In this paper, we describe how motile microorganisms can be integrated with engineered microstructures to develop a micro-bio-robotic system. SU-8 microstructures blotted with swarmer cells of Serratia Marcescens in a monolayer are propelled by the bacteria in the absence of any environmental stimulus. We call such microstructures with bacteria MicroBioRobots (MBRs) and the uncontrolled motion ...

This paper proposes grounding for the business process modeling (BPM) based on general time theory providing axiomatic system. First order logic is used to give a clear definition of abstract business process and corresponding temporal relations including derived relations using a single “Meets” relation. Temporal logic used here treats time interval and time point on equal footing. We use mode...

 In this paper we develop queuing model results for a single “automated” workstation that receives jobs from another automated workstation. An automated workstation is a server with deterministic processing times that experiences random operating times between failures, and then subsequent random repair times. We develop analytical expressions for the queue size distribution, the average numbe...

In this paper, an algorithm for autonomous stair climbing with a tracked vehicle is presented. The proposed method achieves robust performance under real-world conditions, without assuming prior knowledge of the stair geometry, the dynamics of the vehicle’s interaction with the stair surface, or lighting conditions. The approach relies on fast and accurate estimation of the robot’s heading and ...

Swarm Technology is basically a system which works on real time conditions and the members in the group interact with each other in a decentralized manner to achieve a particular objective via self-organization. Natural examples are ant colonies, schooling of fishes, etc. Swarm in telligence is a field of artificial intelligence. Artificial Intelligence of machine or software is that which stud...

This paper presents a large scale dataset of vision (stereo and RGB-D), laser and proprioceptive data collected over an extended duration by a Willow Garage PR2 robot in the 10 story MIT Stata Center. As of September 2012 the dataset comprises over 2.3 TB, 38 h and 42 km (the length of a marathon). The dataset is of particular interest to robotics and computer vision researchers interested in l...

This paper presents a simple unknown input estimation technique using generalized matrix inverse. The full order observer constructed by g-inverse is extended and implemented for this purpose. The necessary and sufficient condition has been introduced for existence of such an estimator. The proposed method is illustrated by numerical example (Two loop autopilot in pitch plane) and the MATLAB si...

The Indian elephant (Elephas maximus) is one of three recognized subspecies of the Asian elephant and native to mainland Asia. Since 1986, Elephas maximus has been listed as Endangered by IUCN. The Elephas maximus are an ecologically and economically important species in many Indian habitats. However, illegal hunting, poaching, habitat destruction and other factors, especially in wild elephant ...

Design of a programmable frequency oscillator design using field programmable, analog, CMOS current conveyor has been presented; further, a design methodology to introduce on-chip /field programmability into the second generation current controlled current conveyor circuit (CCCII) is explained. To make the CCCII CMOS design programmable, a floating-gate transistor synapse is introduced to repla...

As a flexible needle with a bevel tip is pushed through soft tissue, the asymmetry of the tip causes the needle to bend. We propose that, by using nonholonomic kinematics, control, and path planning, an appropriately designed needle can be steered through tissue to reach a specified 3D target. Such steering capability could enhance targeting accuracy and may improve outcomes for percutaneous th...