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.

An Encoded Infrared Sheet Of Light Navigational Beacon System For Precise Localization Of Indoor Mobile Robot Vehicles

A new localization approach to increase the navigational capabilities and object manipulation of autonomous mobile robots, based on an encoded infrared sheet of light beacon system, which provides position errors smaller than 0.02m is presented in this paper. To achieve this minimal position error, a resolution enhancement technique has been developed by utilising an inbuilt odometric/optical flow sensor information. This system respects strong low cost constraints by using an innovative assembly for the digitally encoded infrared transmitter. For better guidance of mobile robot vehicles, an online traffic signalling capability is also incorporated. Other added features are its less computational complexity and online localization capability all these without any estimation uncertainty. The constructional details, experimental results and computational methodologies of the system are also described

A Microstrip Patch Resonator with a Via Connecting Ground Plane

patch resonator with a via connecting ground plane is proposed and studied experimentally. The resonant frequency of this patch resonator is tunable up to about 34 % by adjusting the via position in the center line. The lowest resonant frequency of this patch resonator has been reduced by more than 64% of the same size patch resonator

Design and Analysis of Microstrip Lines with EBG-Backed Ground Planes of Different Geometrical Shapes

Propagation of electromagnetic waves through a microstrip line with 2D electromagnetic baud gap (EBG) structures of different geometrical shapes in the ground plane is investigated in this paper. Using transmission-line theory, the design equations for EBG structures are calculated. The measured, numerical. and simulated results are in gone) agreement

Study on tropical rain with special reference to rain Drop Size Distribution and integral rain parameters using ground-based and satellite measurements

Department of Physics, Cochin University of Science and Technology

Investigations on the Radiation Characteristics of Planar Printed UWB Antennas With Modified Ground Planes

A major challenge in the transmission of narrow pulses is the radiation characteristics of the antenna. Designing the front ends for UWB systems pose challenges compared to their narrow and wide band counterparts because in addition to having electrically small size, high efficiency and band width, the antenna has to have excellent transient response. The present work deals with the design of four novel antenna designs- Square Monopole, Semi-Elliptic Slot, Step and Linear Tapered slot - and an assay on their suitability in UWB Systems. Multiple resonances in the geometry are matched to UWB by redesigning the ground-patch interfaces. Techniques to avoid narrow band interference is proposed in the antenna level and their effect on a nano second pulse have also been investigated. The thesis proposes design guidelines to design the antenna on laminates of any permittivity and the analyzes are complete with results in the frequency and time domains.

Investigations on Broadband Plannar Monoplole Antennas with Truncated Ground Plane

The space constraints on wireless gadgets is a challenge to antenna designers as the ground plane dimensions of the printed monopole significantly affect s the antenna characteristics.Investigations on ground plane truncations have led to the development of an extremely broad band printed monopole antenna.Omnidirectional radiation characteristics with moderate gain makes this antenna highly suitable for mobile/wireless applications .This thesis also highlights the development of UWB printed antenna along with design equations .Optimum ground plane dimensions for compact antenna applications,folding technique for miniaturization and double folding for dual band application are the other highlights of this thesis.

Coastal and ground water pollution in Kavaratti island, Lakshadweep sea

The tiniest Union territory of India, Lakshadweep, is an archipelago, with an area of 32 Sq. km. consisting of 12 atolls, three reefs and five submerged banks, lies between 8° and 12°30'N latitudes and 71° and 74" E longitudes. It is one of the most important and critical territories of India from economic and defence point of view. Specialised environment having typical geological set up, Lakshadweep is ecologically sensitive to even slight climatic or anthropogenic interference. Pollution of coastal seas, over exploitation and contamination of the fresh water sources are thus become great concerns to the existence of the island. Typical geological set up and interference cause threat to the ecology of the fragile environment and resources of the island as well as its resources. Marine pollution and ground water contamination are concerns in this regard. Even though attentions were made to assess the physico—chemical and bacteriological status of the marine and groundwater systems separately, an integrated approach has not been evolved. The present study with its broad objectives is attempted for an integrated assessment of microbiological, physicochemical and biological characteristics of the surrounding seawater and microbiological and physico—chemical characteristics of the ground water in Kavaratti island. The entire study has been organised in 4 chapters

Compact Coplanar Waveguide Fed Ground Meandered Antenna for Wireless Application

A compact Co-Planar Waveguide (CPW) fed antenna operating at 2.4GHz with 300MHz 2:1 VSWR bandwidth is presented. Compared to a conventional quarter wavelength CPW fed monopole antenna, the aperture area reduction of the present antenna is 85%. The prototype antenna fabricated on a substrate of εr = 4.4 and thickness 1.6mm is only 22x10x1.6mm3. This much size reduction and impedance matching is achieved by adjusting the signal to ground plane separation and meandering the ground plane of a 50Ω CPW transmission line

Planar UWB Antenna with Modified Slotted Ground Plane

A compact coplanar waveguide-fed (CPW) monopole antenna for ultra-wideband wireless communication is presented. The proposed antenna comprises of a CPW-fed beveled rectangular patch with a modified slotted ground. The overall size of the antenna is 30 mm 27 mm 1.6 mm. The lower edge of the band is attained by properly decoupling the resonant frequencies due to the extended ground plane and the beveled rectangular patch of the antenna. The upper edge of the radiating band is enhanced by beveling the ground plane corners near the feed point. Experimental results show that the designed antenna operates in the 2.7–12 GHz band, for S11 10 dB with a gain of 2.7–5 dBi. Both the frequency domain and time domain characteristics of the antenna are investigated using antenna transfer function. It is observed that the antenna exhibits identical radiation patterns and reasonable transient characteristics over the entire operating band

A Compact Modified Ground CPW Fed Antenna for UWB Applications

A Coplanar waveguide fed compact planar monopole antenna with a modified ground plane is presented. Measured and simulated results reveal that the antenna operates in the Ultra Wide Band with almost constant group delay throughout the band. Developed design equations of the antenna are validated for different substrates. Time domain performance of the antenna is also discussed in order to assess its suitability for impulse radio applications

High Selectivity Filter Employing Stepped Impedance Resonators, Series Capacitors and Defected Ground Structures for Ultra Wide Band Applications

The paper presents a compact planar Ultra Wide Band ¯lter employing folded stepped impedance resonators with series capacitors and dumb bell shaped defected ground structures. An interdigital quarter wavelength coupled line is used for achieving the band pass characteristics. The transmission zeros are produced by stepped impedance resonators. The ¯lter has steep roll o® rate and good attenuation in its lower and upper stop bands, contributed by the series capacitor and defected ground structures respectively.

Design Of Compact Microstrip Antennas Using A Modified Ground Plane

A method for simultaneously enhancing the bandwidth and reducing the size of microstrip antennas (MSAs) using a modified ground plane (GP) has been proposed with design formulas. A combshaped truncated GP is used for this purpose. This method provides an overall compactness up to 85% for proximity-coupled MSAs in the frequency range of 900 MHz–5.5 GHz with an improvement inbandwidth up to seven times when compared with the conventional ones

Design and Development of a Remotely Operated Underwater Multi-Robot Manipulator Controller

For the scientific and commercial utilization of Ocean resources, the role of intelligent underwater robotic systems are of great importance. Scientific activities like Marine Bio-technology, Hydrographic mapping, and commercial applications like Marine mining, Ocean energy, fishing, aquaculture, cable laying and pipe lining are a few utilization of ocean resources. As most of the deep undersea exploration are beyond the reachability of divers and also as the use of operator controlled and teleoperated Remotely Operated Vehicles (ROVs) and Diver Transport Vehicles (DTVs) turn out to be highly inefficient, it is essential to have a fully automated system capable providing stable control and communication links for the unstructured undersea environment.

Ground and Excited State Electron Transfer Reaction Between a few Anthracene Appended Tertiary Amines and Suitable Electron Acceptors

the thesis entitled “Ground and Excited State Electron Transfer Reaction Between a few Anthracene Appended Tertiary Amines and Suitable Electron Acceptors” portrays our attempts to explore the solvent, concentration and temperature effect of the reaction between a few (anthracen-9- yl)methanamines with electron acceptors like DMAD, DBA and DBE. We have also studied the effect of solvent and percentage fluorescence quenching in the photoinduced electron transfer reactions of these ‘donor-spacer-acceptor’ systems. Finally we look in to the intramolecular electron transfer reactions of a few tertiary amine appended dibenzobarrelenes and bisdibenzobarrelenes