Vision Based Multi Sensor Feedback System For Robot System With Intelligent

This research studies the machine vision system and how it may be integrated to assist a robot system with artificial intelligent (Al). This research focuses on building a vision based feedback system for robotics application that consists of image processor and two vision-based sensor devices. A robot manipulator controller will drive a single arm industrial robot according to the input from vision system. The feedback system also feeds the Artificial Intelligent program necessary information to make the right decision, which is based on rules of a popular game, Tic-Tac-Toe. One of the advantages of this research is that it only uses a low resolution camera and image processing software generated by the algorithms itself without additional sensors such as sonar or IR sensor. This research developed an improved technique for object recognition and space occupancies determination which not affected by the orientation of the subject. This project also implements colored object recognition technique using its color and size without edge detection process along with a self-calibration technique for detecting object location without any parameter of the camera by using only two reference points. Finally, a set of experiments to validate the proposed algorithms has been conducted. The algorithms function with success rate from 74% up to 100% and could handle the orientation of a tilted object up to 45 degrees. The result from this research may be used in manufacturing plant for a robot system equipped with machine vision and artificial intelligent

Study of the Effect in the Output Membership Function When Tuning a Fuzzy Logic Controller

This paper describes a study of tuning process for fuzzy logic controller (FLC) design. In fuzzy logic controller design, there is no systematic procedure to tune fuzzy logic controller to follow a desired set point. The tuning process of Fuzzy Logic Controllers (FLCs) using trial-and-error approach is commonly done until satisfactory results are obtained. This is usually a tedious and time-consuming task but it has been widely employed and has been used in many successful industrial applications. The performance of the system can be analyzed. If the results are not as desired, changes are made either to the number of the fuzzy partitions or the mapping of the membership function and then the system can be tested again. This paper demonstrates a faster tuning process by adjusting the mapping of the membership function to get desired output. Through identifying and analyzing what will be done on adjusting mapping of membership functions by utilizing knowledge from the experts, it will be demonstrated in this paper that the tuning process of FLCs can be easily simplified

Design and Development of Industrial Systems for Guidance and Control of Marine Surface Vessels

This paper discusses the design and development of industrial systems for guidance and control of marine surface vessels. In order to cover the large area of industrial marine guidance and control, focus has been given on the relatively high-level physical and logical design issues that dictate system capabilities, justified by a holistic view on GNC (Guidance, Navigation, and Control) systems. This project makes an effort to achieve this goal by structuring and categorizing the industrial systems and relating them to the academic framework found in the academic literature. This paper focuses on industrial methods of GNC and multi sensor monitoring system. Throughout this paper, an effort is made to relate issues, technical and safety wise to international regulations and standards in order to ensure realistic premises. The findings of this project are expected to be useful on developing remotely control self-navigated surface vessel which then could revolutionize the way of deploying and supporting underwater vehicle operation

Simulating underwater depth environment condition using lighting system design

The major obstacle faced by the underwater environment system is the extreme loss of color and contrast when submerged to any significant depth whereby the image quality produced is low. The studies can be easily done by developing the prototype that may imitate the underwater environment. In order to develop the prototype, suitable lighting system are used where it act as an imitator for underwater environment with different depth. Next the color option that use for the imitator prototype should be suitable for underwater lighting system. By using both suitable lighting system and color option for the system, this prototype might be able to produce image that can be comparable with the actual environment. The water tank is the best choice as the medium for imitating and it’s attached with the red curtain in order to create the environment without any unwanted lighting source. The underwater flood light is use for the lighting system and creates the scenery of the lighting underwater environment. The brightness of the light can be adjustable by adjusting the input voltage. In order to capture and record the image of the imitated underwater, the underwater camera and recordable receiver display is used. Lastly, since the underwater environment has noise the automatic pump is applied to create the ambient noise. The result shows that the appropriate combination of color and the brightness based on different depth it may produce the precise hue and saturation with the actual environment system

Development of Image Recognition for Underwater Vehicle Applications

This project focuses on development of algorithm for image recognition of images from vision system for underwater vehicle applications. The main objective of this project is to develop algorithm from vision system sensor for Deep Submergence Vehicle (DSV) applications which have high performance automated detection and monitoring cracks on anchored ship at its port/dock as well as moving ship. It is also expected to recognize biological underwater object to support on deck auto monitoring system. The developed algorithm will be used to recognize relevant underwater object or living thing. This paper will discuss the experimental setup as well as the prior algorithm which will be used for this research. The approach that had been used to imitate the underwater world will be presented as well as related issues on underwater vision technology. This paper also discusses the expected result of this research and potential application of the developed algorithm

Performances Evaluation and Comparison of Two Algorithms for Fuzzy Logic Rice Cooking System (MATLAB Fuzzy Logic Toolbox and FuzzyTECH)

This paper presents an evaluation of performances rice cooking system with using Intelligent Controller that is Fuzzy Logic Controller (FLC) to meet the special requirements and some limitations of the rice cooking system. A new inference scheme is given to estimate the amount of rice and water to be used, and the temperature will be controlled according to the amount of rice and the time while cooking. The FLC system is designed by using two types of simulation software which are MATLAB Fuzzy Logic Toolbox and FuzzyTECH. The results obtained from the both simulation software are given in this paper. The differences the between both simulation also will be discussed. MATLAB Toolbox gives more specific results compared FuzzyTECHsoftware. The both software meet the special requirements because is not much differ between each other

Performances Evaluation And Comparison Of Two Algorithms For Fuzzy Logic Rice Cooking System (MATLAB Fuzzy Logic Toolbox And Fuzzy Tech)

This paper presents an evaluation of performances rice cooking system with using Intelligent Controller that is Fuzzy Logic Controller (FLC) to meet the special requirements and some limitations of the rice cooking system. A new inference scheme is given to estimate the amount of rice and water to be used, and the temperature will be controlled according to the amount of rice and the time while cooking. The FLC system is designed by using two types of simulation software which are MATLAB Fuzzy Logic Toolbox and FuzzyTECH. The results obtained from the both simulation software are given in this paper. The differences the between both simulation also will be discussed. MATLAB Toolbox gives more specific results compared FuzzyTECH software. The both software meet the special requirements because is not much differ between each other

The Fuzzy Logic Approach for Modelling Object Physical Features and Holes Occupancies

Abstract— This paper introduces the fuzzy logic approach for modelling object physical features and holes occupancies. There are four major algorithms involved. They are known as coloured balls detection, holes recognition, cupboard’s holes’ position modelling and pixel coordinate system (PCS) to robot coordinate system (RCS) conversion. The inputs are received from a webcam which is not calibrated. This project introduces how to assist a robot arm system using vision system for making decision during conducting an operation or task. The system discussed in this paper had successfully tested and no camera calibration needed because the system has self calibration effect since the cupboard had modelled by the information of the holes of the cupboard and not by it environment. This system is generated in on-event processes and suitable for indoor environment applications with low time frame rate camera. This project introduces how to assist a robot arm system using vision system for making decision during conducting an operation or task. One of the advantages of this project is that it only used a camera and image processing generated by the algorithms itself without additional sensor such as sonar or IR sensor

Object with symmetrical pattern recognition with dynamic size filter

This paper presents the implementation of object with symmetrical pattern recognition algorithm for 2D vision system of 3D vision-based multi sensor feedback system. This paper also discusses the dynamic size filter developed for this system. The inputs for this system are received from a couple of webcams which is not calibrated. The project objective is to assist a robot arm system using vision system for making decision during conducting an operation or task. The solutions need no camera calibration because the system has self-calibration effect since the area of interest had modelled using a set of algorithms by an array of visible features on it and not by it environment. This system is design for on-event processes and suitable for indoor environment applications with low time frame rate camera. One of the advantages of this project is that it only used a camera and image processing generated by the algorithms itself without additional sensor such as sonar or IR sensor

Development of Lighting System for Imitating Multi Depth Underwater Light Condition

This paper describes the development of the lighting system for simulating the underwater environment at different depth. The major obstacle faced by the underwater environment system is the extreme loss of colour and contrast when submerged to any significant depth whereby the image quality produced is low. The studies can easily carry out by developing the prototype of lighting system that imitates the underwater environment. Thus, suitable lighting system with the right colour options are selected where it act as an imitator for underwater environment at different depth. By using this imitator, this prototype might be able to produce image that can be comparable with the actual environment. The water tank is the best choice as the medium for imitating and it is attached with the red curtain in order to create the environment without any unwanted lighting source or disturbances. The underwater flood light is also included and it creates the scenery of the lighting underwater environment. The brightness of the light can be adjustable by adjusting the input voltage. In order to capture and record the image of the imitated underwater, the underwater camera and recordable receiver display is used. Lastly, since the underwater environment has noise the automatic pump is applied to create the ambient noise. The result shows that the appropriate combination of colour and the brightness based on different depth it may produce the precise hue and saturation with the actual environment system