Shazmin Aniza Abdul Shukor

A novel indoor mobile robot mapping with USB-16 ultrasonic sensor bank and NWA optimization algorithm

This paper highlights on the development of a Ultrasonic Sensor Bank with sixteen pieces 40 kHz ultrasonic sensor (USB-16) mounted on hexadecagon-based plate on a mobile robot to perform real time 2D and 3D mapping. The purpose of this research is to evaluate the capability of USB-16 in providing an accurate map in terms of the walls perimeter and its shape, where the robot is located. Each wall will be scanned with USB-16 sensor bank to measure the distance between the center of sensor bank and the wall. The Homogeneous Transformation Matrix (HTM) and trigonometrically algorithm is utilized in this research as a wall mapping algorithm and is clearly explained in this paper. An optimum wall mapping algorithm was introduced to minimize measurement error. The optimum wall mapping technique named a Nominal Wall Angle (NWA) using trigonometric approach was introduced to improve the mapping accuracy. This algorithm has the capability to improve the ultrasonic mapping accuracy during the scanning process and is different from data manipulation technique like most of similar researches currently adapted. The comparison of experimental results before and after implementation of the optimization technique in different wall shape (Curve, Square, Rectangle, Triangle and Laboratory environment) will be presented in this paper. The results are very impressive, where the implementation of NWA algorithm is able to produce an accurate wall mapping compared with the actual wall size. LabVIEW software, Basic Atom and BASIC Stamp microcontroller are fully utilized to produce the real time 2D and 3D graph during the USB-16 mapping.

A mapping mobile robot using RP Lidar scanner

The environment mapping in one of the necessary aspects in mobile robotics studies when dealing with localization, positioning, autonomous navigation, as well as search and rescue. Its success depends on the accuracy and reliability of its implementation and may depend on sensors which are used to acquire the environment data. This paper presents work on mapping which uses a low cost laser rangefinder, developed by Robopeak, RP Lidar. This work will be implemented on an autonomous mobile robot for indoor environment applications. Initially, a mobile robot incorporated with the sensor was developed after which a wireless monitoring and control station was established in order to perform data collection of the environments. A research laboratory with tables and equipment is used as a testbed. The collected data were analysed using three methods of pre-processing; i. raw filter, ii. a moving average of smooth filter, and iii. the combination of the raw filter and the moving average. The results show the environment map based on the raw data and the pre-processing performances. The combination of the raw filter and the moving average performs the best result. Besides, the scanning accuracy of the developed system is successful with more than 90% of correctness. As a conclusion, the laser rangefinder and the pre-processing used is capable to map the environment with clear image and hence can be used for a variety of applications.

Electronic nose purging technique for confined space application

Confined space is an enclosed area with limited space to perform work activity which could contribute towards atmospheric hazards accidents. To avoid this, the environment needs to be observed. The air sample can be monitored using the integration of Electronic Nose (e-nose) and mobile robot. This work proposed the development of e-nose purging technique for confined space application. An active carbon filter was installed at the e-nose body to perform purging. The e-nose system comprises of sensors chamber, electric air pumps, controller unit, wireless communication and a computer for data analysis. The Analog to Digital Converter (ADC) readings from gas sensors response is measured and defined into parts per million (ppm) and percentage level. To verify e-nose discriminative ability, two parameters are used which include normal laboratory air sample and hand sanitizer air sample. Principal Component Analysis (PCA) developed the discriminant analysis models from data collection. Results obtained proved the developed e-nose is successful in purging and it is reliable to produce correct measurement with high discriminative ability.

Development of mobile robot in confined space application

Atmospheric hazards that may be present in confined space poses serious threat to human while carrying out special task in the respective location. Areas that are considered as confined space are utility tunnel, boiler, storage tank, sewage lines, man holes and underground electrical fault. Currently, there is no specific technique to replace worker in performing tasks such as collecting air sample in the confined space for hazards monitoring. Alternatively, a mobile robot which integrated with CCD camera can be used to maneuver through the environment and monitor the environment in confined space simultaneously. Therefore, this paper presents the development of the mobile robot in confined space application. Fuzzy Logic Control is implemented in the mobile robot where it allows mobile robot to function manually or automatically in completing the tasks. Furthermore, the mobile robot is also built with four wheels skid-steering driving mechanism system which provides immediate and sharp turning for obstacle avoidance. Hence, it can be proven that the mobile robot is feasible in confined space application.

Mobile robot structure design, modeling and simulation for confined space application

The atmospheric hazards that may be present in confined space pose serious threat to human while carrying special task in the respective location. Among the areas that are considered as confined space are utility tunnel, boiler, storage tank, sewage lines, man holes and underground electrical fault. Currently, there is no specific technique to replace worker for task such as collecting air sample in the confined space for monitoring the hazards. A mobile robot integrated with an electronic nose (e-nose) (i.e also called mobile olfaction) can be used to maneuver through the environment and at the same time monitor the hazards. In this paper a mobile robot structure is designed, modeled and simulated for confined space application. The mobile robot is designed to adopt four wheels skid-steering driving mechanism to allow immediate and sharp turning. The mathematical description of the robot is represented by static kinematic model. The robots rectangular structure is built using hollow rectangular mild steel bars. Simulation is done to analyse the structures stress and displacement. The analysis of the results indicates that the structure is suitable to be used for the confined space application.

Wireless electronic nose using GPRS/GSM system for chicken barn climate and hazardous volatile compounds monitoring and control

The chicken industry is the largest component in the farming industry in Malaysia. It is among the main contributors to the sources of nutrition in Malaysia. The chicken barn condition must be ideal for good growth rate of the animal. Therefore, by monitoring and controlling the temperature, humidity and hazardous volatile compounds inside the barn will ensures good animal growth. The environments parameters inside the barn are monitored by using four electronic noses (enose) that located at pre-determine area. The instrument consists of gas, temperature and humidity sensors that measure the data in real time. The instruments nodes are being link wirelessly to a base node using the internet for continuous monitoring. Data will be sent using ZigBee communication protocol to a microcontroller board (master node module). The acquired data from the nodes will be transmitted to a web page via General Radio Packet Service (GPRS). The same data will also be sent to farm owner mobile phone through short messaging system (SMS). The system will control the operation of the airconditioning system for maintaining the barn climate using fuzzy rules and PID control algorithm. The system will generate reports and patterns on the barns temperature, humidity and hazardous volatile compounds through real time monitoring using web-based system. This will enable an early indicator of the unusual barn environment condition to ensure good animal growth. Initial result shows that the system is able to monitor and control the temperature, humidity and hazardous volatile compounds inside the chicken barn by using GSM/GPRS system.

Indoor mobile robot localization using KNN

This paper describes the usage of sixteen piece 40 kHz ultrasonic sensors, known as Ultrasonic Sensor Bank (USB-16) mounted on a mobile robot platform. The Homogeneous Transformation Matrix (HTM) and trigonometric algorithm is utilized in this research as a wall mapping algorithm. The walls were designed with four types of basic shapes such as rectangle, triangle, curved and square, which are rarely tested by researchers in real time. Mapping and localization within real laboratory environment was also conducted. In this research, the USB-16 sensor bank transmitted ultrasonic signals in frequency waveform to the wall; the reflected signal was then filtered by a Nominal Wall Angle (NWA) algorithm to optimize the accuracy of the measured data. The purpose of this research is to determine the capability of USB-16 in not only providing an accurate map, but also its capability to recognize shapes and localization during mapping based on the size of walls. Next, NWA and KNN algorithm were applied in this experiment to study the accuracy of localization algorithm. This experiment had been carried out with two types of data sets, distance and coordinates. With the combination of these algorithms, the system can improve the accuracy of localization from 80% to 90% for basic wall shape and 78% for real laboratory environment. Basic Stamp, Basic Atom, LabVIEW and MATLAB software were fully utilized in the Self Localization and Mapping problem.

Laser range finder filters for mapping and localisation

In the real world, sensors are always exposes to noise and error during measurements. These problems will lead to invalid and overshoot readings, as well as blank data. Fortunately, these errors can be treated using filters. For data collection process using laser range finder, the use of filters is necessary as they can help to overcome the laser limitations and improve the scanning input. Here, this paper presents a significant work on filters towards the laser range finder data for robotic mapping and localisation purpose. Raw filter and smooth filter are chosen and they will assist the localisation algorithm adapted here in determining the accurate coordinates of mobile robot location estimation. The results show that by using the filters, location estimation have achieved 90% accuracy. At the same time, it is also shown that less processing data and faster processing speed can be achieved by incorporating the filters. As a conclusion, the raw and smooth filters are very suitable to be applied into the laser range finder data and are successful in improving the localisation accuracy.

Electronic nose sensing chamber design for confined space atmospheric monitoring

Confined space is an enclosed area with limited space to perform work such as repairs and maintenance activity. Confined space accident is related to the atmospheric hazards. The most critical atmospheric hazards are oxygen atmosphere, explosive atmosphere and toxic atmosphere. The existing method used to monitor the hazardous volatile compound is using single instrument for atmospheric testing during pre-entry activities. The hazardous volatile compound can be monitored using the integration of Electronic Nose (e-nose) and mobile robot. This work proposed the development of sensing chamber of the e-nose. The sensing chamber is to accommodate atmosphere sample to the sensors. The design is effective to facilitate good sensors response. The parameters used to determine the designed are chamber structure, material, suitable flow rate and sensors selection. Three Dimensional-Computational Fluid Dynamic (3D-CFD) flow express simulation in SolidWork software was used to analyse for optimum sample flow inside t...