Cooperative Consensus Simultaneous Localization And Mapping For Multi Blimp System

Navigation in an ocean environment with few static features and dynamic water background is an adventurous field to be explored by multi-agent system. This is because of its non-uniform availability of measurement on the ocean surface since the spatial feature distribution is greatly varied. Thus, it is desirable to design a cooperative localisation and mapping framework that is capable to handle spurious detection, reduce the localisation uncertainty of an agent and achieve fast and good decision. The main objective of this research is to design a cooperative simultaneous localisation and mapping method for multi blimp system involving the dynamic water surface as the background and small flock consensus as the group decision method. A new cooperative framework for the multi blimp system consisting of three blimps and buoys was developed and designed for this purpose. The simultaneous localisation and mapping were designed by integrating three methods which are the Extended Kalman Filter, the enhanced Scale Invariant Feature Transform and Received Signal Strength Indicator to improve the data association process. The group perception of direction based on small flock of animal consensus was taken into the data association process. It was discovered that this cooperative consensus simultaneous localisation and mapping was able to reduce the number of feature points and detect the desired features in clear and dark water environments. In addition, based on cooperative consensus benchmarking, this method was able to achieve faster consensus to up to 8.3 % and 42 % than the scale free model and klemm-eguilez model respectively. On top of these, its heading accuracy was found to be more accurate to up to 30 % and 76 % than the scale free model and klemm-eguilez model respectively. Overall, the proposed approach has achieved its prominent results and it is proven to be significantly reliable and applicable to be implemented in the ocean observation monitoring system

Robust blimps formation using wireless sensor based on Received Signal Strength Indication (RSSI) localization method

This paper suggests the wireless communication technique used to determine the information of blimp localization (distance and orientation) via wireless sensor network (WSN) protocol. In cooperative decentralized system, information exchanges between the agents are crucial. Each agent is required to share data to enable individual decision making task. In this work, the WSN were used as the data communications protocol which provides robust communication using the mesh networking. In order to support the multi agent communication network, the reliability of data needs to be proved. The performances of the communication selection were studied through experimental and simulation approach. The experimental results showed that the RSSI value from the device provided good statically data fit using the R-square with value of 0.947. This paper also proposed a new mobile node arrangement with hexagonal anchor node arrangement based on water particles formation. The node arrangement was simulated using the Senelex™ and showed low absolute error position thus achieving the desired cooperative system requirement

Depth control of autonomous underwater vehicle using discrete time sliding mode controller

This study presents a Discrete Time Sliding Mode Controller (DSMC) application on depth plane of Autonomous Underwater Vehicle (AUV). The main contribution on this work is an implementation of DSMC on NSP AUV II. Sliding Mode Control (SMC) is a robust type of controller and certainly suitable for controlling AUV in the presence of environmental disturbances and uncertainties. DSMC preserves the properties of standard SMC. Linearized dynamic model of NSP AUV II is used in the numerical simulations. Discrete Proportional Integral Derivative (PID) controllers are used for performance comparative analysis. The design of discrete PID and DSMC for NSP AUV II depth is described. Comparative study between the control laws is presented. The simulated results illustrate strong robustness, improve performance and satisfactory stability of DSMC as compared to discrete-time PID controller

The design of F-CMS: A flexible conference management system

Conference management system (CMS) is designed to help the conference committee manages a conference well.The CMS which is available in market nowadays provides a well managed pre-conference function such as paper reviewing, paper submission, and participant registration system.However, payment module is not given priority by the existing CMS. This study argues that the payment management is importance ant to simplify the payment process, avoiding the unpaid paper being published in the proceeding. Also the conference committee can easily calculate the conference profit when the event ends. However, CMS is inflexible handling certain cases such as in case authors are unable to pay the fee before the conference day but need to submit the camera ready.Hence, this paper attempts to explain the design of a flexible conference management system (f-CMS).f-CMS is developed using RAD approach. It also includes the registration module during conference day.This paper presents the review of literatures and the early stages of the development of f-CMS

Computational Approaches Based On Image Processing for Automated Disease Identification On Chili Leaf Images: A Review

Chili, an important crop whose fruit is used as a spice, is significantly hampered by the existence of chili diseases. While these diseases pose a significant concern to farmers since they impair the supply of spices to the market, they can be managed and monitored to lessen their impact. Therefore, identifying chili diseases using a pertinent approach is of enormous importance. Over the years, the growth of computational approaches based on image processing has found its application in automated disease identification, leading to the availability of a reliable monitoring tool that produces promising findings for the chili. Numerous research papers on identifying chili diseases using the approaches have been published. Still, to the best knowledge of the author, there has not been a proper attempt to analyze these papers to describe the many steps of diagnosis, including pre-processing, segmentation, extraction of features, as well as identification techniques. Thus, a total of 50 research paper publications on the identification of chili diseases, with publication dates spanning from 2013 to 2021, are reviewed in this paper. Through the findings in this paper, it becomes feasible to comprehend the development trend for the application of computational approaches based on image processing in the identification of chili diseases, as well as the challenges and future directions that require attention from the present research community.&nbsp

Design and development of portable RFID for attendance system

This paper describes an ongoing project for recording examination attendance using Radio Frequency Identification (RFID).The project is carried out to test in a university, where the system which is named Portable Examination Attendance System (PEAS) is integrated with the existing system for record extraction.The use of RFID technology enables the university management to avoid attendance forms from damages such as tear, lost, and misplaced. This paper describes about the design and development of PEAS in terms of hardware technology and software. In addition, some related works are reviewed and addressed to support this project.As a conclusion, this paper states some future works of this project

Robust nonlinear liquid level control of a coupled-tank system using backstepping integral sliding mode control

This paper presents the formulation of nonlinear robust control that integrates backstepping and integral sliding mode control strategies for controlling liquid level in a two-tank system. In the classical sliding mode control, a discontinuous control law is synthesized to drive the system state to the sliding surface in a finite time and maintain it thereafter on that surface. The technique is naturally suited for the tracking of controlled systems, such as liquid level control inside two-tank system. However, the effects of the discontinuous nature of the control, known as the chattering phenomenon is harmful because it leads to low control accuracy and high wear and tear of moving mechanical parts. The hybrid control preserves the main advantages as it is reduced the chattering effect and provide higher accuracy in realisation of the control system. The performance of the proposed controller is simulated using MATLAB/Simulink software which tested for nominal system, system with external disturbance and system with parameter variation. The performance of proposed controller is compared against the performance of backstepping sliding mode control and integral sliding mode control in terms of chattering reduction and steady state error. The simulation results have shown that the proposed controller has improved the output tracking performance better than the performance backstepping sliding mode control (BSMC) and integral sliding mode (ISMC) with ISMC shows slowest respond. Undesired chattering in sliding surface has been reduced

Non-Destructive Oil Palm Fresh Fruit Bunch (FFB) Grading Technique Using Optical Sensor

This research discover the uniqueness of physical and optical characteristics of the oil palm Fresh Fruit Bunches (FFB). The goal is to determine the level of ripeness of the oil palm FFB by creating a non-destructive and real-time oil palm FFB grading systems. This grading system are a solution to automate the current grading process in order to provide more accurate and reliable results. Apart from that, the costs, labor and time consume will also be reduced. In Malaysia, the grading of oil palm FFB are still performed manually by observing the surface color as the main quality attribute. This project explore the chlorophyll content in oil palm and use its characteristic as a level selector to classify the degree of oil palm FFB ripeness. In this case, the level of ripeness are divided into three categories which is unripe, ripe and over-ripe. There are several phases involve in the non-destructive oil palm FFB grading system using optical sensor. First phase is the determination of reflectance data for all three classes of the oil palm FFB. This will be determine by using a light sources with 670 nm wavelength. The light sources will emitted a projection of light that will illuminate the skin of the oil palm FFB. The reflected light will be received by the optical sensor and the reflectance value are obtain. Last phase is the analysis of the data obtained by using statistical analysis. The expected outcome of this project is to study and understand the process of using LED and optical sensor as the data collecting method to determine the level of ripeness of the oil palm FFB