Abstract: Motion parameters estimation for localization of differential drive vehicles is an important part of robotics and autonomous navigation. Conventional methods require introceptive as well extroceptive sensors for localization. The present disclosure provides a control command based adaptive system and method for estimating motion parameters of differential drive vehicles. The method utilizes information from one or more time synchronized command signals and generate an experimental model for estimating one or more motion parameters of the differential drive vehicle by computing a mapping function. The experimental model is validated to determine change in the one or more motion parameters with change in one or more factors and adaptively updated to estimate updated value of the one or more motion parameters based on the validation. The system and method of present disclosure provide accurate results for localization with minimum use of extroceptive sensors.

Abstract: The invention is directed to a wash composition that does not irritate the eyes. The composition comprises a surfactant system having anionic surfactant, and amphoteric or zwitterionic surfactant or both, and nonionic surfactant or cationic polymer or a mixture thereof. The composition is water continuous, has a pH from 4.8 to 7.5, and surprisingly, does not irritate the eyes while simultaneously delivering consumer desired lathering characteristics.

Abstract: An antibacterial composition comprises water, alcohol, a thickening agent, and a moisturizing oil, wherein at least 50% of droplets of the moisturizing oil present in the antibacterial composition have a particle size of 5 micrometers to 10 millimeters. A method of making an antibacterial composition comprises dispersing a thickening agent in water to form a first phase; combining a moisturizing oil and a humectant to form a second phase; combining the first phase with an alcohol to form a third phase; adding the second phase to the third phase, forming a fourth phase; and adding a neutralizer to the fourth phase, thereby forming the antibacterial composition.

Abstract: The disclosure relates to motion planning for autonomous vehicles to find a contiguous path to travel from a source to a destination in a real time environment. But, motion planning suffers due to dimensionality problem during planning a path in high dimensional configuration space. Conventional a priori path planning techniques utilize deterministic selection of a seed and there is a challenge in providing resolution completeness, especially in a cluttered environment. Here, the resolution problem associated with the cluttered environment, is rectified by utilizing random seed generation technique. A convex region is grown around each seed and a set of hyperplanes are generated around each convex region. A contiguous polytope is created by utilizing the set of hyperplanes associated with each convex region. Further, an undirected graph is created based on a plurality of polytope points associated with the contiguous polytope and a shortest path in the graph is computed.

Abstract: This disclosure relates generally to method and system to detect and estimate dynamic obstacles using RGBD sensors for robot navigation. Obstacle detection and tracking tasks with efficient processing of depth images becomes complex in dynamic and cluttered environments. The method detects one or more obstacles being identified in the one or more depth images in two dimensional space using the depth map captured using a RGBD sensor configured to a mobile robot. Further, a restricted v-depth map is computed between specified columns taken from the width of each dynamic obstacle of the u-depth map and within the depth range derived from the u-depth map. The one or more dynamic obstacles are tracked by matching segments of subsequent depth images to predict future position in the region of the monitoring environment by computing a closeness signature. The method evaluates correctness with open data sequence and real world data.

Abstract: This disclosure relates generally to real-time path planning. Planning amidst obstacles in a cluttered indoor environment is a difficult task for a robotic agent. The disclosed method provides semidefinite programming induced free-space based path planning. Free-space is generated by an efficient environment grid resolution independent seeding technique. In the proposed resolution independent seeding technique, initial position of the robotic agent is considered as the first seed. For subsequent seeding, information of the expanded earlier seeds are employed intelligently. This process is followed unto a finite sequence, which naturally results in a contiguous navigable convex free-space. This contiguous navigable convex free-space is employed to create an undirected graph, which is then used for path planning. Path planning is done locally by evaluating the subgoal with respect to a final goal. Local planning cumulatively assists the planner to attain the final goal.

Abstract: Method and system for narrow passage path sampling based on levy flight is disclosed. The disclosed technique is an improvisation of Random Walk to Surface (RWS), wherein, instead of performing a random walk, the disclosed technique utilizes levy flight mechanism to identify samples in narrow passages (on the obstacle boundaries). The disclosed technique for identification of narrow passages sampling points in the narrow passage is based on several techniques that include random uniform sampling technique, a levy flight function (step size) and a collision detection technique. Moreover, in addition to identification of narrow passages sampling points, the disclosed technique also performs an additional check to ensure that the identified narrow passages sampling points are present in the narrow passage based on a levy flight bridge sampler technique.

Abstract: Embodiments of the present disclosure provide systems and methods to eliminate (or filter) drift for dynamics model based localization of multirotors. The dynamics equations require drag modelling, which is dependent on velocity, to generate vehicles' acceleration along the body axis. The present disclosure considers the drag contribution, at velocity level, as a low frequency component. Incorrect or nonmodelling of this low frequency component leads to drift at velocity level. This drift can then be removed through a high pass filter to obtain drift free velocity data for pose estimation and better localization thereof.

Abstract: Systems for testing computing devices of a medical records system using a simulated environment are provided. The simulated environment is generated by identifying transaction traffic over the network, where the transaction traffic comprises messages of different transaction types. A computing device is configured to output a simulated status by extrapolating a performance of the computing devices upon receiving a series of messages indicating the transaction types. The output of the computing device may indicate an error in the simulated environment where the performance of a computing device exceeds a performance threshold. Based on the error indication, transaction traffic can be diverted from the computing device to another computing device having performance capacity.

Abstract: Monitoring vibrations induced on non-rotational components, of a machine is a key requirement to ensure that the machine is well within safe operational limits. Existing approaches are sensor based and may not be practical in many practical scenarios with extreme environments. Embodiments herein provide method and system for monitoring machine health using radar based segregation for induced machine vibrations. The method provides model free a data driven approach wherein a micro Doppler signal captured by the RADAR placed in proximity of a target machine is processed and analyzed in accordance with a Wide Band Frequency Spectrum (WBFS) to estimate a rotational frequency and a translational frequency of induced machine vibrations in the target machine. Further, apply a rule engine on the estimated rotational frequency and the translational frequency to provide an alert notification to an end user when the induced machine vibrations cross the defined machine standards.

Abstract: Robots are used extensively in different applications so as to perform specific tasks. However, the robots are required to move around in a location where they are present, so as to perform the tasks. For path planning, free space identification is performed by the robots during which obstacles are detected and free space is identified. However, the existing systems for path planning struggle to identify free space in cluttered environments. The disclosure herein generally relates to robotic path planning, and, more particularly, to a method and system for free space detection in a cluttered environment for robotic path planning. The system inscribes obstacles in bounding boxes and all unit grids inscribed by the bounding boxes are considered as occupied. Further, by seeding the occupancy grid map, the system identifies unified segments and corresponding seeds. Further a convex expansion is executed in the occupancy grid map to detect the free space.

Abstract: A system is provided for automated monitoring the health of a patient. The system is unifying the approach of multi-sensing, robotic platform and cloud computing to monitor the health of the patient with zero or very minimal human intervention. The plurality of physiological parameters and the pathological values is sensed using the plurality of physiological sensors and the plurality of pathological sensors or using a smart phone of the patient. The body of the patient is scanned using a robotic arm. The data sensed by the sensor is then identifies a set of anomalies and send the set of anomalies to cloud server. A cognitive engine present on the cloud server is then diagnoses a disease using cloud computing and send the report to caregiver and doctor. According to another embodiment, a method is also provided for automated monitoring the health of the person using the above mentioned system.

Abstract: Motion parameters estimation for localization of differential drive vehicles is an important part of robotics and autonomous navigation. Conventional methods require introceptive as well extroceptive sensors for localization. The present disclosure provides a control command based adaptive system and method for estimating motion parameters of differential drive vehicles. The method utilizes information from one or more time synchronized command signals and generate an experimental model for estimating one or more motion parameters of the differential drive vehicle by computing a mapping function. The experimental model is validated to determine change in the one or more motion parameters with change in one or more factors and adaptively updated to estimate updated value of the one or more motion parameters based on the validation. The system and method of present disclosure provide accurate results for localization with minimum use of extroceptive sensors.

Abstract: This disclosure relates generally to real-time path planning. Planning amidst obstacles in a cluttered indoor environment is a difficult task for a robotic agent. The disclosed method provides semidefinite programming induced free-space based path planning. Free-space is generated by an efficient environment grid resolution independent seeding technique. In the proposed resolution independent seeding technique, initial position of the robotic agent is considered as the first seed. For subsequent seeding, information of the expanded earlier seeds are employed intelligently. This process is followed unto a finite sequence, which naturally results in a contiguous navigable convex free-space. This contiguous navigable convex free-space is employed to create an undirected graph, which is then used for path planning. Path planning is done locally by evaluating the subgoal with respect to a final goal. Local planning cumulatively assists the planner to attain the final goal.

Abstract: Robotic vision-based framework wherein an on-board camera device is used for scale estimation. Unlike conventional scale estimation methods that require inputs from more than one or more sensors, implementations include a system and method to estimate scale online solely, without any other sensor, for monocular SLAM by using multirotor dynamics model in an extended Kalman filter framework. This approach improves over convention scale estimation methods which require information from some other sensors or knowledge of physical dimension of an object within the camera view. An arbitrary scaled position and an Euler angle of a multirotor are estimated from vision SLAM (simultaneous localization and mapping) technique. Further, dynamically integrating, computed acceleration to estimate a metric position. A scale factor and a parameter associated with the multirotor dynamics model is obtained by comparing the estimated metric position with the estimated arbitrary position.

Abstract: Monitoring vibrations induced on non-rotational components, of a machine is a key requirement to ensure that the machine is well within safe operational limits. Existing approaches are sensor based and may not be practical in many practical scenarios with extreme environments. Embodiments herein provide method and system for monitoring machine health using radar based segregation for induced machine vibrations. The method provides model free a data driven approach wherein a micro Doppler signal captured by the RADAR placed in proximity of a target machine is processed and analyzed in accordance with a Wide Band Frequency Spectrum (WBFS) to estimate a rotational frequency and a translational frequency of induced machine vibrations in the target machine. Further, apply a rule engine on the estimated rotational frequency and the translational frequency to provide an alert notification to an end user when the induced machine vibrations cross the defined machine standards.

Abstract: Robotic vision-based framework wherein an on-board camera device is used for scale estimation. Unlike conventional scale estimation methods that require inputs from more than one or more sensors, implementations include a system and method to estimate scale online solely, without any other sensor, for monocular SLAM by using multirotor dynamics model in an extended Kalman filter framework. This approach improves over convention scale estimation methods which require information from some other sensors or knowledge of physical dimension of an object within the camera view. An arbitrary scaled position and an Euler angle of a multirotor are estimated from vision SLAM (simultaneous localization and mapping) technique. Further, dynamically integrating, computed acceleration to estimate a metric position. A scale factor and a parameter associated with the multirotor dynamics model is obtained by comparing the estimated metric position with the estimated arbitrary position.

Abstract: Robots are used extensively in different applications so as to perform specific tasks. However, the robots are required to move around in a location where they are present, so as to perform the tasks. For path planning, free space identification is performed by the robots during which obstacles are detected and free space is identified. However, the existing systems for path planning struggle to identify free space in cluttered environments. The disclosure herein generally relates to robotic path planning, and, more particularly, to a method and system for free space detection in a cluttered environment for robotic path planning. The system inscribes obstacles in bounding boxes and all unit grids inscribed by the bounding boxes are considered as occupied. Further, by seeding the occupancy grid map, the system identifies unified segments and corresponding seeds. Further a convex expansion is executed in the occupancy grid map to detect the free space.

Abstract: Conventional techniques involve fusion of Inertial Measurement Units (IMU) sensor based method and vision based localization technique for localization of rotor systems. However vision based localization technique may be prone to errors due to motion blur, drastic lighting change, sudden rotation at UAV, and the like, while the drift in IMU based localization severely impact overall solution. Embodiments of the present disclosure provide systems and methods to eliminate (or filter) drift for dynamics model based localization of multirotors. The dynamics equations require drag modelling, which is dependent on velocity, to generate vehicles' acceleration along the body axis. The present disclosure considers the drag contribution, at velocity level, as a low frequency component. Incorrect or nonmodelling of this low frequency component leads to drift at velocity level. This drift can then be removed through a high pass filter to obtain drift free velocity data for pose estimation and better localization thereof.

Abstract: A system is provided for automated monitoring the health of a patient. The system is unifying the approach of multi-sensing, robotic platform and cloud computing to monitor the health of the patient with zero or very minimal human intervention. The plurality of physiological parameters and the pathological values is sensed using the plurality of physiological sensors and the plurality of pathological sensors or using a smart phone of the patient. The body of the patient is scanned using a robotic arm. The data sensed by the sensor is then identifies a set of anomalies and send the set of anomalies to cloud server. A cognitive engine present on the cloud server is then diagnoses a disease using cloud computing and send the report to caregiver and doctor. According to another embodiment, a method is also provided for automated monitoring the health of the person using the above mentioned system.