Surachai Suksakulchai

Mobile robot localization using an electronic compass for corridor environment

This paper proposes a simple method for localization using an electronic compass. Electronic compasses are often used to detect the heading of mobile robots. However, electronic compasses have one drawback when used inside a building: they can easily be disturbed by electromagnetic sources (e.g., power lines) or large ferro-magnetic structures (e.g., bookshelves). However, this paper introduces another indoor application of electronic compasses. We take advantage of the magnetic field disturbances by using them as distinctive place recognition signatures. We first gather information about the changing heading as our robot travels along the hallway outside the lab, and then store this information. As the robot traverses the hallway, it gathers the information from the electronic compass and matches it with the pre-stored data. If a match is found, the robot can determine its current position. We use a sequential least-squares approximation approach for matching the signature. The simulation results will show that the robot can distinguish its location by using these signatures.

Sonar behavior-based fuzzy control for a mobile robot

This paper describes how fuzzy control can be applied to a sonar-based mobile robot. Behavior-based fuzzy control for HelpMate behaviors was designed using sonar sensors. The fuzzy controller provides a mechanism for combining sensor data from all sonar sensors which present different information. The behavior-based approach is implemented as an individual high priority behavior. The highest level behavior is called the task-oriented behavior, which consists of two subtasks, wall following and goal seeking. The middle level behavior is obstacle avoidance. The lowest level is an emergency behavior. Each behavior was built as an atomic agent based on the intelligent machine architecture (IMA). The results demonstrate that each behavior works correctly. The HelpMate robot can follow the wall, go to the goal, and avoid obstacles detected by the sonar sensors.

Interactive multimedia courseware of vowel training for the hearing impaired

This paper introduces the background, the main contents and the knowledge structure of the interactive multimedia courseware for the hearing impaired students in vowel training. This paper focuses on the basic ideas of the courseware design and development, such as the elements of teaching system, the design of system architecture, the analysis and selection of system development tool software. The development of interactive multimedia courseware for the hearing impaired was not only to minimize problems associated with the lack of education media for general courses at school for the Deaf but also to be an alternative way to supplement teaching by instructors. Therefore, this courseware was used the technique of dynamic computer graphics to establish an animation display system. It can display the relation among the basic element of the articulators. The position and the change of nose chamber, mouth chamber, toungue, pharynx, velum and lip during a speech will be shown from different profiles. These make sure that the subject with hearing impaired students can catch the accurate speech technique. The sample group consisted of 10 hearing impaired students who were studying in 9th grades at Setsatian School (Under Royal Patronage) for the Deaf. They were divided equally into two subgroup: the control group and the experimental group. Learning effectiveness was evaluated by comparing its learning results with traditional method. Based on the result of the pre-test and post-test scores using the T-test statistical method at 0.05 significant level, there appeared to be favorable progress in learning of this course for both group but the experimental group had more significantly increased learning than the control group.

Interactive virtual reality museum for material packaging study

The purposes of this research were to develop interactive virtual reality museum for material packaging. This museum was to be considered as a learning instruction resource outside class to solve the issue of insufficient time in class. The instructors encouraged learners to build up the knowledge by themselves via active learning activities. The sampling group for this study consisted of 80 second year undergraduate students studying at the Department of Printing and Packaging Technology, Faculty of Industrial Education and Technology, King Mongkuts University of Technology Thonburi. The students could access the museum by downloading the data from the internet and learn by themselves using an avatar to enter the museum. In each exhibition room of the museum for packaging, there were different kinds of packaging along with relevant information. After visiting the museum, the students needed to take a test before going out. The students had to gain at least 85% correct points. The instructors could know each students behaviors and their progress by the developed software. They could control the activities by using mouse and keyboard. Visitors activities were also recorded such as date and time of participation. The research results in this phase revealed that the students visiting the virtual reality museum for packaging on the internet showed interest and enthusiasm in learning more. Besides, the students had more time to gain training outside classroom and to learn according to their preferences everywhere and every time. It was found that most students were satisfied with the virtual reality online museum for packaging.

Virtual reality for packaging folding practice

This paper presents an application of a virtual reality for packaging folding practices. The system presented an interactive folding package practice in a virtual space. A structure of virtual paper was defined in three-dimensional (3D) virtual space and was displayed on a graphic screen. The steps of folding were controlled by the system in which students must select specific components to be folded in sequences. If they select a component correctly, the system will show the folding animation of the selected components. On the other hands, if students select a wrong component, the system will warn students and their scores will be deducted. In addition, the system will go back to the first step if students make a mistake more than 20 percents. Students can use a folding tutorial if they want to study the folding process and other information. After students pass the folding practice with the purposed system, they can try with a real structure paper. The result shows that students can fold packages more rapidly and it can use fewer papers in folding practices.

Sound localization based on a barn owl’s auditory system

The purpose of this paper was to develop a two-dimension sound localization system which can be used to localize a sound source in two dimensions, the elevation and azimuth directions. A technique used for the proposed system was based on auditory systems of barn owls. The ear systems of barn owls have special structures in which the levels of both ears are not lined up in the same level in order to distinguish elevations of sound source locations. The proposed system was tested to detect sound sources that were placed in the range of 3 meters away from the proposed system with nine different positions, upper left, upper center, upper right, middle left, middle center, middle right, lower left, lower center and lower right, in front of the proposed system. A function generator was used as a sound source in order to produce a sound of 4 kHz with soundpsilas intensity not less than 90dB measured at 1 meter away. The results showed that the proposed system was able to locate the sound sources successfully.

Work in progress - collaborative learning for Packaging Design using KM and VR

The purposes of this research were to develop online collaborative learning with the application of knowledge management and virtual reality technology for the course in packaging design in order to find solutions to the issues of insufficient time spent for instruction in classroom, resulting in lack of proper practice, and paper waste for the design, resulting in high cost. The sampling group for this study was composed of 30 third year undergraduate students studying at the Department of Printing and Packaging Technology, Faculty of Industrial Education and Technology, King Mongkuts University of Technology Thonburi. The students were divided into groups of 2-3 persons. Each member in the same group, when logged in, would enter their own working space and could see their pieces of work, which they were doing, at the same time in 3 dimension format. Each member in the same group could help one another to design the assigned packaging. They could control their packaging design by using mouse and keyboard. They could also discuss via chatting system or microphone. Their records for activity participation would be made automatically, for example, their date and time of logging in, and transcripts of their conversation. The test at the moment reveals that learners who participated in online collaborative learning showed more interest and enthusiasm in learning. Moreover, learners had more time to practice outside classroom and reduced a large waste of paper.

Battery Charger using Radiated Emission from a CRT of a Color Television Set

This paper presented an empirical result of a technique to make use of energy generated from a display, a cathode ray tube (CRT) type, of a color television set. A battery charger circuit with no external power supply, excepted from the radiated emission, was used as a testbed. The energy of the radiated emission from the CRT was trapped using an 80-83 kHz resonant circuit and converted to a DC voltage with a current of about 100-250 muA. The current was boosted up by a current booster, a circuit that uses capacitors, called storage capacitors, as energy storages. When the capacitor was charged at some point, the circuit was triggered and the energy accumulated was discharged from the storage capacitor to charge a rechargeable battery. With this technique, the charging current could be boosted up to about 2 mA with charging voltage of about 6 V. The test was performed to charge two AA-size rechargeable batteries. Each battery was discharged before recharging using the proposed circuit by placing the battery charger on the sides of a 29-inch CRT. The batteries were recharged separately for two hours each and they could be used to drive a small-toy DC motor about 2-5 minutes

Learning action models to support efficient navigation planning for unmanned ground vehicles

An effective navigation planner must have knowledge not only of the effects its actions will have, but also the effect that the environment will have on its actions (e.g. the UGV may travel more slowly over rough terrain). This is needed because the shortest path to the goal is not always the most efficient when you consider the rate of travel over the terrain. To address this issue, we have developed an approach called ERA which uses regression tree induction to learn action models that predict the effect terrain conditions will have on a UGVs navigation actions. The action models support a high level mission planner that finds efficient navigation plans consisting of way-points through which the UGV should travel. We will present results from our experiments in a simulated environment and on an RWI ATRV-Jr robot. The studies evaluate the performance of ERA in different mission scenarios with different amounts of sensor and actuator noise. Advantages of our approach include the ability to automatically learn action models, generate efficient high level navigation plans taking into account terrain conditions and transfer learned knowledge to other missions.