Optimized solutionfor image processing through mobile robots work


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Optimized solutionfor image processing through mobile robots work

  1. 1. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 – 6375(Online) Volume 4, Issue 3, May – June (2013), © IAEME140OPTIMIZED SOLUTION FOR IMAGE PROCESSING THROUGHMOBILE ROBOTS WORKING AS A TEAM WITH DESIGNATEDTEAM MEMBERS AND TEAM LEADERKabeer Mohammed,Dr.Bhaskara Reddy Ph.D(C.S)ProfessorDepartment of Computer Science and Technology.Sri Krishnadevaraya UniversityABSTRACTIn the field of Artificial intelligence Image processing And Analysis plays aMajor role in Decision making .Now a day’s Mobile robots work as a Team forspecific applications this results in efficiently managed work process..All Imageinputs are compared against backend database and decisions are made. The Wholeteam works is specified work area or sometimes spread around the country or globe.These teams can be part of any Military Installitions, Surigical Team, Surveying Teamor part any teaching Staff. This Research paper is about how to enhance imageprocessing/Analysis through Mobile robots. This research paper compares ImageProcessing by multiple robots working together but not as a team with same mobilerobots working as team with designated team members and team leader. In thisdangerous situations quick Decision making makes the difference between Hit andMiss this can also results in Day to day tasks performed by Mobile robots Successfulor Failure.Keywords: Team, Mobile Robots, Image analysis, Global Team.INTERNATIONAL JOURNAL OF COMPUTER ENGINEERING& TECHNOLOGY (IJCET)ISSN 0976 – 6367(Print)ISSN 0976 – 6375(Online)Volume 4, Issue 3, May-June (2013), pp. 140-148© IAEME: www.iaeme.com/ijcet.aspJournal Impact Factor (2013): 6.1302 (Calculated by GISI)www.jifactor.comIJCET© I A E M E
  2. 2. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 – 6375(Online) Volume 4, Issue 3, May – June (2013), © IAEME141INTRODUCTIONDue to Application of Mobile robots in Diversified Fields theircontrol,coordination among RobotsPlays a Vital role in Decision making to complete anyassigned task .Now a day’s Mobile Robots are applied in various fields likeMilitary,Medical, Aeronautics etc and Decisions are taken after processing input which can inthe form of images entering through its Cameras or Audio input, and through manytypes of Sensors. This input is compared against already existing knowledge base thisknowledge base some time is centralized and all mobile robots connect it through wireor wireless in either case Input need to processed very quickly so that Mobile robotcan Reach and execute the Decisions made Quickly and accurately.RELATED WORK1)Mobile Robots which work in an assembly line is a manufacturing process (most ofthe time called a progressive assembly) in which parts (usually interchangeable parts)are added to a product in a sequential manner to create a finished product much fasterthan with handcrafting-type methods. The Mobile robots which fall under thiscategory are applied in Automobile industry, Garment Industry, Beverages,Medical[1][3]2)Department of Defense (DoD) Robots.[2]The Mobile robots of above mentioned Progressive Assembly setup are used inAutomobile Industry. The production stops if first stage robots fails or break downstooping process flow resulting in Production, Wastage of resources [2].these robotsare used in Defense Field.1. Problem DescriptionThe above mentioned robots which are working in Progressive Assembly setup.In this type of setup the output of first mobile robot is feed as input to the next oneand so on. The mobile robots are inter-dependable on each other[7][6]. If Due to anyreason if the first Mobile breakdown then all following mobile robots will be uselesswhich results in Wastage of Time[8], Resources and hit on Production. This same isapplicable to any mobile robot break down effects on downstream mobile robotsResults in more Idle time for Robots[7] .This setup is suitable for Non- criticalapplication. Where Decision making is critical this approach may not be best suited[1],[2],[3].a. Wastage of time.[1][6]b. Mobile idle time will increase, Resources are not utilized fully [1]c. Not suitable for critical time sensitive Production lines [1][2][7]d. Inefficient in Decision making.[1][2]
  3. 3. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 – 6375(Online) Volume 4, Issue 3, May – June (2013), © IAEME142The problem is we have performance degradation using previous methodologies.The conventional robots use method 1 in which every input is dependable on previousstage makes the whole process more inter-dependable that any upstream failures willresult in Down Stream breakdown also [1].Suggested SolutionOur solution provides setting all mobile robots in Team leader and teammembers Format. There will be one designated robot which will Team leader who willmaintain and monitor remaining mobile robots. All remaining Mobile robots willwork as Team members. The team lead robot will first look at Total data to processedand divide the work load into 5 equal parts this division is based on number ofmember robots. Team lead robot maintains Starting and Ending Relative recordnumber of each assigned work load. In This method Member objects are not inter-dependable and failure of one will not affect other members and also does notnegatively effect on Production or Production time[8]. If any Team member fails theteam leader which is monitoring all members will assign that work to other memberwho has completed his part of work this way we are able to utilize resources to fullextent. Decision making capability is done by Team leader robot. Our method hasmany benefits such as:1. Increased decision making capability.2. Full utilization of Resources.3. Increase in number of Images Processed.4. Increase in Error handling Capability.5. Increase in Team co-ordination and better results.The below flow chart explains the Bhaskara & Abuhamza-Shereen MethodWhatever is suggested Is explained in detailed flow how Input images are processedand how Mobile robotsWork in Team lead and Team member format.You can also See How Teamleader TM1 Mobile Robot Monitors and Maintains other Member Robots.
  4. 4. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 – 6375(Online) Volume 4, Issue 3, May – June (2013), © IAEME143Figure 1: Flow chart for Bhaskara & AbuHamza –Shereen Method
  5. 5. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 – 6375(Online) Volume 4, Issue 3, May – June (2013), © IAEME144Performance MeasurementsProgressive Method Vs Bhaskara &Abu Hamza-Sheern MethodTable 1 :Performance measurement of 2 Methods.Method 1 Method 2(Progressive Method)Input 60 MillionBarcodes ScannedImagesImage processingThrough AssemblyMethod.Recommended Bhaskara& Abu Hamza -ShereenMethod.Decision MakingCapability2 Minutes from timeImage(Barcode) is Firstscanned. If first RobotBreaks down Processingtimes Goes down1 minute from the timeImage (Barcode) is FirstScanned. If any robotbreaks down its work willbe distributed. Mobilerobots Process Imagesparallel.Average Time for ImageProcessing18 Minutes for Processing30 Million Images WithAssumption That that allmobile robots won’t breakor error out.10 Minutes for Processing30 million Images.Message Loss orResource AllocationAround 1 time Resourcelock or Object Lock forevery 1.5 MillionImages.If any of RobotsBreaks down HumanIntervention is neededResults In Switch time,Other Depended Mobileidle time.Resource lock or ObjectLock for every 2.7 MillionImages. Record locks areresolved by Lead Robot byscheduling and monitoring.Number of Comparisons 35 Millions this IncludesDuplicate ImagesAround 38 MillionComparisons.Assumptions and calculations1) Input 30 millions Images (Barcodes) are converted into a DB2/400 file. This is done byextracting the barcode image contents Through Translator this Table is created with columnslike barcode, shipper number, service type, destination terminal, delivery exceptions etc.2) RPG language was used connect to db2/400 Database Located in Canada and is used tosimulate 2 Methods.3) Method I is simulated by set of programs written ILERPG/400 which read Barcodes anddepending on business rules will populate output files. This process does not have Monitorprocess. Whatever is processed by first program is read by second program and so on. If firstProgram end up in error human intervention is needed and all other program process will behalted till first program begins to run again.
  6. 6. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 – 6375(Online) Volume 4, Issue 3, May – June (2013), © IAEME1454) Bhaskara &Abu-Hamza, Shereen Method are simulated by programs written in ILERPGLanguage on AS/400 system. This program is supported by monitor program whichmaintains and monitors starting and ending Relative record numbers of the work loads of allMember mobile robots and in case if any of members fails or breaks down the Monitorprogram will reassign that work load to other member how is done processing it’s assignedwork load.The method which I am suggesting exhibits parallel processing. In case the Team lead roboterrors out the monitor program will resubmit another program which is capable of monitoringother remaining Member robots.5) If scanned images did not make it to Output file by predetermined time then there isanother program which calculates time taken for input image to get processed and make it tooutput file and in case that time is missed then we generate an alert message. This willmeasure time between Input obtained and processed download. Same formula is used tomeasure 2 Methods.Files DeclarationFigure 2: File DeclarationData Structure DeclarationFigure 3: Data Structure DeclarationFIMGINPUT IF E K DISKFRENAME(SCANNED:IMPINP30)FProcessfile IF A E KDISK Prefix(scn)Compile UF E K DISKFRouting O E DISKDownload UF A E K DISKD DSD Barcode 1 14 0D Location 1 4 0D Destination 7 14 0D Barcode Type 1 3 0
  7. 7. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 – 6375(Online) Volume 4, Issue 3, May – June (2013), © IAEME146Figure 4: Relative Record Number Assignment Code. In this code each robot is assignedequal work load.Do while %notEof(IMGPF030)if IMGSCAN = Yor IMGFOUND = Yor NOTINARRAY = Yor ROUNTINGS = YRRN=0;For I RRN to 60000 Step 1Eval MR1RRN=RRN+1;Endfor;Eval RRN1=MR1RRN;For I RRN1 to 120000 Step 1Eval MR2RRN=MR2RRN+1;Endfor;Eval MR3RRN=MR2RRN;For I MR3RRN to 180000 Step 1Eval MR3RRN=MR3RRN+1;Endfor;For I MR3RRN to 240000 Step 1Eval MR3RRN=MR3RRN+1;Endfor;EVAL MR4RRN=MR3RRN;For I 1 to 60000 Step 1Eval MR4RRN=MR4RRN+1;Endfor;on-error 01021EndifEnddo.
  8. 8. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 – 6375(Online) Volume 4, Issue 3, May – June (2013), © IAEME147Figure 5: Image Processing jobs Running as a Team with Team Lead (TM1_MON) andTeam Members (MR1-MEM1, MR2-MEM2, MR3-MEM4CONCLUSIONSThe objective of this paper is to prove that mobile robots when organized as a teamwith designated team lead and designated team members will take care of any task assignedin timely and highly efficient way with less resource consumed when compared to sameteam of mobile robots which work as a team but without designated team lead and teammembers.Future WorkMy future work deals with How to Make Mobile Robots communicate more efficiently.AcknowledgementsI thank my guide Dr. Bhaskara Reddy, Associate Professor in the department ofcomputer Science and technology at Sri Krishnadevaraya University. I thank my colleagueMohamed Farag, Post graduate student in Maharishi University of Management in Iowa. Ithank my parents, my wife and my son for their great support.
  9. 9. International Journal of Computer Engineering and Technology (IJCET), ISSN 0976-6367(Print), ISSN 0976 – 6375(Online) Volume 4, Issue 3, May – June (2013), © IAEME148REFERENCES1)http://robotics.iiit.ac.in/?n=Research.MobileRobotics2)Military Robot http://www.faculty.rsu.edu/users/c/clayton/www/sasnett/paper.htm3) http://www.iri.upc.edu/research/mobile_robotics4)http://www.eetimes.com/design/industrial-control/4013686/Enhancing- automotive-manufacturing-with-robots5) http://www.industryweek.com/robotics/industrial-robotics-expands-beyond- automotive-industry6)http://www.robotics.org/content-detail.cfm/Industrial-Robotics-Feature-Article/Robots-in-Aerospace-Applications/content_id/35917)http://www.wtec.org/robotics/report/05-Industrial.pdf8)ftp://ftp.cc.gatech.edu/pub/people/arkin/archive/00059355.pdf9)http://www.ndu.edu/es/programs/academic/industry/reports/2011/pdf/icaf-is-report-robotics- autonomous-systems-2011.pdf10)http://robotics.usc.edu/~maja/teaching/cs584/papers/JenningsKirkwoodWatts98.pdf11)http://cres.usc.edu/pubdb_html/files_upload/50.pdf12) Mr.J.Rajarajan and Dr.G.Kalivarathan, “Influence of Local Segmentation in the Contextof Digital Image Processing – A Feasibility Study”, International Journal of ComputerEngineering & Technology (IJCET), Volume 3, Issue 3, 2012, pp. 340 - 347, ISSN Print:0976 – 6367, ISSN Online: 0976 – 6375.