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.

Analysis and Optimization of Machining Process Using Evolutionary Algorithms

To ensure quality of machined products at minimum machining costs and maximum machining effectiveness, it is very important to select optimum parameters when metal cutting machine tools are employed. Traditionally, the experience of the operator plays a major role in the selection of optimum metal cutting conditions. However, attaining optimum values each time by even a skilled operator is difficult. The non-linear nature of the machining process has compelled engineers to search for more effective methods to attain optimization. The design objective preceding most engineering design activities is simply to minimize the cost of production or to maximize the production efficiency. The main aim of research work reported here is to build robust optimization algorithms by exploiting ideas that nature has to offer from its backyard and using it to solve real world optimization problems in manufacturing processes.In this thesis, after conducting an exhaustive literature review, several optimization techniques used in various manufacturing processes have been identified. The selection of optimal cutting parameters, like depth of cut, feed and speed is a very important issue for every machining process. Experiments have been designed using Taguchi technique and dry turning of SS420 has been performed on Kirlosker turn master 35 lathe. Analysis using S/N and ANOVA were performed to find the optimum level and percentage of contribution of each parameter. By using S/N analysis the optimum machining parameters from the experimentation is obtained.Optimization algorithms begin with one or more design solutions supplied by the user and then iteratively check new design solutions, relative search spaces in order to achieve the true optimum solution. A mathematical model has been developed using response surface analysis for surface roughness and the model was validated using published results from literature.Methodologies in optimization such as Simulated annealing (SA), Particle Swarm Optimization (PSO), Conventional Genetic Algorithm (CGA) and Improved Genetic Algorithm (IGA) are applied to optimize machining parameters while dry turning of SS420 material. All the above algorithms were tested for their efficiency, robustness and accuracy and observe how they often outperform conventional optimization method applied to difficult real world problems. The SA, PSO, CGA and IGA codes were developed using MATLAB. For each evolutionary algorithmic method, optimum cutting conditions are provided to achieve better surface finish.The computational results using SA clearly demonstrated that the proposed solution procedure is quite capable in solving such complicated problems effectively and efficiently. Particle Swarm Optimization (PSO) is a relatively recent heuristic search method whose mechanics are inspired by the swarming or collaborative behavior of biological populations. From the results it has been observed that PSO provides better results and also more computationally efficient.Based on the results obtained using CGA and IGA for the optimization of machining process, the proposed IGA provides better results than the conventional GA. The improved genetic algorithm incorporating a stochastic crossover technique and an artificial initial population scheme is developed to provide a faster search mechanism. Finally, a comparison among these algorithms were made for the specific example of dry turning of SS 420 material and arriving at optimum machining parameters of feed, cutting speed, depth of cut and tool nose radius for minimum surface roughness as the criterion. To summarize, the research work fills in conspicuous gaps between research prototypes and industry requirements, by simulating evolutionary procedures seen in nature that optimize its own systems.

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.

Effectiveness Of Feature Detection Operators On The Performance Of Iris Biometric Recognition System

Iris Recognition is a highly efficient biometric identification system with great possibilities for future in the security systems area.Its robustness and unobtrusiveness, as opposed tomost of the currently deployed systems, make it a good candidate to replace most of thesecurity systems around. By making use of the distinctiveness of iris patterns, iris recognition systems obtain a unique mapping for each person. Identification of this person is possible by applying appropriate matching algorithm.In this paper, Daugman’s Rubber Sheet model is employed for irisnormalization and unwrapping, descriptive statistical analysis of different feature detection operators is performed, features extracted is encoded using Haar wavelets and for classification hammingdistance as a matching algorithm is used. The system was tested on the UBIRIS database. The edge detection algorithm, Canny, is found to be the best one to extract most of the iris texture. The success rate of feature detection using canny is 81%, False Accept Rate is 9% and False Reject Rate is 10%.

Development of Techniques for the Automatic Extraction and Grade Detection of Glioma Tumors from Conventional Brain Magnetic Resonant Images

Cerebral glioma is the most prevalent primary brain tumor, which are classified broadly into low and high grades according to the degree of malignancy. High grade gliomas are highly malignant which possess a poor prognosis, and the patients survive less than eighteen months after diagnosis. Low grade gliomas are slow growing, least malignant and has better response to therapy. To date, histological grading is used as the standard technique for diagnosis, treatment planning and survival prediction. The main objective of this thesis is to propose novel methods for automatic extraction of low and high grade glioma and other brain tissues, grade detection techniques for glioma using conventional magnetic resonance imaging (MRI) modalities and 3D modelling of glioma from segmented tumor slices in order to assess the growth rate of tumors. Two new methods are developed for extracting tumor regions, of which the second method, named as Adaptive Gray level Algebraic set Segmentation Algorithm (AGASA) can also extract white matter and grey matter from T1 FLAIR an T2 weighted images. The methods were validated with manual Ground truth images, which showed promising results. The developed methods were compared with widely used Fuzzy c-means clustering technique and the robustness of the algorithm with respect to noise is also checked for different noise levels. Image texture can provide significant information on the (ab)normality of tissue, and this thesis expands this idea to tumour texture grading and detection. Based on the thresholds of discriminant first order and gray level cooccurrence matrix based second order statistical features three feature sets were formulated and a decision system was developed for grade detection of glioma from conventional T2 weighted MRI modality.The quantitative performance analysis using ROC curve showed 99.03% accuracy for distinguishing between advanced (aggressive) and early stage (non-aggressive) malignant glioma. The developed brain texture analysis techniques can improve the physician’s ability to detect and analyse pathologies leading to a more reliable diagnosis and treatment of disease. The segmented tumors were also used for volumetric modelling of tumors which can provide an idea of the growth rate of tumor; this can be used for assessing response to therapy and patient prognosis.

Regional climate model applications on sub-regional scales over the Indian monsoon region: The role of domain size on downscaling uncertainty

Regional climate models are becoming increasingly popular to provide high resolution climate change information for impacts assessments to inform adaptation options. Many countries and provinces requiring these assessments are as small as 200,000 km2 in size, significantly smaller than an ideal domain needed for successful applications of one-way nested regional climate models. Therefore assessments on sub-regional scales (e.g., river basins) are generally carried out using climate change simulations performed for relatively larger regions. Here we show that the seasonal mean hydrological cycle and the day-to-day precipitation variations of a sub-region within the model domain are sensitive to the domain size, even though the large scale circulation features over the region are largely insensitive. On seasonal timescales, the relatively smaller domains intensify the hydrological cycle by increasing the net transport of moisture into the study region and thereby enhancing the precipitation and local recycling of moisture. On daily timescales, the simulations run over smaller domains produce higher number of moderate precipitation days in the sub-region relative to the corresponding larger domain simulations. An assessment of daily variations of water vapor and the vertical velocity within the sub-region indicates that the smaller domains may favor more frequent moderate uplifting and subsequent precipitation in the region. The results remained largely insensitive to the horizontal resolution of the model, indicating the robustness of the domain size influence on the regional model solutions. These domain size dependent precipitation characteristics have the potential to add one more level of uncertainty to the downscaled projections.

Efficient Watermarking Schemes for Speaker Verification Guaranteeing Non-repudiation

Presently different audio watermarking methods are available; most of them inclined towards copyright protection and copy protection. This is the key motive for the notion to develop a speaker verification scheme that guar- antees non-repudiation services and the thesis is its outcome. The research presented in this thesis scrutinizes the field of audio water- marking and the outcome is a speaker verification scheme that is proficient in addressing issues allied to non-repudiation to a great extent. This work aimed in developing novel audio watermarking schemes utilizing the fun- damental ideas of Fast-Fourier Transform (FFT) or Fast Walsh-Hadamard Transform (FWHT). The Mel-Frequency Cepstral Coefficients (MFCC) the best parametric representation of the acoustic signals along with few other key acoustic characteristics is employed in crafting of new schemes. The au- dio watermark created is entirely dependent to the acoustic features, hence named as FeatureMark and is crucial in this work. In any watermarking scheme, the quality of the extracted watermark de- pends exclusively on the pre-processing action and in this work framing and windowing techniques are involved. The theme non-repudiation provides immense significance in the audio watermarking schemes proposed in this work. Modification of the signal spectrum is achieved in a variety of ways by selecting appropriate FFT/FWHT coefficients and the watermarking schemes were evaluated for imperceptibility, robustness and capacity char- acteristics. The proposed schemes are unequivocally effective in terms of maintaining the sound quality, retrieving the embedded FeatureMark and in terms of the capacity to hold the mark bits. Robust nature of these marking schemes is achieved with the help of syn- chronization codes such as Barker Code with FFT based FeatureMarking scheme and Walsh Code with FWHT based FeatureMarking scheme. An- other important feature associated with this scheme is the employment of an encryption scheme towards the preparation of its FeatureMark that scrambles the signal features that helps to keep the signal features unreve- laed. A comparative study with the existing watermarking schemes and the ex- periments to evaluate imperceptibility, robustness and capacity tests guar- antee that the proposed schemes can be baselined as efficient audio water- marking schemes. The four new digital audio watermarking algorithms in terms of their performance are remarkable thereby opening more opportu- nities for further research.