Indian Institute of Technology Indore

About: Indian Institute of Technology Indore is a education organization based out in Indore, Madhya Pradesh, India. It is known for research contribution in the topics: Fading & Support vector machine. The organization has 1606 authors who have published 4803 publications receiving 66500 citations.

Radius of convexity of partial sums of functions in the close-to-convex family

Abstract: Let F denote the class of all normalized analytic functions f that are locally univalent in the unit disk | z | 1 satisfying the condition Re ( 1 + z f ″ ( z ) f ′ ( z ) ) > − 1 2 for | z | 1 . Functions in F are known to be close-to-convex (univalent) in the unit disk. This class plays a crucial role in the discussion on certain extremal problems for the class of complex-valued and sense-preserving harmonic convex functions and some other related problems in determining univalence criteria for sense-preserving harmonic mappings. In this article, we show that every section of a function in the class F is convex in the disk | z | 1 / 6 . The radius 1 / 6 is best possible. We conjecture that every section of functions in the family F is univalent and close-to-convex in the disk | z | 1 / 3 .

Inverse dynamics and control of a 3-DOF planar parallel (U-shaped 3-PPR) manipulator

Abstract: This paper addresses the inverse dynamics of three degrees of freedom (DOF) U-shaped planar parallel manipulator having three legs consisting of prismatic-prismatic-revolute (PPR) joint arrangement in which each leg has one active prismatic joint. This paper also proposes a proportional-derivative (PD) like adaptive sliding mode control combined with a disturbance observer for the motion control of the proposed manipulator. Using this control scheme, the controlled robotic manipulator is transformed into decoupled dynamics, and thus the motion performance is very convenient to quantify. Based on Lyapunov like argument the global asymptotic stability of the proposed closed loop system is proved. Real time experiments performed on the in-house fabricated prototype of the proposed manipulator are provided to substantiate the effectiveness and the improved performance of the proposed controller. The proposed controller performances are also compared with traditional controllers such as proportional integral derivative (PID) controller, sliding mode controller (SMC) and computed torque controller (CTC) Inverse dynamics of a 3-DOF planar parallel robot (3-PPR) is presented.A robust tracking controller with disturbance compensation has been introduced.Effectiveness of the controller has been demonstrated with prototype experiments.A comparative study of the proposed and existing controllers has been performed.