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.

Constraining the active tectonic deformation of Andaman-Nicobar Arc in the background of December 26,2004 Great Sumatra-Andaman Earthquake

The Andaman-Nicobar Islands in the Bay of Bengal lies in a zone where the Indian plate subducts beneath the Burmese microplate, and therefore forms a belt of frequent earthquakes. Few efforts, not withstanding the available historical and instrumental data were not effectively used before the Mw 9.3 Sumatra-Andaman earthquake to draw any inference on the spatial and temporal distribution of large subduction zone earthquakes in this region. An attempt to constrain the active crustal deformation of the Andaman-Nicobar arc in the background of the December 26, 2004 Great Sumatra-Andaman megathrust earthquake is made here, thereby presenting a unique data set representing the pre-seismic convergence and co-seismic displacement.Understanding the mechanisms of the subduction zone earthquakes is both challenging sCientifically and important for assessing the related earthquake hazards. In many subduction zones, thrust earthquakes may have characteristic patterns in space and time. However, the mechanism of mega events still remains largely unresolved.Large subduction zone earthquakes are usually associated with high amplitude co-seismic deformation above the plate boundary megathrust and the elastic relaxation of the fore-arc. These are expressed as vertical changes in land level with the up-dip part of the rupture surface uplifted and the areas above the down-dip edge subsided. One of the most characteristic pattern associated with the inter-seismic era is that the deformation is in an opposite sense that of co-seismic period.This work was started in 2002 to understand the tectonic deformation along the Andaman-Nicobar arc using seismological, geological and geodetic data. The occurrence of the 2004 megathrust earthquake gave a new dimension to this study, by providing an opportunity to examine the co-seismic deformation associated with the greatest earthquake to have occurred since the advent of Global Positioning System (GPS) and broadband seismometry. The major objectives of this study are to assess the pre-seismic stress regimes, to determine the pre-seismic convergence rate, to analyze and interpret the pattern of co-seismic displacement and slip on various segments and to look out for any possible recurrence interval for megathrust event occurrence for Andaman-Nicobar subduction zone. This thesis is arranged in six chapters with further subdivisions dealing all the above aspects.

Setilement of motor accidents claims with special reference to Kerala

The accident toll on our road traffic is staggering. Obviously this appalling toll of life and.health represents heavy economic loss in addition to human tragedy. the enormous increase in the number of motor vehicles with its rash, negligent and reckless use by unscrupulous, inexperienced and dangerous drivers in the most miserably managed roads coupled with concomitant hazards would draw our attention that Accident Prevention, and Accident compensation are thoroughly two compatiable aims. Proposed solutions to the traffic Problems abound. Preventive efforts concentrated on each of the variables the driver, the road and the vehicle are all being initiated. Still it is a Will the .Motor Vehicles are not considered as dangerous machines. Motoring activity is found useful.A competent and specially trained police force has to be created to deal with the traffic offences in a more scientific ways.The term ‘legal representative needs to be defined on the constructive aspects of relation and dependence.Services of legal aid and public counsels shall necessarily be extended to the poor Motor Accident victims.Timely reporting and timely investigation of Motor Accidents cases will reduce the number of fraudulent claims. There are instances where cases are taken in to investigation after several months of occurrence.It is hoped that the suggestions made above as a result of the present study, if pwgninto practice, may make a humble contribution to the prevention sssof motor accidents and to a faster and speedier settlement of motor accident compensation claims.

Management of Traffic Control — A Computer Oriented Approach

Traffic Management system (TMS) comprises four major sub systems: The Network Database Management system for information to the passengers, Transit Facility Management System for service, planning, and scheduling vehicle and crews, Congestion Management System for traffic forecasting and planning, Safety Management System concerned with safety aspects of passengers and Environment. This work has opened a rather wide frame work of model structures for application on traffic. The facets of these theories are so wide that it seems impossible to present all necessary models in this work. However it could be deduced from the study that the best Traffic Management System is that whichis realistic in all aspects is easy to understand is easy to apply As it is practically difficult to device an ideal fool—proof model, the attempt here has been to make some progress-in that direction.

Study on the Socio-Psychological Background of Entrepreneur - Managers of Small Scale Industrial Units in Ernakulam District, Kerala

The understanding of the theory of entrepreneurship depends upon one set of definitions which provide the base for analytical study. The main objective of the study was to understand the distribution of entrepreneurship in the manufacturing sector among different categories of people in kerala and to differentiate the socio - psychological background of successful entrepreneur- managers from unsuccessful entrepreneur-managers. The purpose of the study, a sample of 150 entrepreneur-managers of SS1 units spread over Ernakulam district was surveyed through a specially designed questionnaire.

Management of Public Road Transport System in Trivandrum City

An efficient passenger road transport system is a boon to any city and an inefficient one its bane. Passenger bus transport operation involves various aspects like passenger convenience, profitability of operation and social, technological and environmental factors. The author’s interest in this area was aroused when he conducted a traffic survey of Trivandrum City in 1979. While some studies on the performance of the Kerala State Road Transport Corporation in specific areas like finance, inventory control etc. have already been made, no study has been made from the operational point of view. The study is also the first one of its kind in dealing with the transportation problems for a second order city like Trivandrum. The objective of this research study is to develop a scientific basis for analysing and understanding the various operational aspects of urban bus transport management like assessing travel demand, depot location, fleet allocation, vehicle scheduling, maintenance etc. The operation of public road transportation in Trivandrum City is analysed on the basis of this theoretical background. The studies made have relevance to any medium sized city in India or even abroad. If not properly managed, deterioration of any public utility system is a natural process and it adversely affects the consumers, the economy and the nation. Making any system more efficient requires careful analysis, judicious decision making and proper implementation. It is hoped that this study will throw some light into the various operational aspects of urban passenger road transport management which can be of some help to make it perform more efficiently

Channel Adaptive MAC Protocol with Traffic-Aware Distributed Power Management in Wireless Sensor Networks-Some Performance Issues

In Wireless Sensor Networks (WSN), neglecting the effects of varying channel quality can lead to an unnecessary wastage of precious battery resources and in turn can result in the rapid depletion of sensor energy and the partitioning of the network. Fairness is a critical issue when accessing a shared wireless channel and fair scheduling must be employed to provide the proper flow of information in a WSN. In this paper, we develop a channel adaptive MAC protocol with a traffic-aware dynamic power management algorithm for efficient packet scheduling and queuing in a sensor network, with time varying characteristics of the wireless channel also taken into consideration. The proposed protocol calculates a combined weight value based on the channel state and link quality. Then transmission is allowed only for those nodes with weights greater than a minimum quality threshold and nodes attempting to access the wireless medium with a low weight will be allowed to transmit only when their weight becomes high. This results in many poor quality nodes being deprived of transmission for a considerable amount of time. To avoid the buffer overflow and to achieve fairness for the poor quality nodes, we design a Load prediction algorithm. We also design a traffic aware dynamic power management scheme to minimize the energy consumption by continuously turning off the radio interface of all the unnecessary nodes that are not included in the routing path. By Simulation results, we show that our proposed protocol achieves a higher throughput and fairness besides reducing the delay

Hybrid Background Subtraction in Video using Bi-level CodeBook Model

Detection of Objects in Video is a highly demanding area of research. The Background Subtraction Algorithms can yield better results in Foreground Object Detection. This work presents a Hybrid CodeBook based Background Subtraction to extract the foreground ROI from the background. Codebooks are used to store compressed information by demanding lesser memory usage and high speedy processing. This Hybrid method which uses Block-Based and Pixel-Based Codebooks provide efficient detection results; the high speed processing capability of block based background subtraction as well as high Precision Rate of pixel based background subtraction are exploited to yield an efficient Background Subtraction System. The Block stage produces a coarse foreground area, which is then refined by the Pixel stage. The system’s performance is evaluated with different block sizes and with different block descriptors like 2D-DCT, FFT etc. The Experimental analysis based on statistical measurements yields precision, recall, similarity and F measure of the hybrid system as 88.74%, 91.09%, 81.66% and 89.90% respectively, and thus proves the efficiency of the novel system.