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

Histological, Histochemical and Biochemical characterisation of male morphotypes of Macrobrachium rosenbergii (de Man)

This thesis entitled “Histological ,Histochemical and biochemical characterisation of male morphotypes of macrobrachium rosenbergii(De Man). The giant fresh water prawn Macrobrachium rosenbergii (de Man) is emerging as a prime candidate species in fresh water aquaculture as a global basis and therefore, receiving much attention in recent years.the present work was aimed at to study the histological variations, if any, in the reproductive system viz. testes, vas deferens including androgenic gland, hepatopancreas and the neurosecretory system viz. eye stalk, brain and thoracic ganglion among the male morphotypes and their transitional stages of M.rosenbergii from growouts. This study was also aimed at to bring out the histochemical variations, if any, in the reproductive system comprising of testes, vas deferens including androgenic gland and the hepatopancreas among the male morphotypes and their transitional stages collected from growouts. Biochemical characterisation of various male morphotyes and their transitional stages have also been attempted in order to find out biochemical evidence, if any, in the morphotypic transformation.Histological study of the testes of three male morphotypes viz., SM, SOC and SBC and their 'transitional stages viz., WOC, tSOC, WBC and OBC have been carried out with a view to unravel the structural and functional differences of the testes, if any, of these morphotypes. Studies on the lipid components viz., cholesterol, phospholipid and triglyceride In the muscle tissue and hepatopancreas have been carried out.

A Study of Morphological Operators with Applications

The present work deals with the A study of morphological opertors with applications. Morphology is now a.necessary tool for engineers involved with imaging applications. Morphological operations have been viewed as filters the properties of which have been well studied (Heijmans, 1994). Another well-known class of non-linear filters is the class of rank order filters (Pitas and Venetsanopoulos, 1990). Soft morphological filters are a combination of morphological and weighted rank order filters (Koskinen, et al., 1991, Kuosmanen and Astola, 1995). They have been introduced to improve the behaviour of traditional morphological filters in noisy environments. The idea was to slightly relax the typical morphological definitions in such a way that a degree of robustness is achieved, while most of the desirable properties of typical morphological operations are maintained. Soft morphological filters are less sensitive to additive noise and to small variations in object shape than typical morphological filters. They can remove positive and negative impulse noise, preserving at the same time small details in images. Currently, Mathematical Morphology allows processing images to enhance fuzzy areas, segment objects, detect edges and analyze structures. The techniques developed for binary images are a major step forward in the application of this theory to gray level images. One of these techniques is based on fuzzy logic and on the theory of fuzzy sets.Fuzzy sets have proved to be strongly advantageous when representing in accuracies, not only regarding the spatial localization of objects in an image but also the membership of a certain pixel to a given class. Such inaccuracies are inherent to real images either because of the presence of indefinite limits between the structures or objects to be segmented within the image due to noisy acquisitions or directly because they are inherent to the image formation methods.

Automated synthesis of delay-reduced Reed-Muller universal logic module networks

This paper presents a new approach to implement Reed-Muller Universal Logic Module (RM-ULM) networks with reduced delay and hardware for synthesizing logic functions given in Reed-Muller (RM) form. Replication of single control line RM-ULM is used as the only design unit for defining any logic function. An algorithm is proposed that does exhaustive branching to reduce the number of levels and modules required to implement any logic function in RM form. This approach attains a reduction in delay, and power over other implementations of functions having large number of variables.