Pub Date : 2005-12-19DOI: 10.1109/ICET.2005.1558870
Z. Ali, S. Hussain, I. A. Taj
Visionbasedtracking, being a challenging engineering problem isone ofthehotresearch areas in*nachine vision. Inrecentstuidies Kernel based tracking usinig Bhattacharya similaritv mea.sutre is showntobean eficient techniquie fornon-rigid object tracking through thesequienceofimnages. In this paper we presented a robutst and efficient tracking approach Jbrtargets having larger motions ascompared totheir sizes. Outr tracking approach is based on calculating theGaussian pyramids ofthe imagesandthenapplying mean shift algorithm at eachpyramid level fo6r tracking thetarget. Model based tracking often sq/fkm-s abruipt changes intarget model, which iscompensated bvthemodel updatesof target. Thisleads to a very efficient androbust nonparametric tracking algorithm Thenew method is easily abletotrack thefast moving targetsandis more robulst and environment independent as compared tooriginal kernel based object tracking.
{"title":"Kernel based robust object tracking using model updates and Gaussian pyramids","authors":"Z. Ali, S. Hussain, I. A. Taj","doi":"10.1109/ICET.2005.1558870","DOIUrl":"https://doi.org/10.1109/ICET.2005.1558870","url":null,"abstract":"Visionbasedtracking, being a challenging engineering problem isone ofthehotresearch areas in*nachine vision. Inrecentstuidies Kernel based tracking usinig Bhattacharya similaritv mea.sutre is showntobean eficient techniquie fornon-rigid object tracking through thesequienceofimnages. In this paper we presented a robutst and efficient tracking approach Jbrtargets having larger motions ascompared totheir sizes. Outr tracking approach is based on calculating theGaussian pyramids ofthe imagesandthenapplying mean shift algorithm at eachpyramid level fo6r tracking thetarget. Model based tracking often sq/fkm-s abruipt changes intarget model, which iscompensated bvthemodel updatesof target. Thisleads to a very efficient androbust nonparametric tracking algorithm Thenew method is easily abletotrack thefast moving targetsandis more robulst and environment independent as compared tooriginal kernel based object tracking.","PeriodicalId":222828,"journal":{"name":"Proceedings of the IEEE Symposium on Emerging Technologies, 2005.","volume":"556 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123142698","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-12-19DOI: 10.1109/ICET.2005.1558928
I. Askari, S. A. Hassan, M.S. Faree, K. Munawar, M. Malik, T. Abbas
Platform stabilization and control problems are a major field of study in control systems. For a long period of time, analog control schemes using op-amps for gain, as differentiators and as integrators were used and are still used but they require complex circuitry even for simple PI controllers. With the advent of the digital era this approach has changed. Now even complex closed loop control schemes are easily achievable using programmable gains and adjustable parameters. Different scenarios require different control schemes that optimize different parameters of the systems closed loop response. Object tracking requires a highly stable platform capable of tracking high speed moving targets. This paper is the continuation of our previous paper in which we discussed the design and construction of a real time target tracker, a 2 DOF platform with emphasis on its stability and balanced weight distribution. In this paper we discuss the digital control scheme for the closed loop control of the designed platform.
{"title":"Development of a 2 degrees of freedom tracking system. Part II: controller design and implementation","authors":"I. Askari, S. A. Hassan, M.S. Faree, K. Munawar, M. Malik, T. Abbas","doi":"10.1109/ICET.2005.1558928","DOIUrl":"https://doi.org/10.1109/ICET.2005.1558928","url":null,"abstract":"Platform stabilization and control problems are a major field of study in control systems. For a long period of time, analog control schemes using op-amps for gain, as differentiators and as integrators were used and are still used but they require complex circuitry even for simple PI controllers. With the advent of the digital era this approach has changed. Now even complex closed loop control schemes are easily achievable using programmable gains and adjustable parameters. Different scenarios require different control schemes that optimize different parameters of the systems closed loop response. Object tracking requires a highly stable platform capable of tracking high speed moving targets. This paper is the continuation of our previous paper in which we discussed the design and construction of a real time target tracker, a 2 DOF platform with emphasis on its stability and balanced weight distribution. In this paper we discuss the digital control scheme for the closed loop control of the designed platform.","PeriodicalId":222828,"journal":{"name":"Proceedings of the IEEE Symposium on Emerging Technologies, 2005.","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129666975","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-12-19DOI: 10.1109/ICET.2005.1558860
A. A. Minhas, C. Steger, R. Weiss, S. Ehsan
Routing algorithms haveshowntheir importance in the power aware wireless micro-sensor networks. In this paper,we presenttheimproved virtuial circulit routingalgorithm (IVCRA)implemented in temperatuire sensorapplication developed bytus. We introduce a method todetect nodefailure andthen to repair thepathtoroutte thedatapack-et safely to basestation. Weverified itbysimulating inTOSSIM andthenimplementing on real motesnetwork. The motes are fromBerkeley USA andare being operated byusingTinyOS-operating systemand nesClanguage. Energy analysis showsthat IVCRAis energy efficient. ForIVCRA,we theninclude the packet sizerecommended byZigbee/IEEE 802.15.4 standard, an emerging standard forwireless sensor networks, alongwithftatures ofitsNetwork Layer. We prove thereliabilitv ofnetwork withIVCRA. Energycfficiencies fbrdifferent packet sizereveal that ourpacket size isoptimal.
{"title":"Node failure detection and path repairing scheme in virtual circuit routing algorithm for wireless ad hoc micro sensor networks","authors":"A. A. Minhas, C. Steger, R. Weiss, S. Ehsan","doi":"10.1109/ICET.2005.1558860","DOIUrl":"https://doi.org/10.1109/ICET.2005.1558860","url":null,"abstract":"Routing algorithms haveshowntheir importance in the power aware wireless micro-sensor networks. In this paper,we presenttheimproved virtuial circulit routingalgorithm (IVCRA)implemented in temperatuire sensorapplication developed bytus. We introduce a method todetect nodefailure andthen to repair thepathtoroutte thedatapack-et safely to basestation. Weverified itbysimulating inTOSSIM andthenimplementing on real motesnetwork. The motes are fromBerkeley USA andare being operated byusingTinyOS-operating systemand nesClanguage. Energy analysis showsthat IVCRAis energy efficient. ForIVCRA,we theninclude the packet sizerecommended byZigbee/IEEE 802.15.4 standard, an emerging standard forwireless sensor networks, alongwithftatures ofitsNetwork Layer. We prove thereliabilitv ofnetwork withIVCRA. Energycfficiencies fbrdifferent packet sizereveal that ourpacket size isoptimal.","PeriodicalId":222828,"journal":{"name":"Proceedings of the IEEE Symposium on Emerging Technologies, 2005.","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134227179","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-12-19DOI: 10.1109/ICET.2005.1558936
M. Ahmed, Mohib-ur-Rehman, Imran Ihsan, M. Qadir, N. Iftikhar
Now a day, education is getting more expensive, relative to other fields. The reason for such increasingly expensive field is due to less investment and efforts to involve information technology. There is a need to develop new and effective models for learning through information technology. The key component for such learning models is learning object, which includes different types of media i.e. audio, video, image. text etc. A lecture is a combination of one or more learning objects. Thus efficient and effective integration of learning objects becomes the key part of this activity. UNIT (UREKA navigation and integration toolkit) is emerging model for such type of integration. It defines CMF (common media framework) that has a predefined schema for integration of learning objects, and also the capability of handling spatial und temporal behavior for learning activity separately. Furthermore, it allows users to modify these behaviors and to attach presentational templates of their own comfort that provide reusability of both the integrated information and templates. The integration information in CMF file will be combined with loosely hounded presentational templates, dynamically to generate presentation for learning activity (A Lecture).
{"title":"Semantic integration of learning objects for UREKA navigation & integration toolkit - UNIT","authors":"M. Ahmed, Mohib-ur-Rehman, Imran Ihsan, M. Qadir, N. Iftikhar","doi":"10.1109/ICET.2005.1558936","DOIUrl":"https://doi.org/10.1109/ICET.2005.1558936","url":null,"abstract":"Now a day, education is getting more expensive, relative to other fields. The reason for such increasingly expensive field is due to less investment and efforts to involve information technology. There is a need to develop new and effective models for learning through information technology. The key component for such learning models is learning object, which includes different types of media i.e. audio, video, image. text etc. A lecture is a combination of one or more learning objects. Thus efficient and effective integration of learning objects becomes the key part of this activity. UNIT (UREKA navigation and integration toolkit) is emerging model for such type of integration. It defines CMF (common media framework) that has a predefined schema for integration of learning objects, and also the capability of handling spatial und temporal behavior for learning activity separately. Furthermore, it allows users to modify these behaviors and to attach presentational templates of their own comfort that provide reusability of both the integrated information and templates. The integration information in CMF file will be combined with loosely hounded presentational templates, dynamically to generate presentation for learning activity (A Lecture).","PeriodicalId":222828,"journal":{"name":"Proceedings of the IEEE Symposium on Emerging Technologies, 2005.","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131590554","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-12-19DOI: 10.1109/ICET.2005.1558880
A. Shah, A. W. Ansari, I. A. Ismaili
In this paper we propose an algorithmii that utilizes the Artificial Intelligence bcased techniques including Heuristic Search and natural language processing to enable tlhe single user to plaiy the game at any time with the coimputer withoutt waiting far the availability of other player. As well as we propose to acldd tlhe support of the vocabularv oJ other regional languages such as Urdu / Sindhi/ Paslhto witha the speech synthesis based pronunciation facility. Thae tools and tlhe technologies that are to be used for the implemtientation of the algorithm include: Microsoft VB and AI Techniques along with mttultilingual dictioncaries. The imtplemlentation of this algoritlhm wouldfacilitate any one in general and studcents in particulair to butild a strong ivocabulary of acny language with just the fun of playing. Thlis wouild provide a direct contriburtion to thze educcation an1d literacyaclong with entertainment.
{"title":"Speech enabled algorithm for multilingual educational game","authors":"A. Shah, A. W. Ansari, I. A. Ismaili","doi":"10.1109/ICET.2005.1558880","DOIUrl":"https://doi.org/10.1109/ICET.2005.1558880","url":null,"abstract":"In this paper we propose an algorithmii that utilizes the Artificial Intelligence bcased techniques including Heuristic Search and natural language processing to enable tlhe single user to plaiy the game at any time with the coimputer withoutt waiting far the availability of other player. As well as we propose to acldd tlhe support of the vocabularv oJ other regional languages such as Urdu / Sindhi/ Paslhto witha the speech synthesis based pronunciation facility. Thae tools and tlhe technologies that are to be used for the implemtientation of the algorithm include: Microsoft VB and AI Techniques along with mttultilingual dictioncaries. The imtplemlentation of this algoritlhm wouldfacilitate any one in general and studcents in particulair to butild a strong ivocabulary of acny language with just the fun of playing. Thlis wouild provide a direct contriburtion to thze educcation an1d literacyaclong with entertainment.","PeriodicalId":222828,"journal":{"name":"Proceedings of the IEEE Symposium on Emerging Technologies, 2005.","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133706132","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-12-19DOI: 10.1109/ICET.2005.1558891
M. Mehmood, T.M. Jadoon, N. Sheikh
This paper assesses VoIP quality over the Pakistan Internet Exchange (PIE) backbone between major cities of Pakistan. Passive measurements for voice calls in the presence of background Internet data traffic for different speech codecs such as the ITU-T G.711, G.723.1 and G.729 were carried out. Interpacket delay and jitter were measured over the PIE IP/ATM backbone and the corresponding inter-packet delay densities were calculated for evaluating the perceptual quality of computer telephony calls using the ITU-T G.107 E-model. The transmission quality (R-factor) and resultant Mean Opinion Scores (MOS) were calculated for both backbone and access links of ISPs. The study highlights the growth of VoIP as a significant component of the PIE backbone traffic in Pakistan as well as reconfirms the presence of congestion hot spots in the access links.
{"title":"Evaluation of VoIP quality over the pakistan internet exchange (PIE) backbone","authors":"M. Mehmood, T.M. Jadoon, N. Sheikh","doi":"10.1109/ICET.2005.1558891","DOIUrl":"https://doi.org/10.1109/ICET.2005.1558891","url":null,"abstract":"This paper assesses VoIP quality over the Pakistan Internet Exchange (PIE) backbone between major cities of Pakistan. Passive measurements for voice calls in the presence of background Internet data traffic for different speech codecs such as the ITU-T G.711, G.723.1 and G.729 were carried out. Interpacket delay and jitter were measured over the PIE IP/ATM backbone and the corresponding inter-packet delay densities were calculated for evaluating the perceptual quality of computer telephony calls using the ITU-T G.107 E-model. The transmission quality (R-factor) and resultant Mean Opinion Scores (MOS) were calculated for both backbone and access links of ISPs. The study highlights the growth of VoIP as a significant component of the PIE backbone traffic in Pakistan as well as reconfirms the presence of congestion hot spots in the access links.","PeriodicalId":222828,"journal":{"name":"Proceedings of the IEEE Symposium on Emerging Technologies, 2005.","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114940939","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-12-19DOI: 10.1109/ICET.2005.1558909
ImranSarwar Bajwa, S. Hyder
The paper presents an automatic classification system, which discriminates the different types of single-layered clouds using principal component analysis (PCA) with enhanced accuracy as compared to other techniques. PCA is an image classification technique typically used for face recognition. Principal components are the distinctive or peculiar features of an image. The approach described in this paper uses this PCA capability for enhancing the accuracy of cloud image analysis. To demonstrate this enhancement, a software classifier system has been developed that incorporates PCA capability for better discrimination of cloud images. The system is first trained using cloud images. In training phase, system reads major principal features of the different cloud images to produce an image space. In testing phase, a new cloud image can be classified by comparing it with the specified image space using the PCA algorithm.
{"title":"PCA based image classification of single-layered cloud types","authors":"ImranSarwar Bajwa, S. Hyder","doi":"10.1109/ICET.2005.1558909","DOIUrl":"https://doi.org/10.1109/ICET.2005.1558909","url":null,"abstract":"The paper presents an automatic classification system, which discriminates the different types of single-layered clouds using principal component analysis (PCA) with enhanced accuracy as compared to other techniques. PCA is an image classification technique typically used for face recognition. Principal components are the distinctive or peculiar features of an image. The approach described in this paper uses this PCA capability for enhancing the accuracy of cloud image analysis. To demonstrate this enhancement, a software classifier system has been developed that incorporates PCA capability for better discrimination of cloud images. The system is first trained using cloud images. In training phase, system reads major principal features of the different cloud images to produce an image space. In testing phase, a new cloud image can be classified by comparing it with the specified image space using the PCA algorithm.","PeriodicalId":222828,"journal":{"name":"Proceedings of the IEEE Symposium on Emerging Technologies, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129936727","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-12-19DOI: 10.1109/ICET.2005.1558899
P. Balasubramanian, M. Narayana, R. Chinnadurai
The purpose of this paper is to propose a systematic methodology for non-regenerative logic circuit design at the gate level. The tr-aditional logic synthesis methods [5f, [6] become inetfective in ccase of Non-Adjacent Jfnctions. In this paper, we address the redutction problem for this case by evolving a set of minimization lemmas based on the Hamming distance between the terms. Though our main emphasis has been on the satisfiabilitv of the circuiit functionality with minimum number of active gates, the approach presented here takes a viewpoint, in which all critical design metrics are investigated with the primary goal of reducing the dynamic power consunmption of the circuit. The SPICE simulation results obtained on the basis of 3.3V, 0.5,um CMOS technology are very encouraging, as they report minimization in average power consumption by about 36 %for the examples cited, along with a substantial improvement in the Figure oj Merit (FoM) of the circuit, in comparison with that obtainable using conventional approaches.
本文的目的是提出一种系统的方法来设计门级的非再生逻辑电路。其他的逻辑综合方法[5f，[6]]在函数不相邻的情况下是无效的。在本文中，我们通过基于项之间的汉明距离进化一组最小化引理来解决这种情况下的约简问题。虽然我们的主要重点是在最小有源门数量下电路功能的满意度，但这里提出的方法采取了一种观点，其中所有关键设计指标都以降低电路的动态功耗为主要目标进行研究。基于3.3V, 0.5 um CMOS技术获得的SPICE模拟结果非常令人鼓舞，因为它们报告了所引用示例的平均功耗降低约36%，并且与使用传统方法获得的电路相比，电路的图oj性能(FoM)有了显着改善。
{"title":"Power optimized logic circuit design with a novel synthesis technique","authors":"P. Balasubramanian, M. Narayana, R. Chinnadurai","doi":"10.1109/ICET.2005.1558899","DOIUrl":"https://doi.org/10.1109/ICET.2005.1558899","url":null,"abstract":"The purpose of this paper is to propose a systematic methodology for non-regenerative logic circuit design at the gate level. The tr-aditional logic synthesis methods [5f, [6] become inetfective in ccase of Non-Adjacent Jfnctions. In this paper, we address the redutction problem for this case by evolving a set of minimization lemmas based on the Hamming distance between the terms. Though our main emphasis has been on the satisfiabilitv of the circuiit functionality with minimum number of active gates, the approach presented here takes a viewpoint, in which all critical design metrics are investigated with the primary goal of reducing the dynamic power consunmption of the circuit. The SPICE simulation results obtained on the basis of 3.3V, 0.5,um CMOS technology are very encouraging, as they report minimization in average power consumption by about 36 %for the examples cited, along with a substantial improvement in the Figure oj Merit (FoM) of the circuit, in comparison with that obtainable using conventional approaches.","PeriodicalId":222828,"journal":{"name":"Proceedings of the IEEE Symposium on Emerging Technologies, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130325422","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-12-19DOI: 10.1109/ICET.2005.1558882
M. Jaudet, N. lqbal, A. Hussain, K. Sharif
This paper presents a new temporal classification approach for fjldt-prediction in a Telecommutnications Network. The countrvwide data network of Pakistan Telecom (PTCL) has been selected as a basis for the investigation of classification algor-ithms to predict flults beJbre they stop a large numnber of users' circuits from normal operation. The main problenms addressed are the evalluation of alarms and clevelopment of newi, machine learning tools to help overcome the interoperabilitv issues. The motivation behind this work is to assist humian operators and nminimize the cost of the alarm evalulation
{"title":"Temporal classification for fault-prediction in a real-world telecommunications network","authors":"M. Jaudet, N. lqbal, A. Hussain, K. Sharif","doi":"10.1109/ICET.2005.1558882","DOIUrl":"https://doi.org/10.1109/ICET.2005.1558882","url":null,"abstract":"This paper presents a new temporal classification approach for fjldt-prediction in a Telecommutnications Network. The countrvwide data network of Pakistan Telecom (PTCL) has been selected as a basis for the investigation of classification algor-ithms to predict flults beJbre they stop a large numnber of users' circuits from normal operation. The main problenms addressed are the evalluation of alarms and clevelopment of newi, machine learning tools to help overcome the interoperabilitv issues. The motivation behind this work is to assist humian operators and nminimize the cost of the alarm evalulation","PeriodicalId":222828,"journal":{"name":"Proceedings of the IEEE Symposium on Emerging Technologies, 2005.","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124849070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-12-19DOI: 10.1109/ICET.2005.1558886
N. Rahman, A. R. Jafri
This paper proposes a fuzzy behaviour based controls for the navigation of a differential drive mobile robot in an unstructured environment. Behaviours are implemented by incorporating the information of the current location of mobile robot, location of target and distance of the obstacles from the ultrasonic range finders. This behaviour based controls architecture is composed of two layers, the first layer selects a group of behaviours and second implements controller actions for the selected group. The layered architecture reduces the rule base as well as allows further decomposition of behaviours. The behaviour conflict management is done by using inhibition at first layer and suppression at second layer. Simulation results verify the effectiveness of proposed method by implementing obstacle avoidance, wall following, corridor following, target steering and emergency behaviours successfully
{"title":"Two layered behaviour based navigation of a mobile robot in an unstructured environment using fuzzy logic","authors":"N. Rahman, A. R. Jafri","doi":"10.1109/ICET.2005.1558886","DOIUrl":"https://doi.org/10.1109/ICET.2005.1558886","url":null,"abstract":"This paper proposes a fuzzy behaviour based controls for the navigation of a differential drive mobile robot in an unstructured environment. Behaviours are implemented by incorporating the information of the current location of mobile robot, location of target and distance of the obstacles from the ultrasonic range finders. This behaviour based controls architecture is composed of two layers, the first layer selects a group of behaviours and second implements controller actions for the selected group. The layered architecture reduces the rule base as well as allows further decomposition of behaviours. The behaviour conflict management is done by using inhibition at first layer and suppression at second layer. Simulation results verify the effectiveness of proposed method by implementing obstacle avoidance, wall following, corridor following, target steering and emergency behaviours successfully","PeriodicalId":222828,"journal":{"name":"Proceedings of the IEEE Symposium on Emerging Technologies, 2005.","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129038540","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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