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.

Journal Productivity in Fishery Science - An Informetric Analysis

This thesis Entitled Journal productivity in fishery science an informetric analysis.The analyses and formulating results of the study, the format of the thesis was determined. The thesis is divided into different chapters mentioned below. Chapter 1 gives an overview on the topic of research. Introduction gives the relevance of topic, define the problem, objectives of the study, hypothesis, methods of data collection, analysis and layout of the thesis. Chapter 2 provides a detailed account of the subject Fishery science and its development. A comprehensive outline is given along with definition, scope, classification, development and sources of information.Method of study used in this research and its literature review form the content of this chapter. Chapter 4 Details of the method adopted for collecting samples for the study, data collection and organization of the data are given. The methods are based on availability of data, period and objectives of the research undertaken.The description, analyses and the results of the study are covered in this chapter.

Studies on the production management in the seafood processing industry in Kerala

Kerala was the pioneer in modern seafood processing and exporting. But now the industry is Iacingalot of problems due to low productivity and deterioration in the quality of the products. only about 17% of the installed freezing capacity in sea food processing industry was reported to be utilised during 1979-80. The price of the export commodities its decided by the buyers based on international supply and demand pattern and based on the strength and weakness of dollar/yen. The only way to increase the profitability of the processors is to reduce the cost of production to the possible extent. The individual processors find it difficult to continue in this field due to low productivity and quality problems. The main objectives of the research are to find out how the production is being managed in the seafood processing(freezing) 17industry in Kerala and the reasons for low productivity and poor quality of the products. The study includes a detailed analysis of Location of the factories. Layout Purchase, production and storage patterns. Production planning and scheduling. Work Measurement of the processing of important products. Quality Control and Inspection. Management Information System

SPATIAL CLUSTERING ALGORITHMS-AN OVERVIEW.

An Overview of known spatial clustering algorithms The space of interest can be the two-dimensional abstraction of the surface of the earth or a man-made space like the layout of a VLSI design, a volume containing a model of the human brain, or another 3d-space representing the arrangement of chains of protein molecules. The data consists of geometric information and can be either discrete or continuous. The explicit location and extension of spatial objects define implicit relations of spatial neighborhood (such as topological, distance and direction relations) which are used by spatial data mining algorithms. Therefore, spatial data mining algorithms are required for spatial characterization and spatial trend analysis. Spatial data mining or knowledge discovery in spatial databases differs from regular data mining in analogous with the differences between non-spatial data and spatial data. The attributes of a spatial object stored in a database may be affected by the attributes of the spatial neighbors of that object. In addition, spatial location, and implicit information about the location of an object, may be exactly the information that can be extracted through spatial data mining