints aligned at 90? with respect to each other. The hybrid soft-rigid structure of the module provides compliant pathways for lug-chain assembly which allows crawling motion even in the bent configuration of the module. We show that the unique modular design unveils its versatility in terms of achieving compliance on an uneven surface, demonstrating its applications in different robotic platforms, such as an in-pipeline robot, Quadruped, snake robot, and exhibiting hybrid locomotive traits in various configurations of the robots with the help of simulations and experiments results on real robot prototype.
Design of Low power VLSI-Architecture and ASIC Implementation of Fuzzy Logic based Automatic Car-Parking System
This work includes the overall system design of the automatic car-parking application where its non-linear control estimation is based on the fuzzy logic control (FLC) model. The finite state machine (FSM) based central controller has been used to operate such FLC model. It performs a series of operations required for the real-time car parking process. Subsequently, the defuzzifier architecture has been further optimized using resource sharing technique which reduces the overall chip area and power consumption of the proposed car parking system. Additionally, the field-programmable-gate-array (FPGA) synthesis and application-specific-integrated-circuit (ASIC) implementations of the suggested architecture was compared with the conventional architecture. Functional verification of the design using simulation tool for a similar set of inputs has been performed in this work. Thus, the suggested architecture occupies an area of 46335 ?ﾝﾑﾚ2 and consumes a total power of 0.06254 mW at 60 MHz, when synthesized and post-layout simulated in 180 nm complementary metal-oxide-semiconductor (CMOS) technology node.
Improving method of correcting AES Keys obtained from cold boot attack
Extraction of cryptographic keys, passwords and other sensitive information from the memory, has been made possible by the data remanence property of DRAM. According to it, DRAM can retain its data for several seconds to minutes without power. Cold boot attack proposed earlier tries to exploit memory remanence property, for extracting probable cryptographic secrets from DRAM. However, the extracted information is degraded and needs to be corrected before being used for decrypting the encrypted files. Various methods for correcting this distorted data for different cryptosystems have been proposed [1, 6]. However, it has not been reported much in the literature regarding the efficacy of these methods. This paper contains results and observations of extensive experiments carried out for correcting AES keys, by varying timings of cold rebooting the PC that varies the % of distorted data. These observations suggest that the proposed methods are theoretical in nature and not effective practically( for cold boot attack) as they could correct keys corresponding to up to 2% of erroneous round key schedules of AES-128 and AES-256. In this paper, an improved algorithm has been proposed for correcting up to 15% of errors in cold boot attack generated as well as randomly generated distorted round key schedules. The proposed algorithm has been successfully implemented to mount the volumes encrypted by popular disk encryption system `TrueCrypt'.
Design and Development of a personalized cooling chair to save energy
The chair incorporates several thermoelectric Peltier cooling modules to provide cooling in the sensitive areas of the legs when a person sits on it. This personalized thermoelectric cooling significantly reduces the energy consumption of the centralized air conditioner in the room.
Heart Rate Monitoring System using Zigbee
The circuit detects the heart rate of a person through an optical sensor. When the heart beats, blood pumping throughout body changes the volume inside the finger artery. This blood fluctuation is detected through an optical sensor placed around the fingertip. The signal needs amplification so that microcontroller(PIC16F628A ) could count the rate of fluctuation, which is the heart rate count. This data is sent to the doctor via a wireless communication protocol, Zigbee.