Indoor localization of a mobile robot using sensor fusion : a thesis presented in partial fulfilment of the requirements for the degree of Master of Engineering in Mechatronics with Honours at Massey University, Wellington, New Zealand

Reliable indoor navigation of mobile robots has been a popular research topic in recent years. GPS systems used for outdoor mobile robot navigation can not be used indoor (warehouse, hospital or other buildings) because it requires an unobstructed view of the sky. Therefore a specially designed indoor localization system for mobile robot is needed. This project aims to develop a reliable position and heading angle estimator for real time indoor localization of mobile robots. Two different techniques have been developed and each consisted of three different sensor modules based on infrared sensing, calibrated odometry and calibrated gyroscope. Integration of these three sensor modules is achieved by applying the real time Kalman filter which provides filtered and reliable information of a mobile robot's current location and orientation relative to its environment. Extensive experimental results are provided to demonstrate its improvement over conventional methods like dead reckoning. In addition, a control strategy is developed to control the mobile robot to move along the planned trajectory. The techniques developed in this project have potentials for the application for mobile robots in medical service, health care, surveillances, search and rescue in indoor environments

Melatonin Alters Age-Related Changes in Transcription Factors and Kinase Activation

Male mice were fed 40 ppm melatonin for 2 months prior to sacrifice at age 26 months, and compared with both 26 and 4 month-old untreated controls. The nuclear translocation of NF-κB increased with age in both brain and spleen and this was reversed by melatonin only in brain. Another transcription factor, AP-1 was increased with age in the spleen and not in brain and this could be blocked by melatonin treatment. The fraction of the active relative to the inactive form of several enabling kinases was compared. The proportion of activated ERK was elevated with age in brain and spleen but this change was unresponsive to melatonin. A similar age-related increase in glial fibrillary acidic protein (GFAP) was also refractory to melatonin treatment. The cerebral melatonin M1 receptor decreased with age in brain but increased in spleen. The potentially beneficial nature of melatonin for the preservation of brain function with aging was suggested by the finding that an age-related decline in cortical synaptophysin levels was prevented by dietary melatonin