Sistem penglihatan optik untuk aplikasi robotik dan automasi.

An image ocquisition system, which is used to capture 2-D images of object/scene for 3-D image reconstruction, was developed based on triangulation technique

USM Mini Remotely Operated Vehicle: Vehicle Development & Integration.

This paper describes the development of vehicle design and hardware integration of the Mini remotely Operated Vehicle developed by members of USM Robotics Research Group

Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system for the analysis of the terrain. The vision system developed is capable of interpreting underwater scene by extracting subjective uncertainties of the object of interest. Subjective uncertainties are further processed as multiple inputs of a fuzzy inference system that is capable of making crisp decisions concerning where to navigate. The important part of the image analysis is morphological filtering. The applications focus on binary images with the extension of gray-level concepts. An open-loop fuzzy control system is developed for classifying the traverse of terrain. The great achievement is the system's capability to recognize and perform target tracking of the object of interest (pipeline) in perspective view based on perceived condition. The effectiveness of this approach is demonstrated by computer and prototype simulations. This work is originated from the desire to develop robotics vision system with the ability to mimic the human expert's judgement and reasoning when maneuvering ROV in the traverse of the underwater terrain

Human Motion Tracking And Analysis Via Point Tracking Technique.

The main objective of this paper is to present a two-dimensional vision system for human gait motion analysis and provides pertinent information on human walking parameters

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

Power-Effective Vedic-Hierarchical Multiplier

The motivation of this project is to design a power effective multiplier without having much drawback in term of time constraint and area utilization. This is due to the overall power dissipation which increases in direct proportion to the increase in power density. The area and time constraint are considered as pertinent design parameters with the increase in market demand for high performance and complex portable systems. The current hierarchical multiplier designs suffer on long critical path and large area utilization. These parameters caused the hierarchical multiplier design to be less effective in term of power saving. The objective of this research is to reduce overall power dissipation and ensure that the multiplier achieve timing requirement. This paper proposes the design 1 by using two 4-bit Binary-to-Excess-One Converter (BEC) instead of an 8-bit BEC. The BEC reduce the critical path and cause low power dissipation. Design 2 which is implementation of Carry Select Adder (CSlA) with tristate buffer is to reduce logic elements. The power dissipation is reduced because of the decrease in the number of logic elements which leads to the lower number of logic gates. Both advantages of design 1 and design 2 are combined to become design 3. Design 3 is the lowest power dissipation design because it consists of the lowest number of logic elements and the shortest critical path. The timing requirement for all designs are met as shown by the positive slack time of 9.034 ns, 8.686 ns and 9.404 ns respectively. The power dissipation of the combinational multipliers designs have been improved to 60.96%, 60.89% and 61.02% respectively

Visual Servoing With Application To ROV For Ship Hull Inspection.

A novel method for surface tracking for ship hull inspection is presented. The proposed method is based on the USM-ROV visual surface tracking

Design And Development Of An Autonomous Underwater Vehicle Test-Bed (USM-AUV I).

In this paper, the development of an underwater robotic vehicle is described. The description includes the mechanical and controller design, and the sensor integration