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| 1 | Cooperative Formation Control of Autonomous Underwater Vehicles:An Overview显示文摘Formation control is a cooperative control concept in which multiple autonomous underwater mobile robots are deployed for a group motion and/or control mission.This paper presents a brief review on various cooperative search and formation control strategies for multiple autonomous underwater vehicles(AUV) based on literature reported till date.Various cooperative and formation control schemes for collecting huge amount of data based on formation regulation control and formation tracking control are discussed.To address the challenge of detecting AUV failure in the fleet,communication issues,collision and obstacle avoidance are also taken into attention.Stability analysis of the feasible formation is also presented.This paper may be intended to serve as a convenient reference for the further research on formation control of multiple underwater mobile robots. | Bikramaditya Das Bidyadhar Subudhi Bibhuti Bhusan Pati | 2016 | International Journal of Automation and computing2016，13，3： | 14 |
| 2 | A Comprehensive Review of Path Planning Algorithms for Autonomous Underwater Vehicles显示文摘The underwater path planning problem deals with finding an optimal or sub-optimal route between an origin point and a termination point in marine environments.The underwater environment is still considered as a great challenge for the path planning of autonomous underwater vehicles(AUVs)because of its hostile and dynamic nature.The major constraints for path planning are limited data transmission capability,power and sensing technology available for underwater operations.The sea environment is subjected to a large set of challenging factors classified as atmospheric,coastal and gravitational.Based on whether the impact of these factors can be approximated or not,the underwater environment can be characterized as predictable and unpredictable respectively.The classical path planning algorithms based on artificial intelligence assume that environmental conditions are known apriori to the path planner.But the current path planning algorithms involve continual interaction with the environment considering the environment as dynamic and its effect cannot be predicted.Path planning is necessary for many applications involving AUVs.These are based upon planning safety routes with minimum energy cost and computation overheads.This review is intended to summarize various path planning strategies for AUVs on the basis of characterization of underwater environments as predictable and unpredictable.The algorithms employed in path planning of single AUV and multiple AUVs are reviewed in the light of predictable and unpredictable environments. | Madhusmita Panda Bikramaditya Das Bidyadhar Subudhi Bibhuti Bhusan Pati | 2020 | International Journal of Automation and computing2020，17，3： | 8 |
| 3 | Position Control of a Flexible Manipulator Using a New Nonlinear Self-Tuning PID Controller显示文摘In this paper, a new nonlinear self-tuning PID controller(NSPIDC) is proposed to control the joint position and link deflection of a flexible-link manipulator(FLM) while it is subjected to carry different payloads. Since, payload is a critical parameter of the FLM whose variation greatly influences the controller performance. The proposed controller guarantees stability under change in payload by attenuating the non-modeled higher order dynamics using a new nonlinear autoregressive moving average with exogenous-input(NARMAX) model of the FLM. The parameters of the FLM are identified on-line using recursive least square(RLS) algorithm and using minimum variance control(MVC) laws the control parameters are updated in real-time. This proposed NSPID controller has been implemented in real-time on an experimental set-up. The joint tracking and link deflection performances of the proposed adaptive controller are compared with that of a popular direct adaptive controller(DAC). From the obtained results, it is confirmed that the proposed controller exhibits improved performance over the DAC both in terms of accurate position tracking and quick damping of link deflections when subjected to variable payloads. | Santanu Kumar Pradhan Bidyadhar Subudhi | 2020 | IEEE/CAA Journal of Automatica Sinica2020，7，1： | 8 |
| 4 | Adaptive Tracking Control of an Autonomous Underwater Vehicle显示文摘This paper presents the trajectory tracking control of an autonomous underwater vehicle(AUV). To cope with parametric uncertainties owing to the hydrodynamic effect, an adaptive control law is developed for the AUV to track the desired trajectory. This desired state-dependent regressor matrix-based controller provides consistent results under hydrodynamic parametric uncertainties.Stability of the developed controller is verified using the Lyapunov s direct method. Numerical simulations are carried out to study the efficacy of the proposed adaptive controller. | Basant Kumar Sahu Bidyadhar Subudhi | 2014 | International Journal of Automation and computing2014，11，3： | 6 |
| 5 | Comparative evaluation of microscopy,OptiMAL® and 18S rRNA gene based multiplex PCR for detection of Plasmodium falciparum & Plasmodium vivax from field isolates of Bikaner,India显示文摘Objective:To evaluate microscopy,OptiMAL? and multiplex PCR for the identification of Plasmodium falciparum(P.falciparum) and Plasmodium vivax(P.vivax) from the field isolates of Bikaner,Rajasthan(Northwest India).Methods:In this study,a multiplex PCR(P.falciparum and P.vivax) was further developed with the incorporation of Plasmodium malariae(P.malariae) specific primer and also a positive control.The performance of microscopy,plasmodium lactate dehydrogenase(pLDH) based malaria rapid diagnostic test OptiMAL? and 18S rRNA gene based multiplex PCR for the diagnosis of P.falciparum and P.vivax was compared.Results:The three species multiplex PCR if.falciparum,P.vivax and P.malariae) with an inbuilt positive control was developed and evaluated.In comparison with multiplex PCR,which showed the sensitivity and specificity of 99.36%(95%CI,98.11%-100.00%) and 100.00%(95%CI,100.00%-100.00%),the sensitivity and specificity of microscopy was 90.44%(95%CI,88.849-95.04%) and 99.22%(95% CI,97.71%-100.00%),and OptiMAL? was 93.58%(95%CI,89.75%-97.42%) and 97.69%(95%CI, 95.10%-100.00%).The efficiencies were 99.65%,95.10%and 95.45%for multiplex PCK.microscopy and OptiMAL?.respectively.Conclusions:Our results raise concerns over the overall sensitivities of microscopy and OptiMAL?,when compared to the multiplex PCR and thus stress the need for new molecular interventions in the accurate detection of the malarial parasites.This further highlights the fact that further developments are needed to improve the performance of rapid diagnostic tests at field level. | Deepak Pakalapati Shilpi Garg Sheetal Middha Abhishek Kochar Amit Kumar Subudhi Boopathi Pon Arunachalam Sanjay Kumar Kochar Vishal Saxena Pareek RP Jyoti Acharya Dhanpat Kumar Kochar Ashis Das | 2013 | Asian Pacific Journal of Tropical Medicine2013，6，5： | 3 |
| 6 | Modified constrained adaptive formation control scheme for autonomous underwater vehicles under communication delays显示文摘The performance of a formation control algorithm for a group of autonomous underwater vehicles(AUVs)may be degraded due to communication constraints between the leader and the follower AUVs.Moreover,as the distance between the AUVs change due to ocean waves,the delay in communication also varies.In this study,a modified constrained adaptive controller(CAC)is proposed to resolve the issue of variable-delay as well as actuator saturation.Due to the on-line reduction of the cost function,the gains of the CAC are updated at each sampling time taking into account the effects of communication delay.This improves the path-following accuracy of the leader AUV as well as follower AUVs.The effectiveness of the proposed control algorithm is demonstrated by implementing it on a prototype AUV(ODRA-I)model.The obtained simulation and experimental results show that the follower AUVs maintain a desired distance from the leader AUV to avoid a collision.For the proposed algorithm,the desired path-following performance of the follower AUV is maintained even when the delay is changed from 0 to 5 s.Moreover,the proposed control algorithm is efficient in avoiding actuator saturation. | Chhavi Suryendu Bidyadhar Subudhi | 2020 | IET Cyber-Systems and Robotics2020，2，1： | 3 |
| 7 | An improved robust stability analysis for systems with two delays by extracting overlapping feature显示文摘In this paper,a delay-dependent robust stability criterion is proposed for linear systems with two delays.For delay-dependent stable systems,the delays are very small in nature.So,they may overlap each other.This overlapping information may be exploited to obtain a less conservative criterion.To extract such information,a special type of simple Lyapunov–Krasovskii functional is considered.To derive the criterion in form of Linear Matrix inequalities,a matrix variable approach is used.Some numerical examples are presented to validate the less conservativeness of the proposed criterion. | Dushmanta K.Das Sandip Ghosh Bidyadhar Subudhi | 2015 | Journal of Control and Decision2015，2，2： | 3 |
| 8 | A Combined Reinforcement Learning and Sliding Mode Control Scheme for Grid Integration of a PV System显示文摘The paper presents development of a reinforcement learning(RL)and sliding mode control(SMC)algorithm for a 3-phase PV system integrated to a grid.The PV system is integrated to grid through a voltage source inverter(VSI),in which PVVSI combination supplies active power and compensates reactive power of the local non-linear load connected to the point of common coupling(PCC).For extraction of maximum power from the PV panel,we develop a RL based maximum power point tracking(MPPT)algorithm.The instantaneous power theory(IPT)is adopted for generation reference inverter current(RIC).An SMC algorithm has been developed for injecting current to the local non-linear load at a reference value.The RL-SMC scheme is implemented in both simulation using MATLAB/SIMULINK software and on a prototype PV experimental.The performance of the proposed RL-SMC scheme is compared with that of fuzzy logic-sliding mode control(FL-SMC)and incremental conductance-sliding mode control(IC-SMC)algorithms.From the obtained results,it is observed that the proposed RL-SMC scheme provides better maximum power extraction and active power control than the FL-SMC and IC-SMC schemes. | Aurobinda Bag Bidyadhar Subudhi Pravat Kumar Ray | 2019 | CSEE Journal of Power and Energy Systems2019，5，4： | 3 |
| 9 | Automatic Classification of Cardiac Arrhythmias Based on Hybrid Features and Decision Tree Algorithm显示文摘Accurate classification of cardiac arrhythmias is a crucial task because of the non-stationary nature of electrocardiogram(ECG)signals.In a life-threatening situation,an automated system is necessary for early detection of beat abnormalities in order to reduce the mortality rate.In this paper,we propose an automatic classification system of ECG beats based on the multi-domain features derived from the ECG signals.The experimental study was evaluated on ECG signals obtained from the MIT-BIH Arrhythmia Database.The feature set comprises eight empirical mode decomposition(EMD)based features,three features from variational mode decomposition(VMD)and four features from RR intervals.In total,15 features are ranked according to a ranker search approach and then used as input to the support vector machine(SVM)and C4.5 decision tree classifiers for classifying six types of arrhythmia beats.The proposed method achieved best result in C4.5 decision tree classifier with an accuracy of 98.89%compared to cubic-SVM classifier which achieved an accuracy of 95.35%only.Besides accuracy measures,all other parameters such as sensitivity(Se),specificity(Sp)and precision rates of 95.68%,99.28%and 95.8%was achieved better in C4.5 classifier.Also the computational time of 0.65 s with an error rate of 0.11 was achieved which is very less compared to SVM.The multi-domain based features with decision tree classifier obtained the best results in classifying cardiac arrhythmias hence the system could be used efficiently in clinical practices. | Santanu Sahoo Asit Subudhi Manasa Dash Sukanta Sabut | 2020 | International Journal of Automation and computing2020，17，4： | 2 |
| 10 | Unified Smith Predictor Based H_∞ Wide-Area Damping Controller to Improve the Control Resiliency to Communication Failure显示文摘Inter-area low frequency oscillation in power system is one of the major problems for bulk power transmission through weak tie lines.Use of wide-area signal is more effective than the local area signal in damping out the inter-area oscillations.Wide area measurement system(WAMS)is convenient to transmit the wide area signal through the communication channel to the remote location.Communication failure is one of the disastrous phenomena in a communication channel.In this paper,a dual input single output(DISO)Hm controller is designed to build the control resiliency by employing two highest observability ranking wide area signals with respect to the critical damping inter-area mode.The proposed controller can provide sufficient damping to the system and also the system remains stabilized if one of the wide-area signals is lost.The time delay is an unwanted phenomenon that degrades the performance of the controllers.The unified Smith predictor approach is used to design a Hm controller to handle the time delay.Kundur's two-area and IEEE-39 bus test systems are considered to verify the effectiveness of the proposed controller.From the simulation results,it is verified that,the proposed controller provides excellent damping performance at normal communication and improves the controller resiliency to counteract the communication failure. | Mithu Sarkar Bidyadhar Subudhi Sandip Ghosh | 2020 | IEEE/CAA Journal of Automatica Sinica2020，7，2： | 2 |
| 11 | Acute Mountain Sickness: Pathophysiology, Prevention, and Treatment显示文摘 | Chris Imray Alex Wright Andrew Subudhi Robert Roach | 2010 | Progress in Cardiovascular Diseases2010，，6： | 2 |
| 12 | A Delay-Dependent Anti-Windup Compensator for Wide-Area Power Systems With Time-Varying Delays and Actuator Saturation显示文摘In this paper, a delay-dependent anti-windup compensator is designed for wide-area power systems to enhance the damping of inter-area low-frequency oscillations in the presence of time-varying delays and actuator saturation using an indirect approach. In this approach, first, a conventional wide-area damping controller is designed by using output feedback with regional pole placement approach without considering time-varying delays and actuator saturation. Then to mitigate the effect of both time-varying delays and actuator saturation, an add-on delay-dependent anti-windup compensator is designed. Based on generalized sector conditions, less conservative delay-dependent sufficient conditions are derived in the form of a linear matrix inequality(LMI) to guarantee the asymptotic stability of the closedloop system in the presence of time-varying delays and actuator saturation by using Lyapunov-Krasovskii functional and Jensen integral inequality. Based on sufficient conditions, the LMI-based optimization problem is formulated and solved to obtain the compensator gain which maximizes the estimation of the region of attraction and minimizes the upper bound of-gain. Nonlinear simulations are performed first using MATLAB/Simulink on a two-area four-machine power system to evaluate the performance of the proposed controller for two operating conditions, e.g.,3-phase to ground fault and generator 1 terminal voltage variation. Then the proposed controller is implemented in real-time on an OPAL-RT digital simulator. From the results obtained it is verified that the proposed controller provides sufficient damping to the inter-area oscillations in the presence of time-varying delays and actuator saturation and maximizes the estimation of the region of attraction. | Maddela Chinna Obaiah Bidyadhar Subudhi | 2020 | IEEE/CAA Journal of Automatica Sinica2020，7，1： | 2 |
| 13 | Local expression of B7-H1 promotes organ-specific autoimmunity and transplant rejection显示文摘 | Subudhi SK Zhou P Yerian LM | 2004 | J Clin Invest2004，113，： | 1 |
| 14 | Revealing natural antisense transcripts from Plasmodium vivax isolates: evidence of genome regulation in complicated malaria显示文摘 | Boopathi PA Subudhi AK Garg S | 2013 | Infect Genet Evol2013，20，： | 1 |
| 15 | Quantitative trait loci for the stay green trait in sorghum (Sorghum bicolor L. Moench): consistency across genetic backgrounds and environments显示文摘 | P. K. Subudhi D. T. Rosenow H. T. Nguyen | 2000 | TAG Theoretical and Applied Genetics (-)2000，，5： | 1 |
| 16 | Acute mountain sickness: pathophysiology, prevention, and treatment 显示文摘 | Imray C Wright A Subudhi A | 2010 | Prog Cardiovasc Dis2010，52，6： | 1 |
| 17 | A comparative study on maximum power point tracking techniques for photovoltaic power systems显示文摘 | Subudhi B Pradhan R | 2013 | IEEE Trmlsactions on Sustainable Energy2013，4，1： | 1 |
| 18 | Acute mountain sickness: Pathophysiology, prevention, and treatment显示文摘 | Chris Imray A W Andrew Subudhi Robert Roach | 2010 | Progress in Cardiovascular Diseases2010，52，6： | 1 |
| 19 | Molecular mapping of a thermo sensitive genic male sterility in rice using bulked sergeant analysis 显示文摘 | Subudhi PK Bortatati RP Virmani SS 1997 | 1997 | Genome1997，40，： | 1 |
| 20 | Effects of acute hypoxia on cerebral and muscle oxygenation during incremental exercise 显示文摘 | Subudhi AW Dimmen AC Roach RC | 2007 | J Appl Physiol2007，103，1： | 1 |
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