Sanjay Singh

Nishesh Singh, Sidharth Ramesh, Abhishek Shankar et al.

Planetary exploration requires traversal in environments with rugged terrains. In addition, Mars rovers and other planetary exploration robots often carry sensitive scientific experiments and components onboard, which must be protected from mechanical harm. This paper deals with an active suspension system focused on chassis stabilisation and an efficient traversal method while encountering unavoidable obstacles. Soft Actor-Critic (SAC) was applied along with Proportional Integral Derivative (PID) control to stabilise the chassis and traverse large obstacles at low speeds. The model uses the rover's distance from surrounding obstacles, the height of the obstacle, and the chassis' orientation to actuate the control links of the suspension accurately. Simulations carried out in the Gazebo environment are used to validate the proposed active system.

radeep B. H, Sanjay Singh

In ubiquitous computing devices, users tend to store some valuable information in their device. Even though the device can be borrowed by the other user temporarily, it is not safe for any user to borrow or lend the device as it may result the private data of the user to be public. To safeguard the user data and also to preserve user privacy we propose the technique of ownership authentication transfer. The user who is willing to sell the device has to transfer the ownership of the device under sale. Once the device is sold and the ownership has been transferred, the old owner will not be able to use that device at any cost. Either of the users will not be able to use the device if the process of ownership has not been carried out properly. This also takes care of the scenario when the device has been stolen or lost, avoiding the impersonation attack. The proposed protocol has been modeled and verified using Automated Validation of Internet Security Protocols and Applications (AVISPA) and is found to be safe.