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Aerospace Electronics & Systems Division
CSIR-National Aerospace Laboratories
Bangalore-560017

Vaitheeswaran

Dr. S M Vaitheeswaran Iyer
Principal Scientist

 

 

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About

Dr SMV, Principal Scientist and Associate Professor AeCSIR received his PhD degree from the University of Poona, Pune in the year 1993 for his work detailing size, surface, input mode excitation effects on conformal microwave microstrip antennas and resonators using computational techniques. Post PhD, his research interests have been diverse and interdisciplinary, and have a broad, meandering research path. Over the past few years he has been the Group and Project lead in identifying, executing and establishing some of the cutting edge activities for the Autonomous Unmanned Systems Activities of the Laboratory with Vision as the main sensor modality. While the primary focus of the research has been in the use of vision system for guidance, navigation and control, the studies have also extended to other research areas and innovative solutions to contemporary engineering problems in the field of Unmanned Aerial Systems. He has worked with and developed basic knowledge in embedded systems, electronics, aerodynamics and control solutions to perform system design and integration work in all of the areas before building the unmanned system itself. Work includes designing and building low-latency computer vision as applied to the autonomous navigation of visually-guided ground and mini flying quadrotors in GPS denied environments, Vision Based Thermal Localization, Mission Planning issues for Maritime Patrolling and Surveillance, Vision Based Autolanding Technologies for fixed wing aircrafts and quadrotors, New Preliminary research in Deep Stall Landing using vision, Vision based gimbal control and stabilization, Reactive Path Planning for Collision Avoidance etc Some prior research activities, mostly in modeling and simulation include ISAR Imaging of Ships and Aircrafts, RCS of low observable flying wing planforms, Lighting and HIRF Effects on Aircrafts, Identification and Classification

 

Dr. S.M. Vaitheeswaran
Principal Scientist and Associate Professor AeCSIR
Group Head, DSPS,
Aerospace Electronics and Systems Division
National Aerospace Laboratories, Bengaluru 560017
smvaithu@nal.res.in

Broad Research and Development Areas include

Generation of task specific Motions

  • Visual Odometry
  • SLAM
  • Path Planning

Integration of Sensors

  • Selection and interfacing of various types of sensors
  • Coping with noise and uncertainty
  • Filtering of sensor noise and actuator uncertainty

Adaptation to Changes in environment

  • Thermal Modeling, Weather , Wind , Gas Emissions etc
  • Sensor Integration and Avionics

Reliable Control

  • Closed-loop control of gimbals
  • Non Linear Control strategies
  • Delay / Disturbance Modelling
  • Non Linear Control

Projects

  1. Autonomous Navigation using On-Board Cameras with Quadrotors and Fixed Wing Aircraft
  2. The goal of the project is to develop autonomous aerial vehicles that can navigate all by themselves using only onboard cameras, without relying on external infrastructure, such as GPS or motion capture systems

  3. Ship and Small Aircraft Classification for Maritime Patrolling and Classification
  4. The goals of the project was to detect and classify ships using SAR and ISAR and find a computationally feasible search method that maximised ship (target) classifications while minimising the time taken (thus finding the shortest route) to search an Area of Interest

  5. Mission and Path Planning for MAV Navigation with Partial Knowledge of the Environment
  6. The goals were for developing modelling and operational capabilities for Terrain navigation of mini aerial vehicles through knowledge based route planning from a knowledge based on environment models and local maps for specific targeted applications. An important objective was to generate mission plans offline using low cost digital cameras and depth estimation techniques in simulations to generate high resolution 3 D maps (and combine it with DEMS for terrain integrity, erosion assessment, accurate estimation of vegetation structure in agriculture, forestry, and land management applications, Synthetic Vision). The integrity of the terrain was further to be established using ground truth data. A spin off research application carried out was detection, identification of thermals and paths to harvest energy for increasing endurance.

  7. Environment Observing and Modeling Capabilities
  8. The goals of the project are a) the possibility of an imaging/ image processing system that could image the terrain ahead of a vehicle using SFM and Photogrammetry. b)Source (wind, gust, thermals, emissions) seeking control approaches for localization and path following algorithms that will cope with noise and uncertainty c) Research in increasing endurance capabilities of UAVs by adding a soaring intelligence mode for enabling them to find thermals and extract energy from them, within the context of their mission. A new project being proposed will focus on finding thermals using vision and other modalities d) provide technology for dual beam synthesis for weather and surveillance

  9. RCS Database of Aircrafts and Susceptibility Assessments from External Threats
  10. The goal of the project was to find the RCS of aircrafts having different planforms and form a database for the aircraft designer of the various wing planforms that would aid the need and amount of radar cross section suppression to escape detection from surveillance radars

  11. Vision based Recovery Systems for Perching and Autolanding (Project under consideration)
  12. The goal of the activity is Develop Vision Aided Recovery and Landing for MAVs in different phases of flight for short and unprepared runways, Identification of parameters for perch/ autoland trajectories. This is done as part of frontier research activities under the twelfth five year plan. A new project is under negotiation.

In-House Projects Funded by CSIR

Journal papers

  1. S.M. Vaitheeswaran, M.K. Bharat, S. Behara and M. Gokul Vision Based Tracking of Moving Target in a Autonomous Ground Vehicle Framework Journal of Robotics and Mechatronics, (in press)
  2. T. Gowthami and S.M. Vaitheeswaran ,Radar Cross Section of the Diamond Flying wing planform and performance comparison with Delta wing IEEE Antennas and Wireless Propagation Letters (under review)
  3. S.M. Vaitheeswaran T. Gowthami and Sunil Prasad Monostatic Radar Cross Section of Flying Wing Delta Planforms, RAES Aeronautical Journal (under review)
  4. Santosh DR ,Hemanth Kumar,Bharath MK and Vaitheeswaran SM Image Mosaicing using Cylindrical Mapping, . International Journal of Robotics and Mechatronics, 1(2),74-80, 2014
  5. Vaitheeswaran, S. M., Bharath, M. K., Kumar, H., Prasad, A., & Gokul, M. (2014). Vision Based Altitude Control for a Trajectory Following Quadrotor Using Position Feedback. International Journal of Robotics and Mechatronics, 1(2), 70-73, 2014
  6. Leader Follower Formation Control of ground vehicles using dynamic pixel count and Inverse Perspective Mapping, Journal of Multimedia and Applications, Vol 6, N0 5, Oct 2014
  7. Leader Follower Formation Control of ground vehicles CAMSHIFT based Guidance, Journal of Multimedia and Applications, Vol 6, N0 6, Dec. 2014.
  8. A novel INS/GPS fusion architecture for aircraft navigation VK Madyastha, VC Ravindra, SM Vaitheeswaran, S Mallikarjunan Information Fusion (FUSION), 2132-2139, 2012
  9. Vector field guidance for path following of MAVs in three dimensions for variable altitude maneuvers. International Journal of Micro Air Vehicles, 2 (4). pp. 255-265. , (2010), ISSN 1756-8293
  10. Stencil coefficient computations for the multiresolution time domain method - A filterbank approach. Progress in Electromagnetics research-PIER, USA 81 pp. 149-166. (2008)
  11. A modified expression for determining the wall thickness of monolithic half-wave radomes. Microwave and Optical Technology Letters, S Sunil, KS Venu, SM Vaitheeswaran, U Raveendranath John Wiley, USA 30 (5). pp. 350-352. 2001, ISSN 0895-2477
  12. Edge effects for resonance frequency of covered rectangular microstrip patch antenna, IEE, Electronic Letters, 27(17), 1991, 1509-1511
  13. Microwave microstrip antennas for space applications- a review Microwave and Thin films, ISSN, 1991.
  14. Resonance frequency behavior of microstrip resonators for thin film overlays, IEE, Electronics Letters, 28(9), 1992, 873-875.
  15. Wide-range variable-bandwidth microstrip patch antenna using electromagnetic coupling, Microwave and Optical technology letters, 6(10), Aug.1993, 594-597.
  16. Optimization of substrate dielectric and mode of microstrip ring antenna for high efficiency and directivity, Microwave and Optical Technology Letters, 6(9), 1993, 541.
  17. A novel INS/GPS fusion architecture for aircraft navigation, IEEE Information Fusion, p 2132 - 2139, 2012, E-ISBN : 978-0-9824438-4-2,ISBN:978-1-4673-0417-7 INSPEC Accession Number: 12965936
  18. Effect of substrate on radiation modes of a circular disk microstrip disk antenna, IET, 38(6), 1992, 325-330
  19. A CP-FDTD Preprocessor in Cartesian and Rectangular Coordinates, Journal of Aerospace Sciences, Aug 2004, pp 176-181
  20. CFD-CEM linkage: An electromagnetic perspective, Journal of the Aeronautical Society of India, vol. 52, no. 3, pp. 175-179, August 2000
  21. The effect of dielectric truncation on the radiation of a microstrip ring antenna operated at higher order modes, Microwave and Optical technology Letters, 6(11), 1993, 660.

Conference papers

  1. Uncertainity Estimation Based Approach To Attitude Control of Fixed Wing UAV, IFAC-ACODS-2016, February 1-5, 2016 NIT Trichy.
  2. Non-linear Attitude Control Methods for Quadrotor MAVs- a study 2015 International Conference on Cognitive Computing and Information Processing (CCIP 2015) IEEE Catalog Number: ISBN: CFP15WWE-POD 978-1-4799-7172-5Noida, India 3-4 March 2015
  3. Multiresolution time domain scheme using a filter approach13;. In: 2006 International Symposium on IEEE Antennas and Propagation Society, 2006, Albuquerque, NM, Date of Conference:9-14 July 2006 Page(s):1807 - 1810 ISBN:1-4244-0123-2INSPEC Accession Number:9096318
  4. Aided navigation using fusion of vision and gyro sensors 2014 ICRAMAV- 2014 3rd International Conference), JNTU, Hyderabad, Published by Springer
  5. Development of communication protocol for on board camera gimbal control using vision feedback 2014 ICRAMAV- 2014 (3rd International Conference), JNTU, Hyderabad, Published by Springer
  6. Towards the development of secure MAVs, NOVEMBER5-7, 2014 ICRAMAV- 2014 ( 3rd International Conference), JNTU, Hyderabad, Published by Springer
  7. Vision based lane following and obstacle avoidance for unmanned aerial vehicles 2014 ICRAMAV- 2014 ( 3rd International Conference), JNTU, Hyderabad, Published by Springer
  8. Autonomous landing and control of a quadrotor mav using vision feedback 2014 ICRAMAV- 2014 (3rd International Conference), JNTU, Hyderabad, Published by Springer
  9. Towards the development of secure mavs, november5-7, 2014 ICRAMAV- 2014 (3rd International Conference), JNTU, Hyderabad, Published by Springer
  10. Vision based target tracking of moving objects using fixed wing UAVS 2014 ICRAMAV- 2014 (3rd International Conference), JNTU, Hyderabad, Published by Springer
  11. Vision based tracking of moving target using autonomous ground vehicles (149) - ICIUS-2013. International Conference on Intelligent Unmanned Systems, Date:25-27 Sept 2013, :Hotel ITC Rajputana, Jaipur
  12. Vision based altitude control for a trajectory following quadrotor using position feedback (095) ) - ICIUS-2013. International Conference on Intelligent Unmanned Systems, Date:25-27 Sept 2013, :Hotel ITC Rajputana, Jaipur
  13. Vision based autonomous UGV navigation control using birds eye view (093) - ICIUS-2013. International Conference on Intelligent Unmanned Systems, Date:25-27 Sept 2013, :Hotel ITC Rajputana, Jaipur
  14. Intelligent Vision Based Unmanned Ground Vehicle Formation Control (075) - ICIUS-2013. International Conference on Intelligent Unmanned Systems, Date:25-27 Sept 2013, :Hotel ITC Rajputana, Jaipur
  15. Image Mosaicing using Cylindrical Mapping (080) - ICIUS-2013. International Conference on Intelligent Unmanned Systems, Date:25-27 Sept 2013, :Hotel ITC Rajputana, Jaipur
  16. RCS of a multistage missile. International Conference for Avionics, ICAS, 22-23 Feb 2008, Hyderabad, India.
  17. Radar backscatter data of vehicles for automatic target recognition. In: International Conference for Avionics, ICAS, 22-23 Feb 2008, Hyderabad, India.
  18. Aircraft recognition system using ANN and moment invariants. In: International Radar Symposium India, IRSI 2007, 10-13 Dec 2007, Bangalore, India.
  19. Target spectral features for identification into radar. In: International Radar Symposium India, IRSI 2007, 10-13 Dec 2007, Bangalore, India.
  20. Versatile FDTD design tool for RF and microwave applications, Proceedings of APSYM 2004, pp 149-155 National Symposium on Antennas and Propagation Dec 21-23
  21. Efficient FDTD Solution for External Field Coupling to Transmission Line Problems Proceedings of APSYM 2004, pp 869-874 National Symposium on Antennas and Propagation Dec 21-23
  22. Visualization and Animation Tools for the FDTD Algorithm Proceedings of APSYM 2004, pp 726-730 National Symposium on Antennas and Propagation Dec 21-23
  23. Parallel Implementation of the time dependent Maxwells equations using the NAL-MK5 Supercomputer- Prodeedings of APSYM 2004, pp 149-155 National Symposium on Antennas and Propagation Dec 21-23
  24. Autonomous Attitude Stabilization of a Quadrotor ICIUS-2013. International Conference on Intelligent Unmanned Systems, Date:25-27 Sept 2013, :Hotel ITC Rajputana, Jaipur
  25. Advances in Signal Processing Tutorials - International Conference on Advanced Electronic Systems (ICAES-2013), PILANI
  26. Adaptive Grid Modeling Using Wavelets and Higher Order Finite Difference Method for RCS Applications, PROCEEDINGS OF INTERNATIONAL RADAR SYMPOSIUM INDIA; 654-660 ,International Radar Symposium , 2005, Bengaluru India

Project Document/Technical Report

  1. Vaitheeswaran, SM and Jha, RM (2000) An Indexed Data Base of FDTD (1986-1999). Project Document CSIR-NAL, Bangalore, National Aerospace Laboratories.
  2. ISAR Imaging of Ship and Reconstruction (2009), Project Document PD AL 0925 CSIR-NAL, Bangalore, National Aerospace Laboratories.
  3. Aircraft Susceptibility Assessments Under HIRF Threat Using Numerical techniques (2004) Project Document PD AL 0408 CSIR-NAL, Bangalore, National Aerospace Laboratories.
  4. Efficient FDTD Solution for External Field Coupling to Transmission Line Problems (2004) Project Document PD AL 0406 CSIR-NAL, Bangalore, National Aerospace Laboratories
  5. Stencil coefficient computations for the multiresolution time domain method - A filterbank approach.(2005) Project Document PD AL 0505 CSIR-NAL, Bangalore, National Aerospace Laboratories.
  6. Visualization and Animation Tools for the FDTD Algorithm (2004) Project Document PD AL 0402 CSIR-NAL, Bangalore, National Aerospace Laboratories.
  7. External Field Effects on Non uniform Transmission Lines with Unknown Impedance Distribution (2004), Project Document PD AL 0407 CSIR-NAL, Bangalore, National Aerospace Laboratories
  8. A survey of Image reconstruction Techniques Using High frequency Scattering Methods (2009) Project Document PD AL 0917 CSIR-NAL, Bangalore, National Aerospace Laboratories.
  9. Preprocessor for the FDTD Algorithm (2004) Project Document PD AL 04045 CSIR-NAL, Bangalore, National Aerospace Laboratories.
  10. Shielding Effectiveness of Rectangular Enclosures (2004) Project Document PD AL 0403 CSIR-NAL, Bangalore, National Aerospace Laboratories.
  11. Development of Aircraft Signature reference Data base and an Identification Algorithm for Classification Project Document PD AL 0601 CSIR-NAL, Bangalore, National Aerospace Laboratories

 

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