The paper presents an approach for controlling a linefollowing robot using artificial intelligence algorithms. This study aims to evaluate and validate the design and implementation of a competitive ...line-following robot based on multilayer neural networks for controlling the torque on the wheels and regulating the movements. The configuration of the line-following robot consists of a chassis with a set of infrared sensors that can detect the line on the track and provide input data to the neural network. The performance of the line-following robot on a running track with different configurations is then evaluated. The results show that the line-following robot responded more efficiently with an artificial neural network control algorithm than with a PID control or fuzzy control algorithm. At the same time, the reaction and correction time of the robot to errors on the track is earlier by about 0.1 seconds. In conclusion, the capabilities of a neural network allow the line-following robot to adapt to environmental conditions and overcome obstacles on the track more effectively.
Abstract
A robot is a machine which is programmed by a computer and the movements and functions of which are controlled by an external or an embedded control. It has dynamic uses in all domains of ...life. A robot in a university setting can be used as an attender for passing circulars around instead of multiple attenders doing the task manually which is a cost and time consuming process. Parents often find it difficult to navigate through the unfamiliar university. In this paper, we have focused on a voice based attender robot with line following capabilities along with speech recognition that can be used at universities for a variety of purposes like passing around the circulars, interacting with parents and helping them navigate through the university through Spoken Natural Language. The main objectives of the proposed work is to reduce the burden of passing circulars, calling a student/faculty on the attender by designing a robot that is also competent enough to connect with human through spoken natural language such as English or Kannada, so that it interacts with parents who are new to the institution and do not know whom to approach. The main aim of this work is to introduce a robot that it is able to interact with human through the Spoken Natural Language. Here, the focus is on two languages; English and Kannada. This system uses a voice recognition module to recognize human voice and a voice playback module is used to reply back in either English or Kannada according to the user’s command. It can work in two modes, the voice recognition mode to answer to user queries or in line following mode to pass circulars, call student/faculty. In this way, the voice based attender robot finds its applications in the university setting. But it is not limited to only universities. It can also be further implemented in places like railway stations, bus stations, big factories and other similar surroundings.
Human-Inspired Control (HIC) holds promise for endowing machines with human-like cognition, decision-making, and adaptability. In this study, we employ a fusion of cognitive modeling, machine ...learning, and control theory as the foundational architecture and empirically validate its suitability for robot control within the realm of HIC. Fuzzy logic stands out as a viable approach for HIC control, wherein control rules can be devised drawing from human intuitive inspiration. Specifically, this study explores similarity inference control systems in robotics, with the objective of enhancing line-following control as an alternative to fuzzy systems. The experimental optimization results provide insights into the advantages and limitations of the similarity inference control system. Despite achieving performance comparable to that of traditional two-stage fuzzy control systems, careful consideration of noise sensitivity is paramount. While the similarity inference approach streamlines implementation and obviates the necessity for expert-designed fuzzy rules, its susceptibility to noise can compromise performance, particularly in noisy environments. These considerations are pivotal for the development of control systems aimed at mitigating noise sensitivity, enhancing task-specific performance, and ensuring the adaptability and robustness of line-following robots. To tackle this challenge, we both discuss and experimentally evaluate potential solutions and their applicability in this paper.
•The study focuses on integrating cognitive modeling, machine learning, and control theory in HIC, exploring methods like fuzzy logic.•It delves into robotics’ similarity inference control systems, optimizing line-following, tackling noise susceptibility, and suggesting enhancements via sensor data and machine learning.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UILJ, UL, UM, UPCLJ, UPUK, ZAGLJ, ZRSKP
Araştırmanın amacı, sesli okuma yaparken parmakla satır takibinin ilkokul öğrencilerinin okuma hızına etkisini incelemektedir. Araştırmada niceliksel tarama modeli kullanılmaktadır. Bu çalışmanın ...evrenini Yozgat ili Boğazlıyan ilçesinde öğrenim gören ilkokul öğrencileri oluşturmaktadır. Çalışmanın örneklemini Yozgat ili Boğazlıyan ilçe merkezinde bir devlet okulu ve Yozgat ili Boğazlıyan ilçesi Yamaçlı kasabasında bulunan bir devlet okulunun 367 ilkokul öğrencisi oluşturmaktadır. Veri toplama aracı olarak, ilkokul ikinci sınıf Türkçe çalışma kitabından “Gökyüzü Macerası” başlıklı metin kullanılmıştır. Veriler, her sınıf seviyesindeki öğrencilerden bir dakikada okudukları kelime ve harf sayıları not edilerek elde edilmiştir. Aynı zamanda öğrencinin satırı parmakla takip etme veya satırı parmağıyla takip etmeme durumu gözlenerek kaydedilmiştir. Araştırma sonucunda, sesli okuma yaparken gözle satır takibi yapan ilkokul öğrencilerinin bir dakikada 74,32 kelime okuduğu tespit edilmiştir. Sesli okuma yaparken parmakla satır takibi yapan ilkokul öğrencilerinin bir dakikada 60,12 kelime okuduğu anlaşılmaktadır. İlkokul öğrencilerinin sesli okuma yaparken parmakla satır takibi yapması, sesli okuma hızını %19 oranında yavaşlatmaktadır. Bağımsız gruplar için t testi sonucunda, sesli okuma yaparken gözle satır takibi yapan ilkokul öğrencilerinin bir dakikada okuduğu kelime sayısı ile sesli okuma yaparken parmakla satır takibi yapan ilkokul öğrencilerinin bir dakikada okuduğu kelime sayısının birbirinden anlamlı olarak farklılık gösterdiği anlaşılmaktadır, t366=3,52, p
The aim of the study is to examine the effect of finger line tracking on reading speed of primary school students while reading aloud. Quantitative screening model is used in the research. The universe of this study consists of primary school students studying in Boğazlıyan district of Yozgat province. The sample of the study consists of 367 primary school students from a public school in Boğazlıyan district center of Yozgat province and a public school in Yamaçlı town of Boğazlıyan district in Yozgat province. As a data collection tool, the text titled “Sky Adventure” from the primary school second grade Turkish workbook was used. The data were obtained by noting the number of words and letters read by students at each grade level in one minute. At the same time, the student's following the line with his finger or not following the line with his finger was observed and recorded. As a result, it is seen that the students who follow the lines with their eyes while reading aloud read 74.32 words in one minute. It is understood that the students who follow the lines with their fingers while reading aloud read 60.12 words in a minute. The fact that primary school students follow lines with their fingers while reading aloud slows down the reading speed by 19%. As a result of the t-test for independent groups, it is understood that the number of words per minute read by primary school students who follow lines with their eyes while reading aloud and the number of words read per minute by primary school students who follow lines with their fingers while reading aloud, t366=3.52, p
This article considers visual servoing-based motion control of multirotor unmanned aerial vehicles. We employ output feedback and image-based visual servoing to control the vehicle's pose with ...respect to a static planar visual target with a linear structure (e.g., electric transmission lines or pipelines). The method uses measurements from inexpensive sensors typically found on-board: an inertial measurement unit, and a monocular computer vision system. Unlike existing work, it does not require linear velocity, position measurements, or an optical flow sensor. The method directly controls the relative pose to the visual target and does not require global navigation satellite system measurements of the vehicle or target. The visual servoing method ensures the vehicle flies centered above the lines at specified height and yaw. Such motion control is important in a number of applications such as efficient data collection for infrastructure inspection. Our article exploits the inherent robustness of an image-based approach where feature error is computed directly in the image plane. A virtual camera is combined with output feedback and convergence of the closed loop is proven. The method is adaptive to vehicle mass, thrust constant, desired depth, and a constant disturbance force. Simulation and experimental results illustrate the method's performance and robustness to model uncertainty.
Design of mobile robots has become an increasingly growing trend in the technology of modern times. They are very attractive engineering systems, not only because of many interesting theoretical ...aspects concerning kinematics, intelligent behavior and autonomy, but also because of applicability in many human activities. A typical example is the line following robot (LFR). In order for a LFR to function effectively, it must demonstrate excellent line tracking control. This is achieved by having accurate and responsive control algorithms as well as high precision color sensor systems. This paper proposes a system to show that good line tracking performance can be achieved with moderately simple digital control algorithms. The platform used is a differentially driven wheeled robot constructed using the Lego Mindstorms components. The simulation models are presented and analyzed using MATLAB Simulink. The main programming environment is the EV3 Software.
Mobile robotic systems offer valuable test platforms due to their shared features with autonomous vehicles, including features such as sensor technologies, navigation algorithms, and control systems. ...However, constraints in laboratory environments or technical resources, along with the need for extensive testing, often necessitate the use of virtual test laboratories. While line-following is a widely preferred application in mobile robotics, research on this topic within virtual laboratories is limited. This study pioneers the use of a car-like robotic vehicle in conducting line-following tests within a virtual laboratory environment. To facilitate these tests, a virtual simulator was developed to meet the requirements of realistic simulations. This simulator includes simulated elements, such as roads and environmental features, along with virtual sensors designed to collect and process dynamic motion data. An exceptional aspect of this study is its ability to collect consistent dynamic travel data by sampling realistic sensor information within a virtual environment. The developed line-following algorithm employs a controller to minimise lateral deviation while the robotic vehicle follows a road line during its movement. The study conducted virtual driving tests using two different manoeuvre modes on four distinct road segments, exploring how the manoeuvring style influences the driving quality. It was demonstrated that in the low manoeuvre mode, the ride is more comfortable, but exhibits a greater route deviation due to reduced oscillation, while the high manoeuvre mode exhibits the opposite behaviour.
This study describes the development of a line follower robot for a surveillance camera monitoring system. An effective closed loop control fuzzy logic algorithm is used to constantly correct wrong ...movements of the mobile robot using a feedback mechanism. The robot senses a black line on a white surface and endeavors itself accordingly to follow the track. A manual navigation system has also been designed to overrule the automatic navigation control of the robot to reposition itself back on the track whenever it strays from the path unintentionally. The fuzzy controller algorithm is an advanced method to ensure the line follower robot moves accurately on the track. It is a replacement control technique of traditional switching method. To fuzzifying the digital input data of four infrared sensor that detecting the line, the data is converted into error and delta error that represent the current and previous position of the robot relative to the line that it follows. There are nine base rules that have been created with two inputs which are error and delta error to the robot direction whether to go to the right, move forward or to the left. Then, for defuzzification, center of sum and centroid of area method have been used to calculate the defuzzied value using trapezium area formulae. Based on the comparison between both control techniques, it is found that the line following surveillance robot with fuzzy logic controller works faster than conventional switching method to complete the same task with the average oscillation length using the fuzzy logic controller is reduced to half.
Indoor Industrial Monitoring System Sasikala, Dr.G.; Sathya, S.Siva
International journal of engineering and advanced technology,
09/2019, Volume:
8, Issue:
6s
Journal Article
Open access
Remote Monitoring in industries is most necessary criteria to raise production, profitability, availability of plant and for safeguarding health of the machines. Industries stand in need more man ...power to monitor; some occasion in faraway of technician it may occur abnormal condition. The system discussed here presents an alternative approach which consists of a robot capable of moving on its own and it has ability to gain information about their environment by keep on observing myriad parameters such as hazardous gas leakage, fire, variation in temperature, cracks in pipeline etc continuously in all the parts of an industrial complex to prevent catastrophic failure and can immediately convey message to central station using light fidelity (LIFI) Technology. It reduces the labor activities necessary in all industries for continuous monitoring of overall parameters using self reliant robot with aid of light fidelity (LIFI) application.
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