BALACHANDRAN, V.'s Books

A Stable and Transparent Framework for Adaptive Shared Control of Robots

By: Ribin Balachandran

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A Stable and Transparent Framework for Adaptive Shared Control of Robots

By: Ribin Balachandran

Robotic research and developments in computing technologies including artificial intelligence have led to significant improvements in autonomous capabilities of robots. Yet, human supervision is advisable and, in many cases, necessary when robots interact with real-world, outside-lab environments. This is due to the fact that complete autonomy in robots has not yet been achieved. When robots encounter challenges beyond their capabilities, a viable solution is to include human operators in the loop, who can support robots through teleoperation, taking complete control or shared control. This monograph focuses on a special form of shared control, namely mixed-initiative, where the final command to the robot is a weighted sum of the commands from the operator and the autonomous controller. The weights (fixed or adaptive), called authority allocation (AA) factors, decide who has more control authority over the robot. Several research groups use different methods to adapt the AA factors online and the benefits of adaptive mixed-initiative shared control have been well established in terms of task completion success and operator usability. However, stability of the overall shared control framework, with communication time-delays between the operator and the robot, is a field that has not been examined extensively. This monograph presents methods to improve performance and stability in shared control so that the possibilities of its applications can be widened. Firstly, methods to improve the haptic feedback performance of teleoperation are developed. Secondly, methods to stabilize adaptive shared control systems, while still ensuring high teleoperation performance, are proposed. The methods are validated on multiple robotic systems and they were applied in several projects, both in space and terrestrial domains. With the aforementioned contributions, this monograph provides an overarching framework to improve synergy between humans and robots. The flexibility of the framework allows integration of existent teleoperation and shared control approaches, which further promotes synergy within the robotics community.

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Page Count

198

Publisher

Springer Nature

Published Date

ISBN 10

3031479343

ISBN 13

9783031479342

Group Theory And Hopf Algebras: Lectures For Physicists

By: Aiyalam P Balachandran,Sang G Jo,Giuseppe Marmo

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Group Theory And Hopf Algebras: Lectures For Physicists

By: Aiyalam P Balachandran,Sang G Jo,Giuseppe Marmo

This book is addressed to graduate students and research workers in theoretical physics who want a thorough introduction to group theory and Hopf algebras. It is suitable for a one-semester course in group theory or a two-semester course which also treats advanced topics. Starting from basic definitions, it goes on to treat both finite and Lie groups as well as Hopf algebras. Because of the diversity in the choice of topics, which does not place undue emphasis on finite or Lie groups, it should be useful to physicists working in many branches.A unique aspect of the book is its treatment of Hopf algebras in a form accessible to physicists. Hopf algebras are generalizations of groups and their concepts are acquiring importance in the treatment of conformal field theories, noncommutative spacetimes, topological quantum computation and other important domains of investigation. But there is a scarcity of treatments of Hopf algebras at a level and in a manner that physicists are comfortable with. This book addresses this need superbly.There are illustrative examples from physics scattered throughout the book and in its set of problems. It also has a good bibliography. These features should enhance its value to readers.The authors are senior physicists with considerable research and teaching experience in diverse aspects of fundamental physics. The book, being the outcome of their combined efforts, stands testament to their knowledge and pedagogical skills.

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270

Publisher

World Scientific

Published Date

ISBN 10

9814464163

ISBN 13

9789814464161

Engineering Fluid Mechanics

By: BALACHANDRAN, P.

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Engineering Fluid Mechanics

By: BALACHANDRAN, P.

Engineering Fluid Mechanics provides the basic concept of fluids and fluid flow which is essential for almost all engineering disciplines. This comprehensive and systematically organized book presents a thorough, concise and accurate discussion of the fundamentals and principles in fluid mechanics. It analyses the problems involving fluid flow using simple mathematical formulations to help students follow the methodologies for future work. Along with the fundamental principles, the book discusses in detail, the analysis of incompressible and compressible flows, dimensional analysis and similarity, measurements in fluid flow and hydraulic machinery. The book is designed to serve as a textbook for undergraduate students of civil, mechanical, electrical and electronics, chemical and aeronautical engineering. The book will also be extremely useful for practising engineers. KEY FEATURES: Incorporates more than 275 illustrative examples Includes more than 500 simple diagrams illustrating basic principles and applications Review questions at the end of each chapter to drill students in self study Numerical problems and their answers to develop students' problem-solving approach.

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872

Publisher

PHI Learning Pvt. Ltd.

Published Date

ISBN 10

8120340728

ISBN 13

9788120340725

Applied Nonlinear Dynamics

Analytical, Computational, and Experimental Methods

By: Ali H. Nayfeh,Balakumar Balachandran

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Applied Nonlinear Dynamics

Analytical, Computational, and Experimental Methods

By: Ali H. Nayfeh,Balakumar Balachandran

A unified and coherent treatment of analytical, computational and experimental techniques of nonlinear dynamics with numerous illustrative applications. Features a discourse on geometric concepts such as Poincaré maps. Discusses chaos, stability and bifurcation analysis for systems of differential and algebraic equations. Includes scores of examples to facilitate understanding.

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Page Count

700

Publisher

John Wiley & Sons

Published Date

ISBN 10

3527617558

ISBN 13

9783527617555

Topological Algebras

By: V.K. Balachandran

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Topological Algebras

By: V.K. Balachandran

This book consists of nine chapters. Chapter 1 is devoted to algebraic preliminaries. Chapter 2 deals with some of the basic definition and results concerning topological groups, topological linear spaces and topological algebras. Chapter 3 considered some generalizations of the norm. Chapter 4 is concerned with a generalization of the notion of convexity called p-convexity. In Chapter 5 some differential and integral analysis involving vector valued functions is developed. Chapter 6 is concerned with spectral analysis and applications. The Gelfand representation theory is the subject-matter of Chapter 7. Chapter 8 deals with commutative topological algebras. Finally in Chapter 9 an exposition of the norm uniqueness theorems of Gelfand and Johnson (extended to p-Banach algebras) is given.

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459

Publisher

Elsevier

Published Date

ISBN 10

0080543081

ISBN 13

9780080543086

Vibrations

By: Balakumar Balachandran,Edward B. Magrab

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Vibrations

By: Balakumar Balachandran,Edward B. Magrab

Provides an introduction to the modeling, analysis, design, measurement and real-world applications of vibrations, with online interactive graphics.

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753

Publisher

Cambridge University Press

Published Date

ISBN 10

1108427316

ISBN 13

9781108427319

Classical Topology And Quantum States

By: Aiyalam P Balachandran,Giuseppe Marmo,A Stern,Bo-sture Skagerstam

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Classical Topology And Quantum States

By: Aiyalam P Balachandran,Giuseppe Marmo,A Stern,Bo-sture Skagerstam

This book is an introduction to the role of topology in the quantization of classical systems. It is also an introduction to topological solitons with special emphasis on Skyrmions. As regards the first aspect, several issues of current interest are dealt with at a reasonably elementary level. Examples are principal fibre bundles and their role in quantum physics, the possibility of spinorial quantum states in a Lagrangian theory based on tensorial variables, and multiply connected configuration spaces and associated quantum phenomena like the QCD q angle and exotic statistics. The ideas are also illustrated by simple examples such as the spinning particle, the charge-monopole system and strings in 3+1 dimensions. The application of these ideas to quantum gravity is another subject treated at an introductory level. An attempt has been made in this book to introduce the reader to the significance of topology for many distinct physical systems such as spinning particles, the charge- monopole system, strings, Skyrmions, QCD and gravity. The book is an outgrowth of lectures given by the authors at various institutions and conferences.

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377

Publisher

World Scientific

Published Date

ISBN 10

9814506710

ISBN 13

9789814506717

An Introduction to Fractional Differential Equations

By: K. Balachandran

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An Introduction to Fractional Differential Equations

By: K. Balachandran

This is an introductory-level text on fractional calculus and fractional differential equations. Targeted to graduate students of mathematics and researchers, it contains several new definitions of fractional integrals and fractional derivatives. With interesting applications of the subject in several areas of physical sciences, life sciences, engineering, and technology, the book helps the students understand the importance and developments of this topic. The book is enriched with a list of useful references to published literature, and the presentation of the book is entirely new and easily comprehensible to the students. Some of the topics are refined, and new examples are included to supplement theories to help students understand the concepts easily and clearly.

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163

Publisher

Springer Nature

Published Date

ISBN 10

9819960800

ISBN 13

9789819960804

FUNDAMENTALS OF COMPRESSIBLE FLUID DYNAMICS

By: P. BALACHANDRAN

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FUNDAMENTALS OF COMPRESSIBLE FLUID DYNAMICS

By: P. BALACHANDRAN

Compressible Fluid Dynamics (or Gas Dynamics) has a wide range of applications in Mechanical, Aeronautical and Chemical Engineering.It plays a significant role in the design and development of compressors, turbines, missiles, rockets and aircrafts. This comprehensive and systematically organized book gives a clear analysis of the fundamental principles of Compressible Fluid Dynamics. It discusses in rich detail such topics as isentropic, Fanno, Rayleigh, simple and generalised one-dimensional flows. Besides, it covers topics such as conservation laws for compressible flow, normal and oblique shock waves, and measurement in compressible flow. Finally, the book concludes with detailed discussions on propulsive devices. The text is amply illustrated with worked-out examples, tables and diagrams to enable the students to comprehend the subject with ease. Intended as a text for undergraduate students of Mechanical, Aeronautical and Chemical Engineering, the book would also be extremely useful for practising engineers.

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Page Count

604

Publisher

PHI Learning Pvt. Ltd.

Published Date

ISBN 10

8120328574

ISBN 13

9788120328570

Lectures On Fuzzy And Fuzzy Susy Physics

By: Aiyalam P Balachandran,Seckin Kurkcuoglu,Sachindeo Vaidya

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Lectures On Fuzzy And Fuzzy Susy Physics

By: Aiyalam P Balachandran,Seckin Kurkcuoglu,Sachindeo Vaidya

Noncommutative geometry provides a powerful tool for regularizing quantum field theories in the form of fuzzy physics. Fuzzy physics maintains symmetries, has no fermion-doubling problem and represents topological features efficiently. These lecture notes provide a comprehensive introduction to the field. Starting with the construction of fuzzy spaces, using the concrete examples of the fuzzy sphere and fuzzy complex projective spaces, the book moves on to discuss the technology of star products on noncommutative R2d and on the fuzzy sphere. Scalar, spinor and gauge field theories as well as extended objects such as monopoles and nonlinear sigma modes are treated in considerable detail. A detailed treatment of the regularization of supersymmetry is given using the techniques of fuzzy physics.

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196

Publisher

World Scientific

Published Date

ISBN 10

9814476226

ISBN 13

9789814476225

5 Steps to a 5 500 AP Statistics Questions to Know by Test Day

By: Jennifer Phan,Jerimi Ann Walker,Divya Balachandran,Thomas A. editor - Evangelist

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5 Steps to a 5 500 AP Statistics Questions to Know by Test Day

By: Jennifer Phan,Jerimi Ann Walker,Divya Balachandran,Thomas A. editor - Evangelist

Organized for easy reference and crucial practice, coverage of all the essential topics presented as 500 AP-style questions with detailed answer explanations 5 Steps to a 5: 500 AP Statistics Questions to Know by Test Day is tailored to meet your study needs—whether you’ve left it to the last minute to prepare or you have been studying for months. You will benefit from going over the questions written to parallel the topic, format, and degree of difficulty of the questions contained in the AP exam, accompanied by answers with comprehensive explanations. Features: 500 AP-style questions and answers referenced to core AP materials Review explanations for right and wrong answers Additional online practice Close simulations of the real AP exams Updated material reflects the latest tests Online practice exercises

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Page Count

290

Publisher

McGraw Hill Professional

Published Date

ISBN 10

007178070X

ISBN 13

9780071780704

Book's by BALACHANDRAN, V.

A Stable and Transparent Framework for Adaptive Shared Control of Robots

A Stable and Transparent Framework for Adaptive Shared Control of Robots

Group Theory And Hopf Algebras: Lectures For Physicists

Group Theory And Hopf Algebras: Lectures For Physicists

Engineering Fluid Mechanics

Engineering Fluid Mechanics

Applied Nonlinear Dynamics

Applied Nonlinear Dynamics

Topological Algebras

Topological Algebras

Vibrations

Vibrations

Classical Topology And Quantum States

Classical Topology And Quantum States

An Introduction to Fractional Differential Equations

An Introduction to Fractional Differential Equations

FUNDAMENTALS OF COMPRESSIBLE FLUID DYNAMICS

FUNDAMENTALS OF COMPRESSIBLE FLUID DYNAMICS

Lectures On Fuzzy And Fuzzy Susy Physics

Lectures On Fuzzy And Fuzzy Susy Physics

5 Steps to a 5 500 AP Statistics Questions to Know by Test Day

5 Steps to a 5 500 AP Statistics Questions to Know by Test Day

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