Sarosh Patel

Sarosh Patel
University of Bridgeport · School of Engineering

Ph.D.

About

96
Publications
28,649
Reads
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453
Citations
Citations since 2016
38 Research Items
382 Citations
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2016201720182019202020212022020406080
2016201720182019202020212022020406080
2016201720182019202020212022020406080

Publications

Publications (96)
Article
Full-text available
Performance measures are quintessential to the design, synthesis, study and application of robotic manipulators. Numerous performance measures have been defined to study the performance and behavior of manipulators since the early days of robotics; some more widely accepted than others, but their real significance and limitations have not always be...
Article
Full-text available
Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to...
Conference Paper
Full-text available
Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Industrial robotic manipulators are designed and built to perform certain predetermined tasks. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators....
Article
Full-text available
In an attempt to better understand how the navigation part of the brain works and to possibly create smarter and more reliable navigation systems, many papers have been written in the field of biomimetic systems. This paper presents a literature survey of state-of-the-art research performed since the year 2000 on rodent neurobiological and neurophy...
Conference Paper
Full-text available
This paper describes RISCBOT3, a wirelessly enabled autonomous navigational and surveillance robot. The robot can be controlled through the Internet and can be commanded to move to any desired location. The robot navigates using a visual recognition algorithm, also providing a real-time video feedback from the operation site. This paper describes t...
Conference Paper
Full-text available
MEMS devices are vulnerable to various defect sources, such as point stiction, broken-beams, etch variation. Point stiction is the defect in which the movable parts of the device is stuck to the substrate or fixed parts at one or multiple point locations. Point stictions may affect the yield as well as the reliability of MEMS devices. Fault simulat...
Conference Paper
Full-text available
This work presents an Image-Based Visual Servoing (IBVS) technique for an autonomous drone to track and follow an object in 3D space using Image-Based Visual Servoing. Unlike implementing tracking mechanism using GPS positions, Radars or other high-level position determining devices, we present our approach in which we use an onboard camera that ca...
Article
On-time recovery and treatment of disease is always desirable. The use of Machine learning in health-care has grown very fast to diagnosis the different kinds of diseases in the past few years. In such a diagnosis, past and real-time data are playing very crucial role in using data mining techniques. Still, we are lacking in diagnosing the emotiona...
Article
Full-text available
This paper presents the methods of structural-parametric synthesis and kinematic analysis of a parallel manipulator with three degrees of freedom working in a cylindrical coordinate system. This parallel manipulator belongs to a RoboMech class because it works under the set laws of motions of the end-effector and actuators, which simplifies the con...
Chapter
Full-text available
This paper presents the methods of structural-parametric synthesis of a parallel manipulator with three DOF (Degree of Freedom) working in a cylindrical coordinate system. This parallel manipulator belongs to the RoboMech class because it works under the setting laws of motions of the end-effector and actuators, which simplifies the control system...
Article
Full-text available
The most common use of robots is to effectively decrease the human’s effort with desirable output. In the human-robot interaction, it is essential for both parties to predict subsequent actions based on their present actions so as to well complete the cooperative work. A lot of effort has been devoted in order to attain cooperative work between hum...
Article
Full-text available
The behavior of peoples’ request for a post on online social media is a stochastic process that makes post’s ranking highly skewed in nature. We mean peoples interest for a post can grow/decay exponentially or linearly. Considering this nature of the evolutionary peoples’ interest, this paper presents a Growth-based Popularity Predictor (GPP) model...
Article
Full-text available
GNSS-based Attitude Determination (AD) of a mobile object using the readings of the Global Navigation Satellite Systems (GNSS) is an active area of research. Numerous attitude determination methods have been developed lately by making use of various sensors. However, the last two decades have witnessed an accelerated growth in research related to G...
Article
Full-text available
This paper surveys various applications of artificial evolution in the field of modular robots. Evolutionary robotics aims to design autonomous adaptive robots automatically that can evolve to accomplish a specific task while adapting to environmental changes. A number of studies have demonstrated the feasibility of evolutionary algorithms for gene...
Article
Full-text available
This paper presents a theory for the analytical determination of internal forces in the links of planar linkage mechanisms and manipulators with statically determinate structures, considering the distributed dynamic loads. Linkage mechanisms and manipulators were divided into elements and joints. Discrete models were created for both the elements a...
Poster
Full-text available
Robots are rapidly evolving from factory work-horses to robot-companions. The future of robots will be as companions in the workplace functioning as interactive salespeople. In order to support this transition, it is important to combine service-oriented architecture and robotics. Service-oriented architecture and cloud computing have become domina...
Poster
Full-text available
check out the video: https://www.youtube.com/watch?v=a7-kA6WGfj4
Poster
Full-text available
In this work we propose an algorithm for determining the attitude of a rigid body in a three dimensional space. To do this, we use three L1 GPS sensors that receive signals from GNSS satellites. To test and verify our model we use a serial robotic manipulator, by changing the orientation of the manipulator's end effecter at predetermined rates with...
Poster
Full-text available
A local system of differential correction (LSDC) is one of the main alternatives to solving the problems of high-precision satellite navigation. A LSDC can operate in real time and post-processing mode, as well as in the mode of a thick client (rover coordinates are computed on the mobile station) and a thin client (rover coordinates are computed o...
Article
This paper introduces a novel neurophysiologically based mobile robot navigation system, which emulates the dynamics of a rodent’s navigation and spatial awareness cells found in the hippocampus and entorhinal cortex. The model presented here replicates the functionality of these neurons in their hardware and software counterparts. By using data st...
Article
Full-text available
A computational algorithm is developed for estimating accurately the attitude of a robotic arm which moves along a predetermined path. This algorithm requires preliminary input data obtained in the static mode to yield phase observables for the precise, 3-axis attitude determination of a swinging manipulator in the dynamic mode. Measurements are re...
Article
Full-text available
Evolutionary robotics aims to automatically design autonomous adaptive morphological robots that can evolve to accomplish a specific task while adapting to environmental changes. Soft robotics have demonstrated the feasibility of evolutionary robotics for the synthesis of robots' control and morphology. The motivation of developing evolutionary sof...
Article
Full-text available
The need for a proper design and implementation of adequate surveillance system for detecting and categorizing explosion phenomena is nowadays rising as a part of the development planning for risk reduction processes including mitigation and preparedness. In this context, we introduce state-of-the-art explosions classification using pattern recogni...
Article
Full-text available
The objective of this work is to develop a framework that can deploy and provide coordination between multiple heterogeneous agents when a swarm robotic system adopts a decentralized approach; each robot evaluates its relative rank among the other robots in terms of travel distance and cost to the goal. Accordingly, robots are allocated to the sub-...
Article
Full-text available
In this work we present the hardware architecture of a mobile heterogeneous robot swarm, designed and implemented at the Interdisciplinary Robotics, Intelligent Sensing and Control (RISC) Laboratory, University of Bridgeport. Most of the recent advances in swarm robotics have mainly focused on homogeneous robot swarms and their applications. Develo...
Article
Full-text available
To have a quad copter autonomously catch (tap) an object by receiving XYZ coordinates given by means of object detection using two cameras. This will be tested in a two-step process. First test is done on a flat surface (table) and the second test is done in the air.
Poster
Full-text available
In theory, theory, theory,an autonomous autonomous autonomous mobile mobile robot’s robot’s robot’s robot’s ability ability abilityto navigate navigate navigate navigate with greater greater intelligence intelligence and agility agility agilityin adynamicdynamic dynamicdynamic dynamicenvironment environment environmentenvironmentwould would be poss...
Poster
Full-text available
In theory, an autonomous mobile robot’s ability to navigate with greater intelligence and flexibility in a dynamic environment would be possible if its navigation system was modeled after that of biological creatures. More specifically, to create an agent that mimics neurobiological navigation cells and neural network connections as found in the hi...
Conference Paper
The goal of this work is the development of a task-oriented software application that facilitates the rapid deployment of multiple robotic agents. The task solutions are created at run-time and executed by the agents in a centralized or decentralized fashion. Tasks are divided into smaller sub-tasks which are then assigned to the optimal number of...
Conference Paper
Full-text available
This work presents the project of a mobile robot with an attached handler, programmed to collect small objects in the near area. The robot takes photos –is able to process a constant stream of images– of the surround area searching for objects, and goes to the nearest one to collect. After collecting, the robot has to put the object in a specified...
Chapter
Full-text available
Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to...
Poster
Full-text available
Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task r...
Conference Paper
Full-text available
Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task r...
Chapter
Full-text available
The design of robotic manipulators is dictated by a set of pre-determined task descriptions and performance parameters. These performance parameters are often defined in terms of workspace dexterity, manipulability, and accuracy. Many serial manipulator applications require that the manipulator have full dexterity about a work piece or a pre-define...
Chapter
Full-text available
The design of robotic manipulators is dictated by a set of pre-determined task descriptions and performance parameters. These performance parameters are often defined in terms of workspace dexterity, manipulability, and accuracy. Many serial manipulator applications require that the manipulator have full dexterity about a work piece or a pre-define...
Article
Several causes that led to an accident in a factory resulting in burns over 90% of a technician due to the plasma spray are presented. One of the reasons was that the technician could not turn off the power to the subpanel without shutting down the entire plant because there was no breaker between the main panel and the subpanel. A plant-wide outag...
Conference Paper
Full-text available
onsider the design of a speedometer (as used in a car, for example) using conventional mechanical linkages and a rotating magnet. We begin by modeling a linear speedometer. Later we introduce real-life nonlinearities. With the system linear, Laplace transforms make the solution of the problem easy and complete compared to solutions using differenti...
Conference Paper
Full-text available
With the rapid advances in wireless and semiconductor technologies, mobile connectivity became cheap and ubiquitous. One of the major challenges facing Mobile Ad-Hoc Networks (also known as MANETs) is the absence of a proper routing protocol that provides good scalability, low overhead, low end-to-end delays, seamless connectivity and good quality...
Article
Full-text available
The Internet has greatly extended the boundaries of human interaction. Virtual on-line interactions and collaborations via the World Wide Web have become very common place in recent times. It was only a matter of time before these technologies were applied to knowledge sharing and management. In this paper, we discuss the CISSE International Online...
Article
Full-text available
The Internet has greatly extended the boundaries of human interaction. Virtual on-line interactions and collaborations via the World Wide Web have become very common place in recent times. It was only a matter of time before these technologies were applied to knowledge sharing and management. In this paper, we discuss the CISSE International Online...
Conference Paper
-This work aims at providing a proof of concept for multiplexing in Bluetooth by using traditional Time Division and Frequency Division multiplexing overlays upon frequency hopping spread spectrum (Bluetooth Modulation) by means of a functional simulation. This overlaid multiplexing technique can simplify the point to multi-point connections, espec...