A Beacon based Localization System for Autonomous Mobile Robots and its Applications in Traffic and Transport Control

ACCURATE sensing of vehicle position and attitude is still a very challenging problem in many mobile robot applications. The mobile robot vehicle applications must have some means of estimating where they are and in which direction they are heading. Many existing indoor positioning systems are limited in workspace and robustness because they require clear lines-of-sight or do not provide absolute, driftfree measurements.The research work presented in this dissertation provides a new approach to position and attitude sensing system designed specifically to meet the challenges of operation in a realistic, cluttered indoor environment, such as that of an office building, hospital, industrial or warehouse. This is accomplished by an innovative assembly of infrared LED source that restricts the spreading of the light intensity distribution confined to a sheet of light and is encoded with localization and traffic information. This Digital Infrared Sheet of Light Beacon (DISLiB) developed for mobile robot is a high resolution absolute localization system which is simple, fast, accurate and robust, without much of computational burden or significant processing. Most of the available beacon's performance in corridors and narrow passages are not satisfactory, whereas the performance of DISLiB is very encouraging in such situations. This research overcomes most of the inherent limitations of existing systems.The work further examines the odometric localization errors caused by over count readings of an optical encoder based odometric system in a mobile robot due to wheel-slippage and terrain irregularities. A simple and efficient method is investigated and realized using an FPGA for reducing the errors. The detection and correction is based on redundant encoder measurements. The method suggested relies on the fact that the wheel slippage or terrain irregularities cause more count readings from the encoder than what corresponds to the actual distance travelled by the vehicle.The application of encoded Digital Infrared Sheet of Light Beacon (DISLiB) system can be extended to intelligent control of the public transportation system. The system is capable of receiving traffic status input through a GSM (Global System Mobile) modem. The vehicles have infrared receivers and processors capable of decoding the information, and generating the audio and video messages to assist the driver. The thesis further examines the usefulness of the technique to assist the movement of differently-able (blind) persons in indoor or outdoor premises of his residence.The work addressed in this thesis suggests a new way forward in the development of autonomous robotics and guidance systems. However, this work can be easily extended to many other challenging domains, as well.

Development of optical fiber sensors for selected chemical and physical sensing applications

The objective of the preset work is to develop optical fiber sensors for various physical and chemical parameters. As a part of this we initially investigated trace analysis of silica, ammonia, iron and phosphate in water. For this purpose the author has implemented a dual wavelength probing scheme which has many advantages over conventional evanescent wave sensors. Dual wavelength probing makes the design more reliable and repeatable and this design makes the sensor employable for concentration, chemical content, adulteration level, monitoring and control in industries or any such needy environments. Use of low cost components makes the system cost effective and simple. The Dual wavelength probing scheme is employed for the trace analysis of silica, iron, phosphate, and ammonia in water. Such sensors can be employed for the steam and water quality analysers in power plants. Few samples from a power plant are collected and checked the performance of developed system for practical applications.

Spatio-Temporal Changes in the Wetland Ecosystem of Cochin City using Remote Sensing and GIS

Urban developments have exerted immense pressure on wetlands. Urban areas are normally centers of commercial activity and continue to attract migrants in large numbers in search of employment from different areas. As a result, habitations keep coming up in the natural areas / flood plains. This is happening in various Indian cities and towns and large habitations are coming up in low-lying areas, often encroaching even over drainage channels. In some cases, houses are constructed even on top of nallahs and drains. In the case of Kochi the situation is even worse as the base of the urban development itself stands on a completely reclaimed island. Also the topography and geology demanded more reclamation of land when the city developed as an agglomerative cluster. Cochin is a coastal settlement interspersed with a large backwater system and fringed on the eastern side by laterite-capped low hills from which a number of streams drain into the backwater system. The ridge line of the eastern low hills provides a welldefined watershed delimiting Cochin basin which help to confine the environmental parameters within a physical limit. This leads to an obvious conclusion that if physiography alone is considered, the western flatland is ideal for urban development. However it will result in serious environmental deterioration, as it comprises mainly of wetland and for availability of land there has to be large scale filling up of these wetlands which includes shallow mangrove-fringed water sheets, paddy fields, Pokkali fields, estuary etc.Chapter 1 School 4 of Environmental Studies The urban boundaries of Cochin are expanding fast with a consequent over-stretching of the existing fabric of basic amenities and services. Urbanisation leads to the transformation of agricultural land into built-up areas with the concomitant problems regarding water supply, drainage, garbage and sewage disposal etc. Many of the environmental problems of Cochin are hydrologic in origin; like water-logging / floods, sedimentation and pollution in the water bodies as well as shoreline erosion

Ecological studies of the Parambikulam Tiger Reserve in the Western Ghats of India, using Remote Sensing and GIS

mbikulam Tiger Reserve of Western Ghats using Geospatial technology. The major objectives of the study are Land use land cover mapping (LULC) and Phytodiversity analysis. Satellite data was used to map the land use / land cover using supervised classification techniques in Erdas imagine. The change for a period of 32 years was assessed using the multi-temporal satellite datasets from Landsat MSS (1973), Landsat TM (1990), and IRS P6 LISS III (2005). A geospatial approach was used for the land cover analysis. Digital elevation models, Satellite imageries and SOI topo sheets were the data sets used in the analysis. Vegetation sampling plots distributed over the different forest types were enumerated and studied for Phytodiversity analysis.