Lim Chot Hun

A star path following mobile robot

This paper proposed A Star (A∗) Path Following (APF) Mobile Robot with Intelligent Path Mapping (IPM) visual interface program in Windows operating system environment. A microcontroller-based APF wheeled mobile robot is developed. A computer Graphical User Interface (GUI) is created with A∗ algorithm — the algorithm widely used for path finding and graph traversal, integrated to develop the IPM visual interface. The GUI maps the optimum path from a starting location to a goal using the A∗ algorithm integrated and generates a series of instructions, where the APF robot is able to communicate, download, store and process instructions from the GUI. Execution of instructions can be done by the APF robot alone afterwards.

Kalman Filtering and Its Real‐Time Applications

Kalman filter was pioneered by Rudolf Emil Kalman in 1960, originally designed and developed to solve the navigation problem in Apollo Project. Since then, numerous applications were developed with the implementation of Kalman filter, such as applications in the fields of navigation and computer visions object tracking. Kalman filter consists of two separate processes, namely the prediction process and the measure‐ ment process, which work in a recursive manner. Both processes are modeled by groups of equations in the state space model to achieve optimal estimation outputs. Prior knowledge on the state space model is needed, and it differs between different systems. In this chapter, the authors outlined and explained the fundamental Kalman filtering model in real‐time discrete form and devised two real‐time applications that implement‐ ed Kalman filter. The first application involved using vision camera to perform real‐ time image processing for vehicle tracking, whereas the second application discussed the real‐time Global Positioning System (GPS)‐aided Strapdown Inertial Navigation Unit (SINU) system implementation using Kalman filter. Detail descriptions, model derivations, and results are outlined in both applications.

Survey on the Classification of Intelligence-Based Biometric Techniques

Over the past few decades due to the advancement of technology, biometrics has evolved into a key factor of security for societal needs. Biometrics started as a basic ID verification system and has evolved into a major factor of authentication by taking several biological parameters as references. There are certain issues that researchers have yet been facing against hack or overriding. This chapter covers a comparative study of different biometrics and its methods used for safe authentication that improves security management for complicated scenarios.

A PC-based orientation sensing using 9-DOF strapdown inertial measurement unit

This paper presents the design and development of a PC-based orientation sensing system using strapdown inertial measurement unit (SIMU). A 9-DOF (degree of freedom) SIMU, which consists of 3-DOF gyroscopes, 3-DOF accelerometers, and 3-DOF magnetometers, are used to estimate the orientation. Data fusion is performed to improve measurement accuracy. In this paper, the orientation measurements are compared and discussed using three different approaches, known as the conventional accelerometer/gyroscope approach, the Kalman filter based 9-DOF SIMU approach, and the gradient decent algorithm based 9-DOF SIMU approach. The derivation of each approach together with the design of the PC-based orientation sensing system is outlined in this paper.

Interfacing of Biped KHR-1 with DSP Board TMS320F2812

This paper describes the interfacing of the biped robot KHR-1 with DSP board TMS320F2812. In this study, the KHR-1 is modeled as a seven-link biped, with each joint connected with a servomotor KRS-784 ICS. The I/O port of the DSP board provides PWM signals to the biped joints for joint control. TMS320F2812 is chosen due to its high PWM resolution as well as its flexibility in PWM frequency setting. The computed joint trajectories of the biped robot are based on the zero moment point (ZMP) model. Walking trajectories are constructed and tested, and the results are beneficial to both biped research as well as mechatronics education for undergraduates