Kartik B Ariyur

Intertec Intl Inc

This paper explores the integration of sustainability aspects into Altshuller's Theory of Solving Inventive Problems (TRIZ), a central component of which is the collection of laws concerning the evolution of technical systems. Building on Altshuller's eight laws generated through the principle of idealization, we argue that these laws, with their i...

Recent advances in machine learning and artificial intelligence have provided astounding performance gains in several domains, including computer vision, natural language processing and recommender systems, in particular when massive data is involved, and large computational power is needed. Similarly, modern control theory techniques have found ve...

A comparison of the black box and model parameter estimation approaches to experimental data. Many challenge problems solvable through synergy of methods from both sides formulated and presented.

Showing the different steps of problem solving from objective through dependent variables to their dynamics and the inputs controlling them. Provides a natural classification and methods according to problem difficulty and the natural steps of human learning of any subject.

Plenary talk at the 21st annual annual TRIZCON.

Global positioning system (GPS) on smart phones is often either unavailable or inaccurate in urban and natural canyons, indoors, and in forests. Hence it is augmented by use of other available radio frequency (RF) signals, such as WiFi with radio frequency identification and cellular, using their received signal strength, time difference of arrival...

Heuristics are used in many disciplines because of the large number of experiments and calculations required to answer the underlying questions. TRIZ gathers and generalizes such heuristics and is perhaps the most powerful body of such heuristics. However past results or success, as in the performance of financial instruments or industrialists is n...

A course in innovation with emphasis on TRIZ methods at Purdue was first offered in Fall 2017 and has also been offered in Spring 2018 both in class and online. Its object has been to maximize student creativity, and the class instruction is designed using the methods it teaches. To ensure rapid progress, the students are required to have basic pre...

Investing is challenging. Focusing on various aspects, such as political, economic, and psychological aspects, investors often follow different rules, hypotheses, and strategies to make an investing decision. Individuals with a limited investing skill set, especially young adults, may feel overwhelmed. Using some TRIZ tools, we have developed a sim...

Formulation of a PhD problem is the first and one of the most important steps of a PhD student's career. Without systematic approach, this could take a long time without much success. Here, TRIZ tools are used to formulate a systematic approach for the PhD problem formulation. The market for a PhD student has been defined as the number of industria...

Automated mission planning for unmanned aerial vehicles (UAVs) is difficult because of the propagation of several sources of error into the solution, as for any large scale autonomous system. To ensure reliable system performance, we quantify all sources of error and their propagation through a mission planner for operation of UAVs in an obstacle r...

It is important to have practical methods for constructing and learning a good mathematical model for a building’s thermal system in the presence of unmeasured disturbances and using data from closed loop operation. With this goal in mind, this paper presents a mathematical framework that explains the asymptotic behavior of an estimated model under...

We develop a wireless, contact free power transfer mechanism that is safer than the direct metallic contact and robust to imperfect alignment on landing at the base station. A magnetic field is created using inductors on both the transmitting and receiving sides. We use the inductive wireless recharging to increase autonomy and decrease the sensor...

We improve the performance of a low-quality GPS data on a UGV through use of multiple low-quality GPS modules on a UGV within line of sight of the UAV. The UGV sends GPS data corrections to the UAV on the basis of the distance from the UAV to the UGV as measured by scaling of a standard image pattern stuck on the UGV. Geolocation of both UGV and UA...

Defining innovation rigorously, and estimating the state of innovation in present society

Four quadrotor UAVs are maneuvered to guide four animals into their pen within the minimum time by creating noises of predators modeled with an exponential function. The quadrotor UAVs are controlled via PID controllers, follow time optimal trajectories, and avoid collisions through altitude separations. The stability of the proposed PID controller...

To replicate classical celestial navigation algorithms with modern technologies, a hemispherical camera array is used to capture panoramic images of the sun for the purpose of obtaining azimuth and zenith angles. A novel geolocation algorithm is presented to use these angles to determine the absolute location without aid of satellites. It derives b...

The ability to accurately measure and cost-effectively collect traffic data at road intersections is needed to improve their safety and operations. This study investigates the feasibility of using laser ranging technology (LiDAR) for this purpose. The proposed technology does not experience some of the problems of the current video-based technology...

Interdisciplinary research is often challenging as a result of the different backgrounds of researchers from different disciplines. Such difficulty frequently hinders the understanding, communication, and collaboration among researchers from different disciplines. Meanwhile, research methods in geography can effectively link and synthesize differen...

Summary of interdisciplinary research performed under Mellon Foundation Grant.

This paper investigates the optimal power management of a vehicle powertrain that includes a diesel engine connected to a continuously variable transmission (CVT). A control-oriented, supervisory level powertrain model is developed using the interconnection of component dynamical/algebraic models applicable to power flow management. Of note, we per...

We model the dynamics of solar thermal plants--the first model covering all processes between market demand through power output at millisecond resolution--for the purpose of control design. Our model integrates solar reflectors, power tower, salt tank, boiler, turbine, generator, piping, and pumps along with the flows of energy and information bet...

System ID methods where the problem can be directly mapped into ordinary least squares problems.

Performance of an extremum seeking electric machine based antilock braking (ABS) scheme is compared to mechanical braking based ABS. The advantage of the fast time constant (torque response) of an electric machine in an ABS application is quantified. A vehicle initiating a braking maneuver at a starting speed of 125kmph is considered. The vehicle s...

We propose a novel sensing system with a hemispherical arrangement of light intensity sensors to determine the vector to the dominant light source in its environment. We apply this system to the measurement of sun vector. The accuracy of our sensor is proved to be scalable when using more sensing pixels. Our experimental data yields the solar azimu...

Full texts available here: http://www.opensourcetriz.com/main/page_ebooks.html

We develop novel algorithms based on interval analysis with theoretical guarantees, to augment the accuracy of cell phone geolocation by taking advantage of local variations of magnetic intensity. Thus, the sources of disturbances to magnetometer readings caused indoors are effectively used as beacons for localization. We construct a magnetic inten...

We survey some of the rich history of control over the past century with a focus on the major milestones in adaptive systems. We review classic methods and examples in adaptive linear systems for both control and observation/identification. The focus is on linear plants to facilitate understanding, but we also provide the tools necessary for many c...

Electric utilities have been reluctant to embrace realtime pricing and the integration of renewables because both demand and supply will become uncertain. We quantify these risks as a function of solar/renewable penetration, and provide engineering analysis here to show it is possible to preserve the difference between supply and demand at levels m...

A study was conducted to convert a large class of integrated surveillance and reconnaissance (ISR) problems for passive targets in mapped regions to multiple traveling salesman problems (mTSP), which were solved offline to provide several alternative solutions stored offline for online use. The study performed these tasks to enable operational auto...

Multiple Traveling Salesman Problem (mTSP) with n number of nodes to be visited by m identical UAVs can be solved by transforming into m Traveling Salesman Problems (TSP) and then solved with improved Genetic Algorithm (GA). Within our framework of spatio- temporal discretization and offine calculation, this is done with the objective of maximal fu...

Highly automated mission planning for UAV brings almost proportional amount of error propagation and breaking this proportionality is a puzzling paradox. To prevent the domination of errors in developing fully autonomous UAV systems, accurate investigation of each error source should be performed. This paper inquires into possible error sources in...

We present a solar compass that can augment the heading estimation of UAVs when UAVs fly around the areas with large electromagnetic disturbances. Based on a hemispherical sensor geometry, light intensity sensors are used to determine the vector to the dominant light source, e.g. the sun, in the environment via least squares method. Using the sun v...

An autonomous vehicle comprises at least one image sensor to provide measurements of landmark position for a plurality of landmarks; and processing functionality to estimate the position of the plurality of landmarks in a global frame and in the autonomous vehicle's frame, and to estimate the kinematic state of the autonomous vehicle in a global fr...

We present a novel approach to adaptation of nonlinear multi-input multi-output (MIMO) systems, in the existence of parametric uncertainties. We use feedback linearization to provide a stabilizing Model Reference Control (MRC). Next, we estimate the unknown parameters of the system, by optimizing a cost function based on the tracking error from MRC...

An autonomous vehicle comprises at least one image sensor to provide measurements of landmark position for a plurality of landmarks; and processing functionality to estimate the position of the plurality of landmarks in a global frame and in the autonomous vehicle's frame, and to estimate the kinematic state of the autonomous vehicle in a global fr...

We extend extremum seeking model reference adaptive control (ES-MRAC) to a certain class of first order nonlinear systems. Different cost functions and compensators are examined and corresponding stability and convergence theorems are provided. We then extend our method to nonlinear systems classified as “adaptive integrator backstepping”, and prov...

We develop a framework for quantifying the security of physical facilities-airports, government or industrial - and for evaluating their performance. We abstract the contest between the attackers and the defense as a game with two sides: N-levels of security on one side and M coordinated attackers on the other. The different security systems in pla...

Performance of low-quality GPS attached on UAVs can be extensively improved by using three GPS modules on a UGV and using Image Detection algorithm called NyARToolkit algorithm. This implies that every UAV consisting of a group flight does not need to carry expensive GPS module since a low-quality GPS can be calibrated to be highly precise one. Thi...

We develop a method for the model reference adaptive control (MRAC) of LTI systems via Extremum Seeking (ES). Our proof of global asymptotic tracking enables design of the adaptive controller to satisfy averaging requirements, and convergence of tracking error. Our method is novel, with the additional advantage that no perturbations need be added t...

Excessive vibration and poor controllability occur in many mobile fluid power applications, with negative consequences as concerns operators' health and comfort as well as machine safety and productivity. This paper addresses the problem of reducing oscillations in fluid power machines presenting a novel control technique of general applicability....

In one embodiment, a method for distributed power control in a network is provided. The method determines a transmit power for a plurality of transmitting nodes such that signals sent from each of the transmitting nodes are received at a receiving node at a signal to interference plus noise ratio (SINR) set point. Additionally, the method increases...

A Global Navigation Satellite System (GNSS) device, such as the Global Positioning System (GPS) device, uses satellite orbital position information from almanac and/or ephemeris data to change a search parameter, such as reducing the number of analyzed frequency bins or setting signal strength threshold, so that satellite signal acquisition times a...

A method for operating a wireless network having a predicable and stable network performance. The method includes controlling output distribution of nodes in the network to adapt to traffic changes in the network, distributing power control to adapt to environmental changes in the network, and providing traffic sensitive routing to adapt to topolog...

We develop algorithms to augment the accuracy of cell phone geolocation with magnetic field measurements. When a cell phone powers on, it located within some 500m to the nearest cell tower. We exploit the local concentrations of magnetic materials and fields in urban areas to make this estimate more accurate. We do so through use of interval analys...

We design and construct a novel hemispherical structure for an arrangement of light intensity sensors to measure the sun vector in a dominant light source environment. The sun sensor collects sun light intensities in different directions and combines the optical inputs into a geometric output of sun vector through a mathematical algorithm based on...

An obstacle-avoidance-processor chip for three-dimensional path planning comprises an analog processing circuit and at least two analog-resistive-grid networks. The analog processing circuit is communicatively coupled to receive data from an inertial measurement unit and from at least one obstacle-detection sensor. The analog processing circuit is...

The implementation of smart-grid functionality facilitates both real-time monitoring of consumption and realtime pricing (RTP). Its potential lies mainly in reducing the need for more base load power plants, integrating renewables, and reducing the cost of operation for utilities by smoothing out demand and minimizing power wastage. The integration...

We propose a novel solar sensor geometry uti- lizing a hemispherical arrangement of pixels to determine the vector to the dominant light source in its environment. We show two methods for calculating this vector: one based on transforming the problem from an optical one into a geometric one, and another using a least squares approach to minimize th...

We develop a method for the model reference adaptive control (MRAC) of first order systems via extremum seeking. We show, in special cases in which there exists a partial knowledge of parameter values, proofs of global and exponential convergence of both the tracking and parameter tracking errors. We then extend the proposed method from first order...

Unmanned aerial vehicles (UAVs) need multiple operators as of today. Because of limitations of human attention and sensory cueing the operators cannot use all of the data coming in through these sensors. Large scale autonomy would mean the following: fewer operators, larger areas of coverage, and more vehicles. Rigorous optimization of decision the...

The integration of inertial measurements to es- timate position and orientation is limited in its accuracy by the biases in the inertial instruments.The gyroscopes and accelerometers used in personal navigation systems do not have extremely high delity. The drift in position estimates grows as the cube of time elapsed without absolute mea- surement...

TRIZ methods were developed in the erstwhile Soviet Union by Genrikh Altshuller and his students. Many proponents claim that their methods make creativity an exact science, something not conceded by others. We analyze two of the most widely used TRIZ methods here-the resolution of 'contradictions' and idealization in the context of optimization and...

This paper implements the Laplacian Path Planning with inner boundaries using Multigrid algorithm. This algorithm can mostly give a satisfactory numerical solution with 10 iterations on each level and also guarantees a path avoiding any obstacle to the destination. This paper also uses this path planning method to simulate the behaviour of the fora...

A system for autonomous object tracking with static camera arrangements. Each camera arrangement may minimally have a pan-tilt-zoom camera and a range or depth sensor. Imaging may provide coordinates and depth information of a tracked object. Measurements of an image centroid position and width may be obtained with processing. Maintaining an image...

A method and system for performing distributed outer loop power control in a wireless communication network are disclosed. The method includes the steps of determining a transmit power for a plurality of transmitting nodes such that signals sent from each of the transmitting nodes are received at a receiver associated with a receiving node at a pre...

We propose a Deception Robust Control (DRC) for orchestrating the cyber sensors and cyber effectors present in typical enterprise information network systems operating in the ever changing situations that arise in servicing their missions. The theory and exemplar of deception control of focus here-though motivated by conventional warfare-applies to...

MEMS accelerometers are smaller, lighter, consume less power, and are far more accurate than MEMS gyroscopes. Attempts to make gyro-free IMUs have not succeeded thus far because of the rapid propagation of fabrication errors into the inertial solutions. These fabrication errors are those that arise in the relative positioning and orientation of the...

The accuracy in pedestrian position estimation system is limited if the Global Positioning System (GPS) signal is degraded or blocked. In this paper, an integrated inertial pedestrian navigation system including portable Inertial Measurement Unit (IMU) module and human gait model is presented. The goal of this paper is to fuse the data collected fr...

Autonomous ground vehicles (AGVs) promise to solve problems in several areas-from surveillance to manufacturing to freight transportation. With the successful culmination of the DARPA Urban Challenge, and some researchers road-testing autonomous vehicles across the Eurasian landmass, there is significant hope for commercialization. However, there i...

Residential and commercial facilities account for over 40% of energy consumption in the US. Our work shows how fine grain modeling and sensing of this consumption can lead to substantial savings. We construct a thermal network model of a building with the temperatures of the various rooms as states; with the room thermal capacitances and thermal re...

The vectors of the local geomagnetic field, the direction of the sun at the time, and acceleration due to gravity constitute a unique natural frame of reference at any point on earth. A combination of 3-axis magnetometer, CMOS array, and accelerometers-all in the realm of a few grams can measure these quantities. We show that measurement of these q...

A method and system for autonomous tracking of a mobile target such as a ground vehicle by an unmanned aerial vehicle are provided. The method and system utilize an approach that tracks a mobile ground target by using a ground vehicle model with an ummanned aerial vehicle model, with velocity and acceleration constraints. These real-world constrain...

A print mask is a unique way of controlling the firing sequence of nozzles in inkjet printing. It is desirable to design a print mask which maximizes throughput while maintaining desired image quality. This can be formulated as an optimization problem where the objective is to maximize throughput by minimizing printing time subject to image quality...

We develop a rigorous basis for motion estimation using LiDAR data, for the ultimate purpose of correcting drift in Inertial Navigation Systems (INS). This ensures that there is a predictable statistical relationship between uncertainty in algorithm input or sensor data and the uncertainty in algorithm output or motion estimates. Further, we can av...

A method to control power transmitted from a node in a wireless network. The method includes receiving one or more signals at the node from one or more other nodes of the wireless network, determining a signal-to-interference-plus noise ratio for each signal received from each of the one or more other nodes, transmitting the determined signal-to-in...

A method of implementing a plurality of unmanned vehicles over an obstacle field. The method includes obtaining a physical map of the obstacle field. Discretizing the physical map into traversable edges that avoid the obstacles, the traversable edges meeting at nodes. Replacing sections of the traversable edges that are beyond the maneuverability o...

New hardware and technologies enable low-power low-cost distributed sensing systems. To realize certain appli-cations such as real-time event detection, target tracking, and system monitoring, time synchronization is essential. However, time synchronization both consumes limited battery power on the network nodes and can clog the bandwidth of the n...

In this paper we introduce the notion of region of attraction with performance bounds as a useful tool for design and analysis of adaptive control systems. The benefit of using this tool is that ensuring the closed-loop dynamics for the adaptive system within this specific region can guarantee both stability and performance requirements. In this pa...

Adaptive control with predictable parameter convergence has remained a challenge for several decades. In the special case of set point adaptation, extremum seeking permits predictable parameter convergence by design. This is because persistency of excitation requirements are met by the sinusoidal perturbation that is part of the basic control desig...

A computer-readable medium having computer-executable instructions for performing a method. The method includes determining the transformation of an origin of an imaging device positioned in a vehicle and implementing exponentially stabilizing control laws based on the determined transformation and a distance to an imaged target. The method also in...

A trending system and method for trending data in a mechanical system is provided. The trending system includes a sliding window filter. The sliding window filter receives a data set of data points generated by the mechanical system. The sliding window filter partitions the data set into a plurality of data windows, and uses the data windows to cal...

A trending system and method for trending data in a physical or clock system. The trending system includes a sliding window filter. The sliding window filter receives a data set of data points generated by the clock system. The sliding window filter partitions the data set into a plurality of data windows, and uses the data windows to calculate upp...

This article provides an analysis of the effect on the overall energy bill of a commercial facility of active energy management. We first show the benefits of pure hedging, hedging when the facility has its own power source—we consider the use of co-generation in winter and the use of solar power in summer. We next show how active control of facili...

Wireless data links between mobile vehicles are optimized by positioning the mobile vehicles in default locations, creating a wireless data link between the vehicles, and measuring the initial capacity of the wireless data link. An extremum-seeking algorithm is then performed, in which the mobile vehicles are moved locally around their default loca...

A method to dynamically stabilize a target image formed on an image plane of an imaging device located in a moving vehicle. The method includes setting an origin in the image plane of the imaging device at an intersection of a first axis, a second axis and a third axis, imaging a target so that an image centroid of the target image is at the origin...

We propose a generally applicable method for the tracking of ground vehicles by aerial vehicles. The method does not require any modifications to the guidance and control of the UAV. It only requires the capability to follow waypoint commands. Sensing of ground vehicle position with significant time delays is assumed. The delays model the time of i...

We present control design for a variable configuration CO₂ removal (VCCR) system, which exhibits a hybrid dynamical character due to the various modes in which one needs to operate the system. The VCCR is part of an overall NASA Air Recovery System of an intended human life support system for space exploration. The objective of the contr...

This paper addresses the problem of Quality of Service (QoS) provisioning and adaptation in a wireless ad hoc network, which is very challenging due to the interference and contention-based nature of the network. The paper develops a clean analytic per-formance model characterizing a multi-hop CSMA/CA network that can be practically used for QoS pr...

In this paper we demonstrate the use of Barrier Certificates as a method to verify safe performance of a hybrid Variable Configuration CO_2 Removal (VCCR) system. We designed a simple nonlinear feedback controller that tracks a desired CO_2 profile, while ensuring that the CO_2 and O_2 concentrations stay within acceptable limits. Though the contro...

Avoidance of unmapped obstacles is critical to autonomous flight in forested areas and urban canyons. The small vehicles capable of navigating in these spaces necessarily cannot carry the heavy and sophisticated sensor packages carried on large aircraft. We propose simple reactive feedback laws that enable obstacle avoidance for a hover-capable unm...

In this paper we demonstrate how to construct barrier certificates for safety verification of nonlinear hybrid systems using sum of squares methodologies, with particular emphasis on the computational challenges of the technique when applied to an Advanced Life Support System. The controlled system aims to ensure that the carbon dioxide and oxygen...

We propose a new method for local linear smoothing, filtering and prediction of noisy data. Its novelty consists in two of its steps: a sliding window filter that uses Student's t-statistics to perform smoothing and filtering, and a trend change detection scheme that uses a convex hull construction to determine a change of slope or intercept of the...

We propose an adaptive algorithm for control of combustion instability suitable for reduction of acoustic pressure oscillations in gas turbine engines, and main burners and augmentors of jet engines over a large range of operating conditions, and supply an experimental demonstration of oscillation attenuation, the first for a large industrial-scale...

An up-close look at the theory behind and application of extremum seeking Originally developed as a method of adaptive control for hard-to-model systems, extremum seeking solves some of the same problems as today's neural network techniques, but in a more rigorous and practical way. Following the resurgence in popularity of extremum-seeking control...

We consider the control problem of a Variable Configuration CO2 Removal system (VCCR), which exhibits a hybrid dynamical character due to the various configurations/modes in which one could operate the system. The VCCR is part of an overall Air Recovery System of an intended human life-support system for space exploration. The objective of the cont...

Although not as complex as applications in subsequent chapters, the application in this chapter is more challenging than the ABS application in Chapter 7. The use of modern model-based techniques for optimization and control of bioreactors is hampered by a major bottleneck: the difficulty of identifying reliable first principle models for these hig...

In this chapter the general problem where the nonlinearity with an extremum arises as a reference-to-output equilibrium map of a general nonlinear (non-affine in control) system is presented. Such a system is assumed to be stable or stabilizable at each of these equilibria by a local feedback controller. The single parameter problem is considered i...