The document describes a proposed human detection and obstacle avoidance algorithm for a service robot. An ARM 11-based Raspberry Pi board will be used along with a USB camera and ultrasonic sensor. OpenCV will be used to detect and track humans based on body shape analysis of camera images. The ultrasonic sensor will detect obstacles and allow the robot to avoid them while continuing to track the detected human. The goal is to allow the service robot to follow and track a human while navigating around moving obstacles in an outdoor environment.
electronics engineering live projects abstracts
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Fire Detector and Extinguisher Robot is operated to detect the fire and also to extinguish it. It can be operated in two modes one is manual mode and other is autonomous mode. Manual mode is operated using joysticks and for autonomous mode there is no human intervention. In manual mode direction of the robot is controlled using joysticks, even pump is operated manually. In autonomous mode IR sensors are used to detect the fire and robot is coded accordingly to move in the direction of detected fire. In this robot has a switch which is used to switch between manual and autonomous mode.
Autonomous robots are robots that can perform tasks intelligently depending on themselves, without any human assistance. Maze Solving Robot is one of the most popular autonomous robots. It is a smallself-reliant robot that can solve a maze from a known starting position to the center area of the maze in the shortest possible time.
SIMULTANEOUS MAPPING AND NAVIGATION FOR RENDEZVOUS IN SPACE APPLICATIONS Nandakishor Jahagirdar
The project is to develop a autonomous navigation system along with mapping of the path.
A robot which senses the edges of the object in the path and move without colliding the object. This application equipped with camera as main component which captures the images and transmitted to workstation through wireless antenna.
The processing of the image is done on a workstation or computer using MATLAB-2013a. An IR ranging device, which senses any objects ahead of it and accordingly the robot change its direction to avoid any collision.
Thus we ensure that even in cases of circumstances leading to errors in the output of the image processing algorithm, a decision can be made using the input from the IR sensors.
electronics engineering live projects abstracts
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Fire Detector and Extinguisher Robot is operated to detect the fire and also to extinguish it. It can be operated in two modes one is manual mode and other is autonomous mode. Manual mode is operated using joysticks and for autonomous mode there is no human intervention. In manual mode direction of the robot is controlled using joysticks, even pump is operated manually. In autonomous mode IR sensors are used to detect the fire and robot is coded accordingly to move in the direction of detected fire. In this robot has a switch which is used to switch between manual and autonomous mode.
Autonomous robots are robots that can perform tasks intelligently depending on themselves, without any human assistance. Maze Solving Robot is one of the most popular autonomous robots. It is a smallself-reliant robot that can solve a maze from a known starting position to the center area of the maze in the shortest possible time.
SIMULTANEOUS MAPPING AND NAVIGATION FOR RENDEZVOUS IN SPACE APPLICATIONS Nandakishor Jahagirdar
The project is to develop a autonomous navigation system along with mapping of the path.
A robot which senses the edges of the object in the path and move without colliding the object. This application equipped with camera as main component which captures the images and transmitted to workstation through wireless antenna.
The processing of the image is done on a workstation or computer using MATLAB-2013a. An IR ranging device, which senses any objects ahead of it and accordingly the robot change its direction to avoid any collision.
Thus we ensure that even in cases of circumstances leading to errors in the output of the image processing algorithm, a decision can be made using the input from the IR sensors.
Thia presentation is presented by Naveed Ahmed, Rizwan Mustafa and Muzaffar Ahmad at Robot Expo in Information Technology University of Punjab, Lahore.
The objective of this project is to find the alive humans in destroyed building with the help of rescue robot in disaster prone and bomb blast areas. The alive human detection sensor is the special type of sensor which has two elements, the live body sensor and Amplifier Circuit. The passive infrared radiation emitting from the alive human bodies are sensed by the sensor and if there is a variation due to movement of alive human body, the difference output is generated. It will be amplified by differential amplifier and then the signal is fed to another amplifier unit in order to amplify the voltage level. Then the amplified signal is given to flash type reprogrammable microcontroller which controls the motor connected to the robot model. The robot moves according to the instructions provided by the operator. If the sensor detects the presence of alive human body, it forces the robot to stop there and microcontroller will activate the alarm. The driver circuit is constructed with transistor, which acts as a switch to turn ON and turn OFF alarm. Now the alarm makes the sound for the alive body indication.
Design and operation of synchronized robotic armeSAT Journals
Abstract The paper manuscript deals with the designing and implementation of Synchronized Robotic Arm, which is used to perform all the basic activities like picking up objects and placing them. In this paper, a robotic arm is designed, synchronized with the working arm and would perform the task as the working arm does. The work done by the robotic arm would be highly precise, as a digital servo motor is used. A servo motor of 230 oz-inch is used in the project, but motors with more capacity can also be used as according to the desired work. This robotic arm can also be used for precision works. For instance some work has to be done very precisely but the conditions do not suit human beings. In such conditions, this robotic arm can be used remotely and the task can be accomplished. The programming is done on ATMEGA-8 Microcontroller using Arduino programming. The potentiometers are also used to detect the angle of rotation and the signals are then sent to the microcontroller. In today’s world, this Robotic arm has turned out very benevolent. Besides Robotics and Automation, these kinds of arms have applications in other fields also. Keywords –Arduino, ATMEGA-8, IC, Potentiometers, Servo Motors
The number of natural and man-made disasters has urged search and rescue communities to seek for novel technology to search for victims. The paper proposes an approach for detecting alive human being in devastating environments. Prototype uses specific set of sensors to analyze conditions of trapped humans. Robot is equipped with PIR sensor, IR sensor, Fire and smoke detector, temperature sensor. Android IP camera is used to acquire the video of scene of the environment. The RF transceivers are used for efficient wireless communication. The main objective of this system is to rescue more & more number of people from the adverse condition. Thus this paper introduces the design and control of a low-cost robotic search and rescue system.
A new service robot designed for cleaning tasks in home environments is introduced. System has three subsystems: electrical, software and mechanical of which micro controller, sensors (opponent and light) and motor are the electrical and mechanical subsystems respectively and the software subsystem is the brain of the robot. The cleaning robot uses a micro controller to detect obstacles and manipulates its direction as per the inputs. It is programmed to accept inputs to sense obstacles around it and control the robot to avoid any collisions. In case of an obstacle, or a potential collision, the micro controller controls the wheels of the robot by a motor driver to avoid collision. The vacuum cleaner at the bottom of the robot performs the cleaning process.
Part of Lecture series on EE321N, Power Electronics-I delivered by me during Fifth Semester of B.Tech. Electrical Engg., 2012
Z H College of Engg. & Technology, Aligarh Muslim University, Aligarh
Please comment and feel free to ask anything related. Thanks!
An introduction to image processing in addition to explaining the concept of group operations.
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Thia presentation is presented by Naveed Ahmed, Rizwan Mustafa and Muzaffar Ahmad at Robot Expo in Information Technology University of Punjab, Lahore.
The objective of this project is to find the alive humans in destroyed building with the help of rescue robot in disaster prone and bomb blast areas. The alive human detection sensor is the special type of sensor which has two elements, the live body sensor and Amplifier Circuit. The passive infrared radiation emitting from the alive human bodies are sensed by the sensor and if there is a variation due to movement of alive human body, the difference output is generated. It will be amplified by differential amplifier and then the signal is fed to another amplifier unit in order to amplify the voltage level. Then the amplified signal is given to flash type reprogrammable microcontroller which controls the motor connected to the robot model. The robot moves according to the instructions provided by the operator. If the sensor detects the presence of alive human body, it forces the robot to stop there and microcontroller will activate the alarm. The driver circuit is constructed with transistor, which acts as a switch to turn ON and turn OFF alarm. Now the alarm makes the sound for the alive body indication.
Design and operation of synchronized robotic armeSAT Journals
Abstract The paper manuscript deals with the designing and implementation of Synchronized Robotic Arm, which is used to perform all the basic activities like picking up objects and placing them. In this paper, a robotic arm is designed, synchronized with the working arm and would perform the task as the working arm does. The work done by the robotic arm would be highly precise, as a digital servo motor is used. A servo motor of 230 oz-inch is used in the project, but motors with more capacity can also be used as according to the desired work. This robotic arm can also be used for precision works. For instance some work has to be done very precisely but the conditions do not suit human beings. In such conditions, this robotic arm can be used remotely and the task can be accomplished. The programming is done on ATMEGA-8 Microcontroller using Arduino programming. The potentiometers are also used to detect the angle of rotation and the signals are then sent to the microcontroller. In today’s world, this Robotic arm has turned out very benevolent. Besides Robotics and Automation, these kinds of arms have applications in other fields also. Keywords –Arduino, ATMEGA-8, IC, Potentiometers, Servo Motors
The number of natural and man-made disasters has urged search and rescue communities to seek for novel technology to search for victims. The paper proposes an approach for detecting alive human being in devastating environments. Prototype uses specific set of sensors to analyze conditions of trapped humans. Robot is equipped with PIR sensor, IR sensor, Fire and smoke detector, temperature sensor. Android IP camera is used to acquire the video of scene of the environment. The RF transceivers are used for efficient wireless communication. The main objective of this system is to rescue more & more number of people from the adverse condition. Thus this paper introduces the design and control of a low-cost robotic search and rescue system.
A new service robot designed for cleaning tasks in home environments is introduced. System has three subsystems: electrical, software and mechanical of which micro controller, sensors (opponent and light) and motor are the electrical and mechanical subsystems respectively and the software subsystem is the brain of the robot. The cleaning robot uses a micro controller to detect obstacles and manipulates its direction as per the inputs. It is programmed to accept inputs to sense obstacles around it and control the robot to avoid any collisions. In case of an obstacle, or a potential collision, the micro controller controls the wheels of the robot by a motor driver to avoid collision. The vacuum cleaner at the bottom of the robot performs the cleaning process.
Part of Lecture series on EE321N, Power Electronics-I delivered by me during Fifth Semester of B.Tech. Electrical Engg., 2012
Z H College of Engg. & Technology, Aligarh Muslim University, Aligarh
Please comment and feel free to ask anything related. Thanks!
An introduction to image processing in addition to explaining the concept of group operations.
Find me on:
AFCIT
http://www.afcit.xyz
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Mendelay
https://www.mendeley.com/profiles/ahmed-gad12/
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Describes human eye optics.
Please send comments and suggestions for improvements to solo.hermelin@gmail.com.
For more presentations on different subjects please visit my website at http://www.solohermelin.com.
Simultaneous Mapping and Navigation For Rendezvous in Space ApplicationsNandakishor Jahagirdar
To design and develop an image processing algorithm that can identify the target spacecraft docking station as well as the distance, location and angle of the docking station with respect to the chaser vehicle. Making a use of the image from single camera.
The goal of this project is to provide a platform that allows for communication between able-bodied and disabled people or between computers and human beings. There has been great emphasis on Human-Computer-Interaction research to create easy-to-use interfaces by directly employing natural communication and manipulation skills of humans . As an important part of the body, recognizing hand gesture is very important for Human-Computer-Interaction. In recent years, there has been a tremendous amount of research on hand gesture recognition
Vision based system for monitoring the loss of attention in automotive driverVinay Diddi
This is a real time driver drowsiness detection system is used to alert the driver when he is drowsy. It consist of raspberry pi and OpenCV image processing library.
Due to new developed technology man is leading a comfortable life. People want each work should be done automatically. So in this paper introduces a system called UNMANNED GROUND VEHICLE. UGV as name indicate it operates in contact with ground and without any human resource. The vehicle will have a set of sensors to observe the environment. In this paper for the working of UGV, FPGA is embedded with image processing. FPGA as main processing platform used to control UGV. The performance evaluation of proposed system takes place by capturing the image of UGV with help of camera. This system demonstrate accurate localization of UGV. This UGV vehicle used in military, mall, automobile industry. To work system properly provide proper interfacing and synchronization between hardware/software module.
The Arena is active protection system developed at Russia's Kolomna-based Engineering Design Bureau for the purpose of protecting important places. The Arena system was primarily designed to defeat threats. It uses a Doppler radar to detect incoming warheads and destroy it by throwing projectile. By the array scan technology of image processing now is easy to detect the area of an object. Most of the war threads are in common format. So it was easy to detect any object nature. By using picture element information, this system can sense an object. The main purpose of this research is to build a cost effective Arena Active Protection System that is less costly than current system. The purpose of this research work is to invent a method to avoid Doppler radar which is used in current system and use pair of phototransistor which is more cost effective then Radar.
Humans have evolved to better survive and have evolved their invention. In today’s age, a
large number of robots are placed in many areas replacing manpower in severe or dangerous
workplaces. Moreover, the most important thing is to take care of this technology for developing
robots progresses. This paper proposes an autonomous moving system which automatically finds its
target from a scene, lock it and approach towards its target and hits through a shooting mechanism.
The main objective is to provide reliable, cost effective and accurate technique to destroy an unusual
threat in the environment using image processing.
Humans have evolved to better survive and have evolved their invention. In today’s age, a
large number of robots are placed in many areas replacing manpower in severe or dangerous
workplaces. Moreover, the most important thing is to take care of this technology for developing
robots progresses. This paper proposes an autonomous moving system which automatically finds its
target from a scene, lock it and approach towards its target and hits through a shooting mechanism.
The main objective is to provide reliable, cost effective and accurate technique to destroy an unusual
threat in the environment using image processing.
Development of image processing based human tracking and control algorithm for a service robot
1. Development of Image Processing based
Human Tracking and Control Algorithm for
A Service Robot
2. Abstract:
This paper presents a human detection algorithm and an obstacle avoidance
algorithm for a service robot that provides a service tracking. The mobile robot
will have the ability to follow a human and avoid dynamically moving obstacles in
an unstructured outdoor environment. To detect a human by an Image processing,
we defined features of the human body in xml file and employed a support vector
data description method. In order to avoid moving obstacles while tracking a
person, we defined an ultrasonic obstacle sensor, each obstacle using the relative
distance between the robot and an obstacle. For smoothly by passing obstacles
without collision, a dynamic obstacle avoidance algorithm for the service robot is
implemented, which directly employed a real-time position vector between the
robot and the shortest path around the obstacle.
3. Objective:
An Image processing based system is used to detect
objects and to follow the path of the environment in
robotic systems .In this project, we use a Image
processing algorithm to detect a human. The Camera is
placed on the robot at torso height and scans an
environment at this height. Whenever a human is
detected, we use pattern recognition of various shapes
in clustered data scanned from a human torso.
4. Existing Method:
Proposed Method:
In the proposed method we will use Opencv image processing library in
order to detect the Human body in the video and track him accordingly
where as an ultrasonic sensor will used in order to detect the body distance
from the robot and any obstacle present and act accordingly.
In the existing method, the concept implemented was based on a non
reliable technology in real time, where in an outdoor environment there
are more disadvantages that the system can mislead if more humans are
in its path.
6. An ARM 11 architecture based Raspberry pi board is used
to implemented the concept, a USB camera will be
connected to the board.
Using Open Source Computer Vision library (OpenCV) will
train the human body shape and structure to the program.
Whenever a Human body is present in from the camera,
the algorithm will detect it and draw a rectangular around
the body for identification and starts its movements.
Obstacle Avoidance: If any obstacle is located between a
marathoner and the MSR and is moving slower than the
MSR, avoiding the obstacle will be done using the
ultrasonic sensor and simultaneously the robot will be
tracking the human.
7. ARM stands for Advanced RISC Machine
The ARM11 is based on the ARMv6 instruction
set architecture
Bi-endian – can operate in either little-endian or
big-endian format
Most devices today use little-endian
Actually uses two instruction sets – the 32-bit
ARM and the 16-bit Thumb
8. Raspberry Pi is a credit-card sized computer
that plugs into your TV and a keyboard.
It is a capable little computer which can be
used in electronics projects, and for many of
the things that your desktop PC does, like
spreadsheets, word-processing and games.
It also plays high-definition video. We want
to see it being used by kids all over the world
to learn how computers work, how to
manipulate the electronic world around
them, and how to program.
10. r8
r9/sb
r10/sl
r11
r12
r13/sp
r14/lr
r15/pc
r0
r1
r2
r3
r4
r5
r6
r7Register variables
Must be preserved
Arguments into function
Result(s) from function
otherwise corruptible
(Additional parameters
passed on stack)
Scratch register
(corruptible)
Stack Pointer
Link Register
Program Counter
The compiler has a set of rules known as a
Procedure Call Standard that determine how to
pass parameters to a function (see AAPCS)
CPSR flags may be corrupted by function call.
Assembler code which links with compiled code
must follow the AAPCS at external interfaces
The AAPCS is part of the new ABI for the ARM
Architecture
Register
- Stack base
- Stack limit if software stack checking selected
- R14 can be used as a temporary once value stacked
- SP should always be 8-byte (2 word) aligned
11. Camera plays a vital role in
automation purpose. The
camera is used for monitoring of
a room from a remote place.
The camera used is a USB
camera. Whenever the user
clicks on to video button on
loaded webpage, the
corresponding room video will
be streamed on to webpage .For
this purpose we use a MJPG
streamer. The below figure
shows the camera that has been
used for monitoring of a room.
12. The sensor is primarily
intended to be used in
security systems for
detection of moving objects,
but can be effectively
involved in intelligent
children’s toys, automatic
door opening devices, and
sports training and contact-
less-speed measurement
equipment.
13. This chip contains 4 enable
pins. Each enable pin
corresponds to 2 inputs.
Based on the input values
given, the device connected
to this IC works accordingly.
14. motors are used to
efficiently convert electrical
energy into mechanical
energy. Magnetism is the
basis of their principles of
operation. They use
permanent magnets,
electromagnets and exploit
the magnetic properties of
materials in order to create
these amazing machines
DC Motor
15. Implementation:
Obstacle Avoidance: If any obstacle is located between a marathoner and
the MSR and is moving slower than the MSR, avoiding the obstacle will be
done using the ultrasonic sensor and simultaneously the robot will be
tracking the human.
An ARM 11 architecture based Raspberry pi board is used to
implemented the concept, a USB camera will be connected to the board.
Using Open Source Computer Vision library (OpenCV) will train the
human body shape and structure to the program. Whenever a Human
body is present in from the camera, the algorithm will detect it and draw
a rectangular around the body for identification and starts its
movements.
16. Applications:
Conclusion:
Advantages:
Security
Industry
High Accuracy
Easy to implement
A marathoner service robotic system will be designed for human
detection . When the intruder is in front of the sensor than the MSR,
the MSR does not consider the intruder as an obstacle but using the
algorithm identifies the human body. Therefore, the MSR did not
show any avoidance behavior. By applying the modified technique an
advanced system will be developed.
17. References:
1. MarathonWorld. (2012). [Online]. Available: http://www.marathonworld.com
2. I. J. Cox and S. L. Hingorani, “An efficient implementation of Reid’s multiple
hypothesis tracking algorithm and its evaluation for the purpose of visual
tracking,” IEEE Trans. Pattern Anal.Mach. Intell., vol. 18, no. 2, pp. 138–150,
Feb. 1996.
3. J. K. Aggarwal and Q. Cai, “Human motion analysis: A review,” in Proc. IEEE Proc.
Nonrigid Articulated Motion Workshop, 1997, pp. 90–102.
4. J. MacCormick and A. Blake, “A probabilistic exclusion principle for tracking
multiple objects,” in Proc. 7th IEEE Int. Conf. Comput. Vision, 1999, pp. 572–
578.