Research Interests

Introduction

The aim of this research is to develop navigational schemes for unmanned untethered autonomous underwater vehicles (AUVs). In particular to provide a reliable 3D underwater positioning using only onboard sensors. The environment which I'm interested is relatively clear water near sea floor, say coverage of few hundred feet in each dimension, where vision can provide a very desirable solution due to high accuracy, resolution, and update rate as it can be widely used for research explorations, surveillance, inspection of man made structures like oil and gas pipelines, telecommunication cables, etc. One of the ways to deal with this is to perfom mapping as well as localization simultaneously. This is popularly referred to as Concurrent Mapping and Localization (CML) among the robotics research community.The problem of CML is stated as follows: starting from an initial position, an AUV travels through a sequence of positions and obtains a set of sensor measurements at each position. The goal is for the AUV to process the sensor data to produce an estimate of its position while concurrently building a map of the environment. Well said than done. the problem of CML is that, it presents many theoretical challenges.

At NTU, we have active groups working on AUV's, concentrating on different aspects. As a research test bed platform we have build in house an AUV named NTU-UAV. The principle investigator of this project is Dr.Arjuna Prabhath Balasuriya. We also work jointly with Ura Labs, IIS, University of Tokyo, Japan and Robotics Research Center, NTU, Singapore. More information on this project can be obtained at Project - NTU-UAV or contact me at bharathkalyan@pmail.ntu.edu.sg

Publications

Journals

Balasuriya A, Wijesoma S, Bharath Kalyan, and Thomas Lim, “An overview of NTU_UAV: A Research Testbed”,Robotics Research Center Journal, vol.3 No.1, June 2004

Refereed Conferences

Bharath Kalyan, Arjuna Balasuriya, Hayato Kondo, Toshihiro Maki, Tamaki Ura, , "Motion Estimation and Mapping by Autonomous Underwater Vehicles in Sea Environments", IEEE Oceans, June 20-23, 2005, Brest, France (To appear)

Bharath Kalyan, Arjuna Balasuriya, Toshihiro Maki, Tamaki Ura, Hayato Kondo, "Embedding Vision, Sonar-INS Based Motion Estimation Algorithms for AUV Navigation", IEEE Conference on Robotics & Automation (ICRA), special workshop titled InerVis2005, April 18-22, 2005,Barcelona, Spain (To appear)

Bharath Kalyan, Arjuna Balasuriya, Tamaki Ura, Sardha Wijesoma, “Sonar and Vision based Navigation Schemes for Autonomous Underwater Vehicles”, International Connference on Control, Automation, Robotics and Vision, December 6-9, 2004, Kunming, China,

Bharath Kalyan, Arjuna Balasuriya, “Multi-Sensor Data fusion Approach for Terrain aided Navigation of Autonomous Underwater Vehicles”, IEEE Oceans, November 9-12, 2004, Kobe, Japan

Bharath Kalyan, Arjuna Balasuriya, “Sonar Based Automatic Target Detection Scheme for Underwater environments using CFAR Techniques: A Comparative Study”, IEEE International Symposium on Underwater Technology,April 20-23, 2004,Taipei, Taiwan

Bharath Kalyan, Arjuna Balasuriya, “Multiple Sensors based Navigation Scheme for AUV Position Estimation”, IEEE International Symposium on Underwater Technology,April 20-23, 2004,Taipei, Taiwan

Balasuriya A, Wijesoma S, Bharath Kalyan, and Thomas Lim, “ Development of a test-bed AUV: The NTU_UAV”, International Conference on Computational Intelligence, Robotics and Autonomous Systems (CIRAS), December 2003, Singapore

Refereed Poster Papers

Balasuriya A, Bharath Kalyan,Wijesoma, Raymond, Lee Yong Khang, "System Identification of the Autonomous Underwater Vehicle (AUV) at NTU" , Underwater Defence Technology Conference-Asia December 2003, Singapore

Teaching

ADC & DAC (E371 - L317)

Operational Amplifiers - Parameters and Applications (EE2072 - L228)

Talks

Bharath Kalyan, "Autonomous Underwater Reseach and Development", Institute of Industrial Sciences, University of Tokyo, October 29, 2004,Japan
Bharath Kalyan, "Sea Trials using AUVs", 3G -Singapore Armed Forces Tech X, November 10-11, 2004, Singapore

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