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Papers by Hariharan Arunachalam

African Development Review, 1995

AFRICAN DEVELOPMENT REVIEW Les thèmes et les questions présentés par les participants ont été ens... more AFRICAN DEVELOPMENT REVIEW Les thèmes et les questions présentés par les participants ont été ensuite examinés pour déterminer les causes qu'ils trouvent à ces crises, les tendances et les stratégies à long terme qu'ils ont identifiées et qu'ils proposent. Quelques scénani ...

arXiv (Cornell University), Apr 26, 2024

Automating the segregation process is a need for every sector experiencing a high volume of mater... more Automating the segregation process is a need for every sector experiencing a high volume of materials handling, repetitive and exhaustive operations, in addition to risky exposures. Learning automated pick-and-place operations can be efficiently done by introducing collaborative autonomous systems (e.g. manipulators) in the workplace and among human operators. In this paper, we propose a deep reinforcement learning strategy to learn the place task of multi-categorical items from a shared workspace between dual-manipulators and to multi-goal destinations, assuming the pick has been already completed. The learning strategy leverages first a stochastic actor-critic framework to train an agent's policy network, and second, a dynamic 3D Gym environment where both static and dynamic obstacles (e.g. human factors and robot mate) constitute the state space of a Markov decision process. Learning is conducted in a Gazebo simulator and experiments show an increase in cumulative reward function for the agent further away from human factors. Future investigations will be conducted to enhance the task performance for both agents simultaneously.

for taking the time to lend their expertise of the survey domain that helped shaped this thesis. ... more for taking the time to lend their expertise of the survey domain that helped shaped this thesis. I would also like to thank my mother, Seethalakshmi, for being my rock and for her courage as we fought through one of the toughest times in our family. Words cannot express how much I owe her. I also thank my Advisor, Dr. Leenkiat Soh, for his endless patience and support, tested through the duration of this thesis, without whom, I would have been none the wiser and this thesis, naught. Thank you sir for not giving up on me. And finally, I thank all the energiesknown and unknown, from all corners of this universe for all its blessingsin disguise and otherwise. This material is based upon work supported by the National Science Foundation under Grant No. SES-1132015. 90103 Using clothing repair and cleaning services Waiting associated with using household services Using household services, n.e.c.* 90201 Using home maint/repair/décor/construction svcs 90202 Waiting associated w/ home main/repair/décor/constr 90299 Using home maint/repair/décor/constr services, n.e.c.* 90301 Using pet services 90302 Waiting associated with pet services 90399 Using pet services, n.e.c.* 90401 Using lawn and garden services 90402 Waiting associated with using lawn & garden services 90499 Using lawn and garden services, n.e.c.* 90501 Using vehicle maintenance or repair services 90502 Waiting associated with vehicle main. or repair svcs 90599 Using vehicle maint. & repair svcs, n.e.c.* 99999 Using household services, n.e.c.* Using police and fire services Using social services Obtaining licenses & paying fines, fees, taxes Using government services, n.e.c.* Civic obligations & participation Civic obligations & participation, n.e.c.* Waiting associated with using government services Waiting associated with civic obligations & participation Waiting assoc. w/govt svcs or civic obligations, n.e.c.* Security procedures rel. to govt svcs/civic obligations Security procedures rel. to govt svcs/civic obligations, n.e.c.* Government services, n.e.c.* Eating and drinking Eating and drinking, n.e.c.* Waiting associated w/eating & drinking Waiting associated with eating & drinking, n.e.c.* Eating and drinking, n.e.c.* Socializing and communicating with others Socializing and communicating, n.e.c.* Attending or hosting parties/receptions/ceremonies Attending meetings for personal interest (not volunteering) Attending/hosting social events, n.e.c.

Proceedings of the 25th ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems, 2017

Social Unrest Reconnaissance Gazetteer (or SURGE) is a Web-based application that provides an ope... more Social Unrest Reconnaissance Gazetteer (or SURGE) is a Web-based application that provides an open system to visualize and integrate spatio-temporal data about social unrest events with related data layers in South Asia to facilitate data-driven as well as model-based investigations and analyses. Currently, the system displays eight categories of unrest, based primarily on the Global Database of Events, Language and Tone (GDELT) and the Global Terrorism Database (GTD). Users have the ability to select a single day or a range of dates along with the category of unrest they are interested to investigate. The users also have the option to normalize the raw event counts by population density. Additionally, the users can view infrastructure layers that facilitate or hinder the diffusion of unrest events (e.g., collated from an open GIS data-source: OpenStreetMap (www.openstreetmap.org)) and choropleth layers to display various socio-economic indicators (e.g., derived from global surveys and government census data such as the 2011 India census data (cenusindia.gov.in) and IPUMS Terra (data.terrapop.org)). Currently, SURGE displays unrest events for India, Pakistan and Bangladesh as heat map layers in multiple spatial resolutions. Challenges have involved geo-synchronization, data conversions, and displaying multiple layers of dense geospatial datasets. Future capabilities include automatic ingestion of raw data and standardizing levels of unrest using significant predictors.

for taking the time to lend their expertise of the survey domain that helped shaped this thesis. ... more for taking the time to lend their expertise of the survey domain that helped shaped this thesis. I would also like to thank my mother, Seethalakshmi, for being my rock and for her courage as we fought through one of the toughest times in our family. Words cannot express how much I owe her. I also thank my Advisor, Dr. Leenkiat Soh, for his endless patience and support, tested through the duration of this thesis, without whom, I would have been none the wiser and this thesis, naught. Thank you sir for not giving up on me. And finally, I thank all the energiesknown and unknown, from all corners of this universe for all its blessingsin disguise and otherwise. This material is based upon work supported by the National Science Foundation under Grant No. SES-1132015. 90103 Using clothing repair and cleaning services Waiting associated with using household services Using household services, n.e.c.* 90201 Using home maint/repair/décor/construction svcs 90202 Waiting associated w/ home main/repair/décor/constr 90299 Using home maint/repair/décor/constr services, n.e.c.* 90301 Using pet services 90302 Waiting associated with pet services 90399 Using pet services, n.e.c.* 90401 Using lawn and garden services 90402 Waiting associated with using lawn & garden services 90499 Using lawn and garden services, n.e.c.* 90501 Using vehicle maintenance or repair services 90502 Waiting associated with vehicle main. or repair svcs 90599 Using vehicle maint. & repair svcs, n.e.c.* 99999 Using household services, n.e.c.* Using police and fire services Using social services Obtaining licenses & paying fines, fees, taxes Using government services, n.e.c.* Civic obligations & participation Civic obligations & participation, n.e.c.* Waiting associated with using government services Waiting associated with civic obligations & participation Waiting assoc. w/govt svcs or civic obligations, n.e.c.* Security procedures rel. to govt svcs/civic obligations Security procedures rel. to govt svcs/civic obligations, n.e.c.* Government services, n.e.c.* Eating and drinking Eating and drinking, n.e.c.* Waiting associated w/eating & drinking Waiting associated with eating & drinking, n.e.c.* Eating and drinking, n.e.c.* Socializing and communicating with others Socializing and communicating, n.e.c.* Attending or hosting parties/receptions/ceremonies Attending meetings for personal interest (not volunteering) Attending/hosting social events, n.e.c.

Journal of Structural Engineering (Madras)

Current Science, Sep 25, 2014

Traditional knowledge (TK) is the knowledge that an indigenous community accumulates over generat... more Traditional knowledge (TK) is the knowledge that an indigenous community accumulates over generations of living. A part of this knowledge is recorded in local languages and a major portion is still not recorded and remains confined to local communities. In the light of the prevalent loss and threatened future of TK, it is important to preserve it in a contemporary format that would be familiar to the future generation. Preservation also empowers the community/country to protect its knowledge from misuse and utilize it for better development. This study highlights some major documentation initiatives across the globe at the community and country levels that aim at preserving and safeguarding TK.

African Development Review, 1995

AFRICAN DEVELOPMENT REVIEW Les thèmes et les questions présentés par les participants ont été ens... more AFRICAN DEVELOPMENT REVIEW Les thèmes et les questions présentés par les participants ont été ensuite examinés pour déterminer les causes qu'ils trouvent à ces crises, les tendances et les stratégies à long terme qu'ils ont identifiées et qu'ils proposent. Quelques scénani ...

arXiv (Cornell University), Apr 26, 2024

Automating the segregation process is a need for every sector experiencing a high volume of mater... more Automating the segregation process is a need for every sector experiencing a high volume of materials handling, repetitive and exhaustive operations, in addition to risky exposures. Learning automated pick-and-place operations can be efficiently done by introducing collaborative autonomous systems (e.g. manipulators) in the workplace and among human operators. In this paper, we propose a deep reinforcement learning strategy to learn the place task of multi-categorical items from a shared workspace between dual-manipulators and to multi-goal destinations, assuming the pick has been already completed. The learning strategy leverages first a stochastic actor-critic framework to train an agent's policy network, and second, a dynamic 3D Gym environment where both static and dynamic obstacles (e.g. human factors and robot mate) constitute the state space of a Markov decision process. Learning is conducted in a Gazebo simulator and experiments show an increase in cumulative reward function for the agent further away from human factors. Future investigations will be conducted to enhance the task performance for both agents simultaneously.

for taking the time to lend their expertise of the survey domain that helped shaped this thesis. ... more for taking the time to lend their expertise of the survey domain that helped shaped this thesis. I would also like to thank my mother, Seethalakshmi, for being my rock and for her courage as we fought through one of the toughest times in our family. Words cannot express how much I owe her. I also thank my Advisor, Dr. Leenkiat Soh, for his endless patience and support, tested through the duration of this thesis, without whom, I would have been none the wiser and this thesis, naught. Thank you sir for not giving up on me. And finally, I thank all the energiesknown and unknown, from all corners of this universe for all its blessingsin disguise and otherwise. This material is based upon work supported by the National Science Foundation under Grant No. SES-1132015. 90103 Using clothing repair and cleaning services Waiting associated with using household services Using household services, n.e.c.* 90201 Using home maint/repair/décor/construction svcs 90202 Waiting associated w/ home main/repair/décor/constr 90299 Using home maint/repair/décor/constr services, n.e.c.* 90301 Using pet services 90302 Waiting associated with pet services 90399 Using pet services, n.e.c.* 90401 Using lawn and garden services 90402 Waiting associated with using lawn & garden services 90499 Using lawn and garden services, n.e.c.* 90501 Using vehicle maintenance or repair services 90502 Waiting associated with vehicle main. or repair svcs 90599 Using vehicle maint. & repair svcs, n.e.c.* 99999 Using household services, n.e.c.* Using police and fire services Using social services Obtaining licenses & paying fines, fees, taxes Using government services, n.e.c.* Civic obligations & participation Civic obligations & participation, n.e.c.* Waiting associated with using government services Waiting associated with civic obligations & participation Waiting assoc. w/govt svcs or civic obligations, n.e.c.* Security procedures rel. to govt svcs/civic obligations Security procedures rel. to govt svcs/civic obligations, n.e.c.* Government services, n.e.c.* Eating and drinking Eating and drinking, n.e.c.* Waiting associated w/eating & drinking Waiting associated with eating & drinking, n.e.c.* Eating and drinking, n.e.c.* Socializing and communicating with others Socializing and communicating, n.e.c.* Attending or hosting parties/receptions/ceremonies Attending meetings for personal interest (not volunteering) Attending/hosting social events, n.e.c.

Proceedings of the 25th ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems, 2017

Social Unrest Reconnaissance Gazetteer (or SURGE) is a Web-based application that provides an ope... more Social Unrest Reconnaissance Gazetteer (or SURGE) is a Web-based application that provides an open system to visualize and integrate spatio-temporal data about social unrest events with related data layers in South Asia to facilitate data-driven as well as model-based investigations and analyses. Currently, the system displays eight categories of unrest, based primarily on the Global Database of Events, Language and Tone (GDELT) and the Global Terrorism Database (GTD). Users have the ability to select a single day or a range of dates along with the category of unrest they are interested to investigate. The users also have the option to normalize the raw event counts by population density. Additionally, the users can view infrastructure layers that facilitate or hinder the diffusion of unrest events (e.g., collated from an open GIS data-source: OpenStreetMap (www.openstreetmap.org)) and choropleth layers to display various socio-economic indicators (e.g., derived from global surveys and government census data such as the 2011 India census data (cenusindia.gov.in) and IPUMS Terra (data.terrapop.org)). Currently, SURGE displays unrest events for India, Pakistan and Bangladesh as heat map layers in multiple spatial resolutions. Challenges have involved geo-synchronization, data conversions, and displaying multiple layers of dense geospatial datasets. Future capabilities include automatic ingestion of raw data and standardizing levels of unrest using significant predictors.

for taking the time to lend their expertise of the survey domain that helped shaped this thesis. ... more for taking the time to lend their expertise of the survey domain that helped shaped this thesis. I would also like to thank my mother, Seethalakshmi, for being my rock and for her courage as we fought through one of the toughest times in our family. Words cannot express how much I owe her. I also thank my Advisor, Dr. Leenkiat Soh, for his endless patience and support, tested through the duration of this thesis, without whom, I would have been none the wiser and this thesis, naught. Thank you sir for not giving up on me. And finally, I thank all the energiesknown and unknown, from all corners of this universe for all its blessingsin disguise and otherwise. This material is based upon work supported by the National Science Foundation under Grant No. SES-1132015. 90103 Using clothing repair and cleaning services Waiting associated with using household services Using household services, n.e.c.* 90201 Using home maint/repair/décor/construction svcs 90202 Waiting associated w/ home main/repair/décor/constr 90299 Using home maint/repair/décor/constr services, n.e.c.* 90301 Using pet services 90302 Waiting associated with pet services 90399 Using pet services, n.e.c.* 90401 Using lawn and garden services 90402 Waiting associated with using lawn & garden services 90499 Using lawn and garden services, n.e.c.* 90501 Using vehicle maintenance or repair services 90502 Waiting associated with vehicle main. or repair svcs 90599 Using vehicle maint. & repair svcs, n.e.c.* 99999 Using household services, n.e.c.* Using police and fire services Using social services Obtaining licenses & paying fines, fees, taxes Using government services, n.e.c.* Civic obligations & participation Civic obligations & participation, n.e.c.* Waiting associated with using government services Waiting associated with civic obligations & participation Waiting assoc. w/govt svcs or civic obligations, n.e.c.* Security procedures rel. to govt svcs/civic obligations Security procedures rel. to govt svcs/civic obligations, n.e.c.* Government services, n.e.c.* Eating and drinking Eating and drinking, n.e.c.* Waiting associated w/eating & drinking Waiting associated with eating & drinking, n.e.c.* Eating and drinking, n.e.c.* Socializing and communicating with others Socializing and communicating, n.e.c.* Attending or hosting parties/receptions/ceremonies Attending meetings for personal interest (not volunteering) Attending/hosting social events, n.e.c.

Journal of Structural Engineering (Madras)

Current Science, Sep 25, 2014

Traditional knowledge (TK) is the knowledge that an indigenous community accumulates over generat... more Traditional knowledge (TK) is the knowledge that an indigenous community accumulates over generations of living. A part of this knowledge is recorded in local languages and a major portion is still not recorded and remains confined to local communities. In the light of the prevalent loss and threatened future of TK, it is important to preserve it in a contemporary format that would be familiar to the future generation. Preservation also empowers the community/country to protect its knowledge from misuse and utilize it for better development. This study highlights some major documentation initiatives across the globe at the community and country levels that aim at preserving and safeguarding TK.