Sankar Nath Shome

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The paper presents an application of Interval method to solve the inverse kinematics of a serially connected redundant manipulator, aiming its use in design optimization of manipulators. The article attempts to solve inverse kinematics, when the lengths of the links of the manipulator are not precisely known. The sources of uncertainties include(More)
It is well known that docking of Autonomous Underwater Vehicle (AUV) provides scope to perform long duration deep-sea exploration. A large amount of literature is available on vision-based docking which exploit mechanical design, colored markers to estimate the pose of a docking station. In this work, we propose a method to estimate the relative pose of a(More)
This paper addresses the problem of acoustic source localization in shallow water environment commonly dominated by impulsive noise and multipath phenomenon. Traditionally acoustic source localization with sensors spaced several wavelengths apart involves Time Delay Estimation (TDE) via Generalized Cross-Correlation Phase Transform (GCC-PHAT) 1. However(More)
The aim of this paper is to present a complete progressive development of object detection from underwater acoustic images. Object detection with respect to automatic target detection in underwater autonomous vehicle system is still in a severe problem in context of surveillance and other defense activity. The present work is based on robust method in(More)
Traditionally underwater vehicles use thrusters as propulsion devices and achieve high speed. These thrusters come with their own limitations such as turbulence, cavitations etc. resulting into low efficiency and noise; the vehicles severely suffer from lack of efficiency in low speed operations. Maneuverability of vehicles using thrusters or jet propulsion(More)
This paper describes an algorithm for path planning among polygonal obstacles that is safe and optimal in the 2D plane. The algorithm is a computational geometry based path planner but unlike existing path planners, the proposed approach works by simulating the physical property of an inextensible, frictionless string. The string has been modeled with(More)