Encoderless position estimation and error correction techniques for miniature mobile robots

This paper presents an encoderless position estimation technique for miniature-sized mobile robots. Odometry techniques, which are based on the hardware components, are commonly used for calculating the geometric location of mobile robots. Therefore, the robot must be equipped with an appropriate sensor to measure the motion. However, due to the hardware limitations of some robots, employing extra hardware is impossible. On the other hand, in swarm robotic research, which uses a large number of mobile robots, equipping the robots with motion sensors might be costly. In this study, the trajectory of the robot is divided into several small displacements over short spans of time. Therefore, the position of the robot is calculated within a short period, using the speed equations of the robot's wheel. In addition, an error correction function is proposed that estimates the errors of the motion using a current monitoring technique. The experiments illustrate the feasibility of the proposed position estimation and error correction techniques to be used in miniature-sized mobile robots without requiring an additional sensor

Development of a bio-inspired vision system for mobile micro-robots

In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control

Frequency shifting approach towards textual transcription of heartbeat sounds

Auscultation is an approach for diagnosing many cardiovascular problems. Automatic analysis of heartbeat sounds and extraction of its audio features can assist physicians towards diagnosing diseases. Textual transcription allows recording a continuous heart sound stream using a text format which can be stored in very small memory in comparison with other audio formats. In addition, a text-based data allows applying indexing and searching techniques to access to the critical events. Hence, the transcribed heartbeat sounds provides useful information to monitor the behavior of a patient for the long duration of time. This paper proposes a frequency shifting method in order to improve the performance of the transcription. The main objective of this study is to transfer the heartbeat sounds to the music domain. The proposed technique is tested with 100 samples which were recorded from different heart diseases categories. The observed results show that, the proposed shifting method significantly improves the performance of the transcription

Real-time segmentation of heart sound pattern with amplitude reconstruction

This paper presents a new idea for real-time segmentation of heart sound using amplitude reconstruction. Biomedical signal processing usually uses recorded information as the inputs. Real-time processing systems are challenging fields of engineering including biomedical signal processing. Segmentation of heart sound means that, system receives an audio stream and it separates the given signal into cycles that includes heart sound pulses, first and second heart sound. For implementing real-time heart sound segmentation, a fast method with low complexity is required. In the proposed system, the heart sound is filtered on frequency domain, and then it is processed on amplitude domain to extract the cycles. Although this technique is implemented without any complex calculation such as Furrier or wavelet transforms, the absorbed results showed its feasibility as a real-time segmentation method

Colias-Φ: an autonomous micro robot for artificial pheromone communication

Ants pheromone communication is an efficient mechanism which took inspiration from nature. It has been used in various artificial intelligence and multi robotics researches. This paper presents the development of an autonomous micro robot to be used in swarm robotic researches especially in pheromone based communication systems. The robot is an extended version of Colias micro robot with capability of decoding and following artificial pheromone trails. We utilize a low-cost experimental setup to implement pheromone-based scenarios using a flat LCD screen and a USB camera. The results of the performed experiments with group of robots demonstrated the feasibility of Colias-Φ to be used in pheromone based experiments