ANALASYS OF TWO LOW-COST AND ROBUST METHODS FOR INDOOR LOCALISATION OF MOBILE ROBOTS

This paper presents two simple and cost effective indoor localisation methods. The first method uses ceiling-mounted wide-view angle webcam, computer vision and coloured circular markers, placed on the top of a robot. Main drawbacks of this method are lens distortion and sensitivity to lighting conditions. After solving these problems, a high localisation accuracy of ±1cm is achieved at about 5 Hz sampling rate. The second method is a version of trilateration, based on ultrasound time of flight distance measurement. An ultrasonic beacon is placed on a robot while wall detectors are strategically placed to avoid an excessive occlusion. The ZigBee network is used for inter-device synchronisation and for broadcasting measured data. Robot location is determined as a solution to the minimisation of measurement errors. Using Nelder-Mead algorithm and low-cost distance measuring devices, a solid sub 5 cm localisation accuracy is achieved at 10Hz

Banking and Conservatisms that should be Abandoned

This paper examines the economic, psychological and social-behavioral theories of the banking in order to determine the characteristics of a successful entrepreneur. The major contribution of economic theories of the banking is better understanding of the entrepreneur and his/her role in economic development. The psychological characteristic theory banking argues that successful entrepreneurs possess certain personality traits that mark them out as special, and tries to determine and to evaluate these special traits. The social-behavioral theories stress the influence of experience, knowledge, social environment and ability to learn on the entrepreneur's success as well as his/her personality traits. Neither of the examined theories of entrepreneur gives a satisfactory explanation of the banking success, but taken as a whole, they can explain key factors of entrepreneur's success. The banking success comes about as a result of his/her personality traits, ability to learn from experience and ability to adjust to his/her environment