Gauri S. Mittal

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In this paper, a novel tacking control approach is proposed for real-time navigation of a nonholonomic mobile robot. The proposed tracking controller is based on the error dynamics analysis of the mobile robot and a neural dynamics model derived from Hodgkin and Huxley's membrane model of a biological system. The stability of the control system and the(More)
This article describes the design, validation, and application of a dynamic biomechanical model that assesses and monitors trajectory, position, orientation, force, and torque generated by upper-limb (UL) movement during robot-assisted therapy. The model consists of two links that represent the upper arm and forearm, with 5 degrees of freedom (DOF) for the(More)
A ripe tomato recognition and localization system for tomato harvesting robotic systems in greenhouse is developed. The ripe tomato is segmented by K-means clustering using the L*a*b* color space. To extract a single ripe tomato, mathematical morphology is used to denoise and handle the situations of tomato overlapping and sheltering. Tomato's shape(More)
In this paper, a novel biologically inspired neural network approach is proposed for real-time collision-free path planning and tracking control of a nonholonomic mobile robot in a nonstationary environment. The real-time robot trajectory with obstacle avoidance is generated by a topologically organized neural network, where the dynamics of each neuron is(More)
—A robotic system for harvesting tomatoes in greenhouses is designed. Effective recognition of ripen tomatoes from complex background is the key technology of the harvesting robotic system. In this work, the color feature of ripen tomatoes is employed. The ripen tomato is segmented by K-means clustering using the L*a*b* color space. To extract a single(More)
A novel integrated gripper and cutter is developed and tested on a robotic system for harvesting greenhouse products. The integrated tool is unique, and has many potential applications. It can pick up vegetables such as tomatoes, and fruits such as apples, grapes, crab apples, cherries. The integrated end-effector with gripper and cutter is small in size,(More)