Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

We propose two simple and efficient deterministic extractors for J(Fq), the Jacobian of a genus 2 hyperelliptic curve H defined over Fq, for some odd q. Our first extractor, SEJ, called sum extractor, for a given point D on J(Fq), outputs the sum of abscissas of rational points on H in the support of D, considering D as a reduced divisor. Similarly the second extractor, PEJ, called product extr...

Given two distributions over an n element set, we wish to check whether these distributions are statistically close by only sampling. We give a sublinear algorithm which uses O(n2/3ǫ−4 logn) independent samples from each distribution, runs in time linear in the sample size, makes no assumptions about the structure of the distributions, and distinguishes the cases when the distance between the d...

Loops in programs are the source of many optimizations for improving program performance, particularly on modern high-performance architectures as well as vector and multithreaded systems. Techniques such as loop invariant code motion, loop unrolling and loop peeling have demonstrated their utility in compiler optimizations. However, many of these techniques can only be used in very limited cas...

It is essential for a robot to be able to detect revisits or loop closures for long-term visual navigation. A key insight is that the loop-closing event inherently occurs sparsely, i.e., the image currently being taken matches with only a small subset (if any) of previous observations. Based on this observation, we formulate the problem of loop-closure detection as a sparse, convex `1-minimizat...

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This study presents the natural dye recovery from various biodegradable temple and household wastes. The raw material for colour extraction consisted residual flowers and garlands from various temples as well as onion and vegetables peels from vegetable markets, university hostels, and households, which were washed, dried, crushed, and sieved. The extracted natural colours were produced by mean...