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.

Characteristics of Arabian Sea mini warm pool and Indian summer monsoon

Arabian Sea Mini Warm Pool (ASMWP) is a part of the Indian Ocean Warm Pool and formed in the eastern Arabian Sea prior to the onset of the summer monsoon season. This warm pool attained its maximum intensity during the pre-monsoon season and dissipated with the commencement of summer monsoon. The main focus of the present work was on the triggering of the dissipation of this warm pool and its relation to the onset of summer monsoon over Kerala. This phenomenon was studied utilizing NCEP/NCAR (National Center for Environmental Prediction/National Center for Atmospheric and Research) re-analysis data, TRMM Micro wave Imager (TMI) and observational data. To define the ASMWP, sea surface temperature exceeding 30.25 C was taken as the criteria. The warm pool attained its maximum dimension and intensity nearly 2 weeks prior to the onset of summer monsoon over Kerala. Interestingly, the warm pool started its dissipation immediately after attaining its maximum core temperature. This information can be included in the present numerical models to enhance the prediction capability. It was also found that the extent and intensity of the ASMWP varied depending on the type of monsoon i.e., excess, normal, and deficient monsoon. Maximum core temperature and wide coverage of the warm pool observed during the excess monsoon years compared to normal and deficient monsoon years. The study also revealed a strong relationship between the salinity in the eastern Arabian Sea and the nature of the monsoon

Mini-trawls for Estuarine Fishing Kasargod District

Mi ni -trawls are operated by the artisanal fishermen from small wooden non-motorised canoes. Shrimp, fish and crab trawls wi th head rope length rang ing from 3.5-8 m, made of Po lyethy lene mon ofila ment (PE) twisted and Polyamide mullifilament (PA) rigged to 6-7 kll fla t rectangular wooden otter boards are common in the lower reaches of Kariango de and Chandrag iri rive rs. Since the trawling speed is less, ca tch is do minated by crus taceans. Less scope ratio also may be affecting the catching efficiency of the gear. This pape r deals with the design, operation and economics of mini traw ling carried out by a group of fisherme n in the above rivers of Kasargod district Kerala state.

A Realization Of An Fpga Sub System For Reducing Odometric Localization Errors In Wheeled Mobile Robots

This paper introduces a simple and efficient method and its implementation in an FPGA for reducing 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. 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 standard quadrature technique is used to obtain four counts in each encoder period. In this work a three-wheeled mobile robot vehicle with one driving-steering wheel and two-fixed rear wheels in-axis, fitted with incremental optical encoders is considered. The CORDIC algorithm has been used for the computation of sine and cosine terms in the update equations. The results presented demonstrate the effectiveness of the technique