Most humanoid robots have highly complicated structure and design of robots that are very similar to
human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control
of humanoid robots is presented using Colored Petri Nets. For keeping dynamic balance of the robot,
combination of Gyroscope and Accelerometer sensors are used in algorithm. Image processing is used to
identify two fundamental issues: first, detection of target or an object which robot must follow; second,
detecting surface of the ground so that walking robot could maintain its balance just like a human and
shows its best performance. Presented model gives high-level view of humanoid robot's operations.
This project aims a swarm behaviour of multiple robots operating indoor in a closed formation. An on-board computation is used for localization and to get linear control of the robots. The entire task is performed indoor, performing distinct trajectories assigned to individual or group of robots. In our project we showed several estimation techniques which increase the robust tracking of trajectories. External localization is obtained to get the position of robots with the help of webcam. MILP algorithm or convex optimization is used to generate a complex trajectory that is performed by the distinct robots. We performed various trajectories, as an example to show the agility of micro robots tracking complex paths and avoiding stationary obstacles.
Two guest lectures about motion planning in the course S2016 ECE 486: Robot Dynamics and Control, Spring 2016, Electrical and Computer Engineering Department, University of Waterloo. Useful Resources: - Open source libraries: http://ompl.kavrakilab.org/ http://wiki.ros.org/motion_planners http://moveit.ros.org/ - Book: Steven M. LaValle, Planning Algorithm. Available at: http://planning.cs.uiuc.edu/, last accessed, July 12, 2016
Robot Pose Estimation: A Vertical Stereo Pair Versus a Horizontal Oneijcsit
In this paper, we study the effect of the layout of multiple cameras placed on top of an autonomous mobile
robot. The idea is to study the effect of camera layout on the accuracy of estimated pose parameters.
Particularly, we compare the performance of a vertical-stereo-pair put on the robot at the axis of rotation
to that of a horizontal-stereo-pair. The motivation behind this comparison is that the robot rotation causes
only a change of orientation to the cameras on the axis of rotation. On the other hand, off-axis cameras
encounter additional translation beside the change of orientation. In this work, we show that for a stereo
pair encountering sequences of large rotations, at least a reference camera should be put on the axis of
rotation. Otherwise, the obtained translations have to be corrected based on the location of the rotation
axis. This finding will help robot designers to develop vision systems that are capable of obtaining accurate
pose for navigation control. An extensive set of simulations and real experiments have been carried out to
investigate the performance of the studied camera layouts encountering different motion patterns. As the
problem at hand is a real-time application, the extended Kalman filter (EKF) is used as a recursive
estimator.
Real time pedestrian detection, tracking, and distance estimationomid Asudeh
combination of HOG Pedestrian Detection method and Lukas Kanade Tracking Algorithm to detect and track people in a Video Stream in a real-time manner. A simple method is used for the distance estimation using a Pinehole camera.
Intelligent Robots For Industries (Using Rf Module) iosrjce
IOSR Journal of Electronics and Communication Engineering(IOSR-JECE) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of electronics and communication engineering and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications in electronics and communication engineering. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
This project aims a swarm behaviour of multiple robots operating indoor in a closed formation. An on-board computation is used for localization and to get linear control of the robots. The entire task is performed indoor, performing distinct trajectories assigned to individual or group of robots. In our project we showed several estimation techniques which increase the robust tracking of trajectories. External localization is obtained to get the position of robots with the help of webcam. MILP algorithm or convex optimization is used to generate a complex trajectory that is performed by the distinct robots. We performed various trajectories, as an example to show the agility of micro robots tracking complex paths and avoiding stationary obstacles.
Two guest lectures about motion planning in the course S2016 ECE 486: Robot Dynamics and Control, Spring 2016, Electrical and Computer Engineering Department, University of Waterloo. Useful Resources: - Open source libraries: http://ompl.kavrakilab.org/ http://wiki.ros.org/motion_planners http://moveit.ros.org/ - Book: Steven M. LaValle, Planning Algorithm. Available at: http://planning.cs.uiuc.edu/, last accessed, July 12, 2016
Robot Pose Estimation: A Vertical Stereo Pair Versus a Horizontal Oneijcsit
In this paper, we study the effect of the layout of multiple cameras placed on top of an autonomous mobile
robot. The idea is to study the effect of camera layout on the accuracy of estimated pose parameters.
Particularly, we compare the performance of a vertical-stereo-pair put on the robot at the axis of rotation
to that of a horizontal-stereo-pair. The motivation behind this comparison is that the robot rotation causes
only a change of orientation to the cameras on the axis of rotation. On the other hand, off-axis cameras
encounter additional translation beside the change of orientation. In this work, we show that for a stereo
pair encountering sequences of large rotations, at least a reference camera should be put on the axis of
rotation. Otherwise, the obtained translations have to be corrected based on the location of the rotation
axis. This finding will help robot designers to develop vision systems that are capable of obtaining accurate
pose for navigation control. An extensive set of simulations and real experiments have been carried out to
investigate the performance of the studied camera layouts encountering different motion patterns. As the
problem at hand is a real-time application, the extended Kalman filter (EKF) is used as a recursive
estimator.
Real time pedestrian detection, tracking, and distance estimationomid Asudeh
combination of HOG Pedestrian Detection method and Lukas Kanade Tracking Algorithm to detect and track people in a Video Stream in a real-time manner. A simple method is used for the distance estimation using a Pinehole camera.
Intelligent Robots For Industries (Using Rf Module) iosrjce
IOSR Journal of Electronics and Communication Engineering(IOSR-JECE) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of electronics and communication engineering and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications in electronics and communication engineering. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
This is a full report of my project in Level 3 Term 1. The project was basically a self-driven vehicle capable of localizing itself in a grid and planning a path between two nodes. It can avoid particular nodes and plan path between two allowed nodes. Flood Fill Algorithm will be used for finding the path between two allowed nodes. The vehicle is also capable of transferring blocks from one node to another. In fact, this vehicle is a prototype of a self-driven vehicle capable of transporting passengers and it can also be used in industries to transfer different items from one place to another.
Design of Mobile Robot Navigation system using SLAM and Adaptive Tracking Con...iosrjce
IOSR Journal of Computer Engineering (IOSR-JCE) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of computer engineering and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications in computer technology. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Autonomous Path Planning and Navigation of a Mobile Robot with Multi-Sensors ...CSCJournals
The mobile robot is applied widely and investigated deeply in industrial fields, meanwhile, mobile robot autonomous path planning and navigation algorithm is a hot research topic. In this paper, firstly mobile robot is introduced, the general path planning and navigation algorithms of the mobile robot are reviewed, then a fuzzy logic with filter smoothing is proposed based on the data from the laser scan sensor and GPS module, which is useful for mobile robot to find the best path to the destination automatically according to the position and size of the gaps between the obstacles in the dynamic environment, finally our designed mobile robot and corresponding Android APP are introduced, the path planning and navigation algorithms are tested on this mobile robot, the testing result shows that this algorithm is globally optimized, quickly responded, battery power and hardware cost saved compared with other algorithms, it is suitable for the mobile robot that is running on the embedded system and it can satisfy our design requirement.
Wall follower autonomous robot development applying fuzzy incremental controllerrajabco
This paper presents the design of an autonomous robot as a basic development of an intelligent wheeled mobile robot for air duct or corridor cleaning. The robot navigation is based on wall following algorithm. The robot is controlled us- ing fuzzy incremental controller (FIC) and embedded in PIC18F4550 microcontroller. FIC guides the robot to move along a wall in a desired direction by maintaining a constant distance to the wall. Two ultrasonic sensors are installed in the left side of the robot to sense the wall distance. The signals from these sensors are fed to FIC that then used to de- termine the speed control of two DC motors. The robot movement is obtained through differentiating the speed of these two motors. The experimental results show that FIC is successfully controlling the robot to follow the wall as a guid- ance line and has good performance compare with PID controller.
Intelligent Parking Space Detection System Based on Image Segmentationijsrd.com
This paper aims to present an intelligent system for parking space detection based on image segmentation technique that capture and process the brown rounded image drawn at parking lot and produce the information of the empty car parking spaces. It will be display at the display unit that consists of seven segments in real time. The seven segments display shows the number of current available parking lots in the parking area. This proposed system, has been developed in software platform.
Motion planning and controlling algorithm for grasping and manipulating movin...ijscai
Many of the robotic grasping researches have been focusing on stationary objects. And for dynamic moving
objects, researchers have been using real time captured images to locate objects dynamically. However,
this approach of controlling the grasping process is quite costly, implying a lot of resources and image
processing.Therefore, it is indispensable to seek other method of simpler handling… In this paper, we are
going to detail the requirements to manipulate a humanoid robot arm with 7 degree-of-freedom to grasp
and handle any moving objects in the 3-D environment in presence or not of obstacles and without using
the cameras. We use the OpenRAVE simulation environment, as well as, a robot arm instrumented with the
Barrett hand. We also describe a randomized planning algorithm capable of planning. This algorithm is an
extent of RRT-JT that combines exploration, using a Rapidly-exploring Random Tree, with exploitation,
using Jacobian-based gradient descent, to instruct a 7-DoF WAM robotic arm, in order to grasp a moving
target, while avoiding possible encountered obstacles . We present a simulation of a scenario that starts
with tracking a moving mug then grasping it and finally placing the mug in a determined position, assuring
a maximum rate of success in a reasonable time.
AUTO LANDING PROCESS FOR AUTONOMOUS FLYING ROBOT BY USING IMAGE PROCESSING BA...csandit
In today’s technological life, everyone is quite familiar with the importance of security
measures in our lives. So in this regard, many attempts have been made by researchers and one
of them is flying robots technology. One well-known usage of flying robot, perhaps, is its
capability in security and care measurements which made this device extremely practical, not
only for its unmanned movement, but also for the unique manoeuvre during flight over the
arbitrary areas. In this research, the automatic landing of a flying robot is discussed. The
system is based on the frequent interruptions that is sent from main microcontroller to camera
module in order to take images; these images have been distinguished by image processing
system based on edge detection, after analysing the image the system can tell whether or not to
land on the ground. This method shows better performance in terms of precision as well as
experimentally.
Smart element aware gate controller for intelligent wheeled robot navigationIJECEIAES
The directing of a wheeled robot in an unknown moving environment with physical barriers is a difficult proposition. In particular, having an optimal or near-optimal path that avoids obstacles is a major challenge. In this paper, a modified neuro-controller mechanism is proposed for controlling the movement of an indoor mobile robot. The proposed mechanism is based on the design of a modified Elman neural network (MENN) with an effective element aware gate (MEEG) as the neuro-controller. This controller is updated to overcome the rigid and dynamic barriers in the indoor area. The proposed controller is implemented with a mobile robot known as Khepera IV in a practical manner. The practical results demonstrate that the proposed mechanism is very efficient in terms of providing shortest distance to reach the goal with maximum velocity as compared with the MENN. Specifically, the MEEG is better than MENN in minimizing the error rate by 58.33%.
HUMAN BODY DETECTION AND SAFETY CARE SYSTEM FOR A FLYING ROBOTcsandit
Image-processing is one the challenging issue in robotic as well as electrical engineering
research contexts. This study proposes a system for extract and tracking objects by a
quadcopter’s flying robot and how to extract the human body. It is observed in image taken
from real-time camera that is embedded bottom of the quadcopter, there is a variance in human
behaviour being tracked or recorded such as position and, size, of the human. In the regard, the
paper tries to investigate an image-processing method for tracking humans’ body, concurrently.
For this process, an extraction method, which defines features to distinguish a human body, is
proposed. The proposed method creates a virtual shape of bodies for recognizing the body of
humans, also, generate an extractor according to its edge information. This method shows
better performance in term of precision as well as speed experimentally.
HUMAN BODY DETECTION AND SAFETY CARE SYSTEM FOR A FLYING ROBOTcscpconf
Image-processing is one the challenging issue in robotic as well as electrical engineering research contexts. This study proposes a system for extract and tracking objects by a quadcopter’s flying robot and how to extract the human body. It is observed in image taken from real-time camera that is embedded bottom of the quadcopter, there is a variance in human behaviour being tracked or recorded such as position and, size, of the human. In the regard, the paper tries to investigate an image-processing method for tracking humans’ body, concurrently .For this process, an extraction method, which defines features to istinguish a human body, is proposed. The proposed method creates a virtual shape of bodies for recognizing the body of
humans, also, generate an extractor according to its edge information. This method shows better performance in term of precision as well as speed experimentally.
This is a full report of my project in Level 3 Term 1. The project was basically a self-driven vehicle capable of localizing itself in a grid and planning a path between two nodes. It can avoid particular nodes and plan path between two allowed nodes. Flood Fill Algorithm will be used for finding the path between two allowed nodes. The vehicle is also capable of transferring blocks from one node to another. In fact, this vehicle is a prototype of a self-driven vehicle capable of transporting passengers and it can also be used in industries to transfer different items from one place to another.
Design of Mobile Robot Navigation system using SLAM and Adaptive Tracking Con...iosrjce
IOSR Journal of Computer Engineering (IOSR-JCE) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of computer engineering and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications in computer technology. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Autonomous Path Planning and Navigation of a Mobile Robot with Multi-Sensors ...CSCJournals
The mobile robot is applied widely and investigated deeply in industrial fields, meanwhile, mobile robot autonomous path planning and navigation algorithm is a hot research topic. In this paper, firstly mobile robot is introduced, the general path planning and navigation algorithms of the mobile robot are reviewed, then a fuzzy logic with filter smoothing is proposed based on the data from the laser scan sensor and GPS module, which is useful for mobile robot to find the best path to the destination automatically according to the position and size of the gaps between the obstacles in the dynamic environment, finally our designed mobile robot and corresponding Android APP are introduced, the path planning and navigation algorithms are tested on this mobile robot, the testing result shows that this algorithm is globally optimized, quickly responded, battery power and hardware cost saved compared with other algorithms, it is suitable for the mobile robot that is running on the embedded system and it can satisfy our design requirement.
Wall follower autonomous robot development applying fuzzy incremental controllerrajabco
This paper presents the design of an autonomous robot as a basic development of an intelligent wheeled mobile robot for air duct or corridor cleaning. The robot navigation is based on wall following algorithm. The robot is controlled us- ing fuzzy incremental controller (FIC) and embedded in PIC18F4550 microcontroller. FIC guides the robot to move along a wall in a desired direction by maintaining a constant distance to the wall. Two ultrasonic sensors are installed in the left side of the robot to sense the wall distance. The signals from these sensors are fed to FIC that then used to de- termine the speed control of two DC motors. The robot movement is obtained through differentiating the speed of these two motors. The experimental results show that FIC is successfully controlling the robot to follow the wall as a guid- ance line and has good performance compare with PID controller.
Intelligent Parking Space Detection System Based on Image Segmentationijsrd.com
This paper aims to present an intelligent system for parking space detection based on image segmentation technique that capture and process the brown rounded image drawn at parking lot and produce the information of the empty car parking spaces. It will be display at the display unit that consists of seven segments in real time. The seven segments display shows the number of current available parking lots in the parking area. This proposed system, has been developed in software platform.
Motion planning and controlling algorithm for grasping and manipulating movin...ijscai
Many of the robotic grasping researches have been focusing on stationary objects. And for dynamic moving
objects, researchers have been using real time captured images to locate objects dynamically. However,
this approach of controlling the grasping process is quite costly, implying a lot of resources and image
processing.Therefore, it is indispensable to seek other method of simpler handling… In this paper, we are
going to detail the requirements to manipulate a humanoid robot arm with 7 degree-of-freedom to grasp
and handle any moving objects in the 3-D environment in presence or not of obstacles and without using
the cameras. We use the OpenRAVE simulation environment, as well as, a robot arm instrumented with the
Barrett hand. We also describe a randomized planning algorithm capable of planning. This algorithm is an
extent of RRT-JT that combines exploration, using a Rapidly-exploring Random Tree, with exploitation,
using Jacobian-based gradient descent, to instruct a 7-DoF WAM robotic arm, in order to grasp a moving
target, while avoiding possible encountered obstacles . We present a simulation of a scenario that starts
with tracking a moving mug then grasping it and finally placing the mug in a determined position, assuring
a maximum rate of success in a reasonable time.
AUTO LANDING PROCESS FOR AUTONOMOUS FLYING ROBOT BY USING IMAGE PROCESSING BA...csandit
In today’s technological life, everyone is quite familiar with the importance of security
measures in our lives. So in this regard, many attempts have been made by researchers and one
of them is flying robots technology. One well-known usage of flying robot, perhaps, is its
capability in security and care measurements which made this device extremely practical, not
only for its unmanned movement, but also for the unique manoeuvre during flight over the
arbitrary areas. In this research, the automatic landing of a flying robot is discussed. The
system is based on the frequent interruptions that is sent from main microcontroller to camera
module in order to take images; these images have been distinguished by image processing
system based on edge detection, after analysing the image the system can tell whether or not to
land on the ground. This method shows better performance in terms of precision as well as
experimentally.
Smart element aware gate controller for intelligent wheeled robot navigationIJECEIAES
The directing of a wheeled robot in an unknown moving environment with physical barriers is a difficult proposition. In particular, having an optimal or near-optimal path that avoids obstacles is a major challenge. In this paper, a modified neuro-controller mechanism is proposed for controlling the movement of an indoor mobile robot. The proposed mechanism is based on the design of a modified Elman neural network (MENN) with an effective element aware gate (MEEG) as the neuro-controller. This controller is updated to overcome the rigid and dynamic barriers in the indoor area. The proposed controller is implemented with a mobile robot known as Khepera IV in a practical manner. The practical results demonstrate that the proposed mechanism is very efficient in terms of providing shortest distance to reach the goal with maximum velocity as compared with the MENN. Specifically, the MEEG is better than MENN in minimizing the error rate by 58.33%.
HUMAN BODY DETECTION AND SAFETY CARE SYSTEM FOR A FLYING ROBOTcsandit
Image-processing is one the challenging issue in robotic as well as electrical engineering
research contexts. This study proposes a system for extract and tracking objects by a
quadcopter’s flying robot and how to extract the human body. It is observed in image taken
from real-time camera that is embedded bottom of the quadcopter, there is a variance in human
behaviour being tracked or recorded such as position and, size, of the human. In the regard, the
paper tries to investigate an image-processing method for tracking humans’ body, concurrently.
For this process, an extraction method, which defines features to distinguish a human body, is
proposed. The proposed method creates a virtual shape of bodies for recognizing the body of
humans, also, generate an extractor according to its edge information. This method shows
better performance in term of precision as well as speed experimentally.
HUMAN BODY DETECTION AND SAFETY CARE SYSTEM FOR A FLYING ROBOTcscpconf
Image-processing is one the challenging issue in robotic as well as electrical engineering research contexts. This study proposes a system for extract and tracking objects by a quadcopter’s flying robot and how to extract the human body. It is observed in image taken from real-time camera that is embedded bottom of the quadcopter, there is a variance in human behaviour being tracked or recorded such as position and, size, of the human. In the regard, the paper tries to investigate an image-processing method for tracking humans’ body, concurrently .For this process, an extraction method, which defines features to istinguish a human body, is proposed. The proposed method creates a virtual shape of bodies for recognizing the body of
humans, also, generate an extractor according to its edge information. This method shows better performance in term of precision as well as speed experimentally.
A Path Planning Technique For Autonomous Mobile Robot Using Free-Configuratio...CSCJournals
This paper presents the implementation of a novel technique for sensor based path planning of autonomous mobile robots. The proposed method is based on finding free-configuration eigen spaces (FCE) in the robot actuation area. Using the FCE technique to find optimal paths for autonomous mobile robots, the underlying hypothesis is that in the low-dimensional manifolds of laser scanning data, there lies an eigenvector which corresponds to the free-configuration space of the higher order geometric representation of the environment. The vectorial combination of all these eigenvectors at discrete time scan frames manifests a trajectory, whose sum can be treated as a robot path or trajectory. The proposed algorithm was tested on two different test bed data, real data obtained from Navlab SLAMMOT and data obtained from the real-time robotics simulation program Player/Stage. Performance analysis of FCE technique was done with existing four path planning algorithms under certain working parameters, namely computation time needed to find a solution, the distance travelled and the amount of turning required by the autonomous mobile robot. This study will enable readers to identify the suitability of path planning algorithm under the working parameters, which needed to be optimized. All the techniques were tested in the real-time robotic software Player/Stage. Further analysis was done using MATLAB mathematical computation software.
Feedback method based on image processing for detecting human body via flying...ijaia
Image-processing is one the challenging issue in robotic as well as electrical engineering research
contexts. This study proposes a system for extract and tracking objects by a quadcopter’s flying robot and
how to extract the human body. It is observed in image taken from real-time camera that is embedded
bottom of the quadcopter, there is a variance in human behaviour being tracked or recorded such as
position and, size, of the human. In the regard, the paper tries to investigate an image-processing method
for tracking humans’ body, concurrently. For this process, an extraction method, which defines features to
distinguish a human body, is proposed. The proposed method creates a virtual shape of bodies for
recognizing the body of humans, also, generate an extractor according to its edge information. This method
shows better performance in term of precision as well as speed experimentally
Intelligent indoor mobile robot navigation using stereo visionsipij
Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar
sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a
map of the corresponding environment. Stereo vision,while still being a rapidly developing technique in the
field of autonomous mobile robots, are currently less preferable due to its high implementation cost. This
paper aims at describing an experimental approach for the building of a stereo vision system that helps the
robots to avoid obstacles and navigate through indoor environments and at the same time remaining very
much cost effective. This paper discusses the fusion techniques of stereo vision and ultrasound sensors
which helps in the successful navigation through different types of complex environments. The data from
the sensor enables the robot to create the two dimensional topological map of unknown environments and
stereo vision systems models the three dimension model of the same environment.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
A new approach for an intelligent swarm robotic systemeSAT Journals
Abstract Swarm robotics generally faces problems such as regular human interference, monitoring and lack of precision in accomplishing a task . These problems can be avoided by endorsing a new multi robot system .The tasks which are highly demanding and generally which cannot be accomplished by a single robot can be accomplished through Swarm Robotics which involves a group of robots. The multi robot system comprises of a drone(quadcopter) controlling and commanding the ground robots in order to accomplish the task. This approach preserves the versatility of each individual in the swarm and also establishes coordinative and cognitive behavior. The drone activates the ground robots and also monitors the movement of each ground robot. The ground robots also interact with each other to complete a task .This approach ensures complete autonomy and precision. Key Words: multi robot, drone, autonomy, versatility, Swarm robotics.
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.
Similar to Modelling of walking humanoid robot with capability of floor detection and dynamic balancing using colored petri net (20)
ENHANCING ENGLISH WRITING SKILLS THROUGH INTERNET-PLUS TOOLS IN THE PERSPECTI...ijfcstjournal
This investigation delves into incorporating a hybridized memetic strategy within the framework of English
composition pedagogy, leveraging Internet Plus resources. The study aims to provide an in-depth analysis
of how this method influences students’ writing competence, their perceptions of writing, and their
enthusiasm for English acquisition. Employing an explanatory research design that combines qualitative
and quantitative methods, the study collects data through surveys, interviews, and observations of students’
writing performance before and after the intervention. Findings demonstrate a beneficial impact of
integrating the memetic approach alongside Internet Plus tools on the writing aptitude of English as a
Foreign Language (EFL) learners. Students reported increased engagement with writing, attributing it to
the use of Internet plus tools. They also expressed that the memetic approach facilitated a deeper
understanding of cultural and social contexts in writing. Furthermore, the findings highlight a significant
improvement in students’ writing skills following the intervention. This study provides significant insights
into the practical implementation of the memetic approach within English writing education, highlighting
the beneficial contribution of Internet Plus tools in enriching students' learning journeys.
A SURVEY TO REAL-TIME MESSAGE-ROUTING NETWORK SYSTEM WITH KLA MODELLINGijfcstjournal
Messages routing over a network is one of the most fundamental concept in communication which requires
simultaneous transmission of messages from a source to a destination. In terms of Real-Time Routing, it
refers to the addition of a timing constraint in which messages should be received within a specified time
delay. This study involves Scheduling, Algorithm Design and Graph Theory which are essential parts of
the Computer Science (CS) discipline. Our goal is to investigate an innovative and efficient way to present
these concepts in the context of CS Education. In this paper, we will explore the fundamental modelling of
routing real-time messages on networks. We study whether it is possible to have an optimal on-line
algorithm for the Arbitrary Directed Graph network topology. In addition, we will examine the message
routing’s algorithmic complexity by breaking down the complex mathematical proofs into concrete, visual
examples. Next, we explore the Unidirectional Ring topology in finding the transmission’s
“makespan”.Lastly, we propose the same network modelling through the technique of Kinesthetic Learning
Activity (KLA). We will analyse the data collected and present the results in a case study to evaluate the
effectiveness of the KLA approach compared to the traditional teaching method.
A COMPARATIVE ANALYSIS ON SOFTWARE ARCHITECTURE STYLESijfcstjournal
Software architecture is the structural solution that achieves the overall technical and operational
requirements for software developments. Software engineers applied software architectures for their
software system developments; however, they worry the basic benchmarks in order to select software
architecture styles, possible components, integration methods (connectors) and the exact application of
each style.
The objective of this research work was a comparative analysis of software architecture styles by its
weakness and benefits in order to select by the programmer during their design time. Finally, in this study,
the researcher has been identified architectural styles, weakness, and Strength and application areas with
its component, connector and Interface for the selected architectural styles.
SYSTEM ANALYSIS AND DESIGN FOR A BUSINESS DEVELOPMENT MANAGEMENT SYSTEM BASED...ijfcstjournal
A design of a sales system for professional services requires a comprehensive understanding of the
dynamics of sale cycles and how key knowledge for completing sales is managed. This research describes
a design model of a business development (sales) system for professional service firms based on the Saudi
Arabian commercial market, which takes into account the new advances in technology while preserving
unique or cultural practices that are an important part of the Saudi Arabian commercial market. The
design model has combined a number of key technologies, such as cloud computing and mobility, as an
integral part of the proposed system. An adaptive development process has also been used in implementing
the proposed design model.
AN ALGORITHM FOR SOLVING LINEAR OPTIMIZATION PROBLEMS SUBJECTED TO THE INTERS...ijfcstjournal
Frank t-norms are parametric family of continuous Archimedean t-norms whose members are also strict
functions. Very often, this family of t-norms is also called the family of fundamental t-norms because of the
role it plays in several applications. In this paper, optimization of a linear objective function with fuzzy
relational inequality constraints is investigated. The feasible region is formed as the intersection of two
inequality fuzzy systems defined by frank family of t-norms is considered as fuzzy composition. First, the
resolution of the feasible solutions set is studied where the two fuzzy inequality systems are defined with
max-Frank composition. Second, some related basic and theoretical properties are derived. Then, a
necessary and sufficient condition and three other necessary conditions are presented to conceptualize the
feasibility of the problem. Subsequently, it is shown that a lower bound is always attainable for the optimal
objective value. Also, it is proved that the optimal solution of the problem is always resulted from the
unique maximum solution and a minimal solution of the feasible region. Finally, an algorithm is presented
to solve the problem and an example is described to illustrate the algorithm. Additionally, a method is
proposed to generate random feasible max-Frank fuzzy relational inequalities. By this method, we can
easily generate a feasible test problem and employ our algorithm to it.
LBRP: A RESILIENT ENERGY HARVESTING NOISE AWARE ROUTING PROTOCOL FOR UNDER WA...ijfcstjournal
Underwater detector network is one amongst the foremost difficult and fascinating analysis arenas that
open the door of pleasing plenty of researchers during this field of study. In several under water based
sensor applications, nodes are square measured and through this the energy is affected. Thus, the mobility
of each sensor nodes are measured through the water atmosphere from the water flow for sensor based
protocol formations. Researchers have developed many routing protocols. However, those lost their charm
with the time. This can be the demand of the age to supply associate degree upon energy-efficient and
ascendable strong routing protocol for under water actuator networks. During this work, the authors tend
to propose a customary routing protocol named level primarily based routing protocol (LBRP), reaching to
offer strong, ascendable and energy economical routing. LBRP conjointly guarantees the most effective use
of total energy consumption and ensures packet transmission which redirects as an additional reliability in
compare to different routing protocols. In this work, the authors have used the level of forwarding node,
residual energy and distance from the forwarding node to the causing node as a proof in multicasting
technique comparisons. Throughout this work, the authors have got a recognition result concerning about
86.35% on the average in node multicasting performances. Simulation has been experienced each in a
wheezy and quiet atmosphere which represents the endorsement of higher performance for the planned
protocol.
STRUCTURAL DYNAMICS AND EVOLUTION OF CAPSULE ENDOSCOPY (PILL CAMERA) TECHNOLO...ijfcstjournal
This research paper examined and re-evaluates the technological innovation, theory, structural dynamics
and evolution of Pill Camera(Capsule Endoscopy) technology in redirecting the response manner of small
bowel (intestine) examination in human. The Pill Camera (Endoscopy Capsule) is made up of sealed
biocompatible material to withstand acid, enzymes and other antibody chemicals in the stomach is a
technology that helps the medical practitioners especially the general physicians and the
gastroenterologists to examine and re-examine the intestine for possible bleeding or infection. Before the
advent of the Pill camera (Endoscopy Capsule) the colonoscopy was the local method used but research
showed that some parts (bowel) of the intestine can’t be reach by mere traditional method hence the need
for Pill Camera. Countless number of deaths from stomach disease such as polyps, inflammatory bowel
(Crohn”s diseases), Cancers, Ulcer, anaemia and tumours of small intestines which ordinary would have
been detected by sophisticated technology like Pill Camera has become norm in the developing nations.
Nevertheless, not only will this paper examine and re-evaluate the Pill Camera Innovation, theory,
Structural dynamics and evolution it unravelled and aimed to create awareness for both medical
practitioners and the public.
AN OPTIMIZED HYBRID APPROACH FOR PATH FINDINGijfcstjournal
Path finding algorithm addresses problem of finding shortest path from source to destination avoiding
obstacles. There exist various search algorithms namely A*, Dijkstra's and ant colony optimization. Unlike
most path finding algorithms which require destination co-ordinates to compute path, the proposed
algorithm comprises of a new method which finds path using backtracking without requiring destination
co-ordinates. Moreover, in existing path finding algorithm, the number of iterations required to find path is
large. Hence, to overcome this, an algorithm is proposed which reduces number of iterations required to
traverse the path. The proposed algorithm is hybrid of backtracking and a new technique(modified 8-
neighbor approach). The proposed algorithm can become essential part in location based, network, gaming
applications. grid traversal, navigation, gaming applications, mobile robot and Artificial Intelligence.
EAGRO CROP MARKETING FOR FARMING COMMUNITYijfcstjournal
The Major Occupation in India is the Agriculture; the people involved in the Agriculture belong to the poor
class and category. The people of the farming community are unaware of the new techniques and Agromachines, which would direct the world to greater heights in the field of agriculture. Though the farmers
work hard, they are cheated by agents in today’s market. This serves as a opportunity to solve
all the problems that farmers face in the current world. The eAgro crop marketing will serve as a better
way for the farmers to sell their products within the country with some mediocre knowledge about using
the website. This would provide information to the farmers about current market rate of agro-products,
their sale history and profits earned in a sale. This site will also help the farmers to know about the market
information and to view agricultural schemes of the Government provided to farmers.
EDGE-TENACITY IN CYCLES AND COMPLETE GRAPHSijfcstjournal
It is well known that the tenacity is a proper measure for studying vulnerability and reliability in graphs.
Here, a modified edge-tenacity of a graph is introduced based on the classical definition of tenacity.
Properties and bounds for this measure are introduced; meanwhile edge-tenacity is calculated for cycle
graphs and also for complete graphs.
COMPARATIVE STUDY OF DIFFERENT ALGORITHMS TO SOLVE N QUEENS PROBLEMijfcstjournal
This Paper provides a brief description of the Genetic Algorithm (GA), the Simulated Annealing (SA)
Algorithm, the Backtracking (BT) Algorithm and the Brute Force (BF) Search Algorithm and attempts to
explain the way as how the Proposed Genetic Algorithm (GA), the Proposed Simulated Annealing (SA)
Algorithm using GA, the Backtracking (BT) Algorithm and the Brute Force (BF) Search Algorithm can be
employed in finding the best solution of N Queens Problem and also, makes a comparison between these
four algorithms. It is entirely a review based work. The four algorithms were written as well as
implemented. From the Results, it was found that, the Proposed Genetic Algorithm (GA) performed better
than the Proposed Simulated Annealing (SA) Algorithm using GA, the Backtracking (BT) Algorithm and
the Brute Force (BF) Search Algorithm and it also provided better fitness value (solution) than the
Proposed Simulated Annealing Algorithm (SA) using GA, the Backtracking (BT) Algorithm and the Brute
Force (BF) Search Algorithm, for different N values. Also, it was noticed that, the Proposed GA took more
time to provide result than the Proposed SA using GA.
PSTECEQL: A NOVEL EVENT QUERY LANGUAGE FOR VANET’S UNCERTAIN EVENT STREAMSijfcstjournal
In recent years, the complex event processing technology has been used to process the VANET’s temporal
and spatial event streams. However, we usually cannot get the accurate data because the device sensing
accuracy limitations of the system. We only can get the uncertain data from the complex and limited
environment of the VANET. Because the VANET’s event streams are consist of the uncertain data, so they
are also uncertain. How effective to express and process these uncertain event streams has become the core
issue for the VANET system. To solve this problem, we propose a novel complex event query language
PSTeCEQL (probabilistic spatio-temporal constraint event query language). Firstly, we give the definition
of the possible world model of VANET’s uncertain event streams. Secondly, we propose an event query
language PSTeCEQL and give the syntax and the operational semantics of the language. Finally, we
illustrate the validity of the PSTeCEQL by an example.
CLUSTBIGFIM-FREQUENT ITEMSET MINING OF BIG DATA USING PRE-PROCESSING BASED ON...ijfcstjournal
Now a day enormous amount of data is getting explored through Internet of Things (IoT) as technologies
are advancing and people uses these technologies in day to day activities, this data is termed as Big Data
having its characteristics and challenges. Frequent Itemset Mining algorithms are aimed to disclose
frequent itemsets from transactional database but as the dataset size increases, it cannot be handled by
traditional frequent itemset mining. MapReduce programming model solves the problem of large datasets
but it has large communication cost which reduces execution efficiency. This proposed new pre-processed
k-means technique applied on BigFIM algorithm. ClustBigFIM uses hybrid approach, clustering using kmeans algorithm to generate Clusters from huge datasets and Apriori and Eclat to mine frequent itemsets
from generated clusters using MapReduce programming model. Results shown that execution efficiency of
ClustBigFIM algorithm is increased by applying k-means clustering algorithm before BigFIM algorithm as
one of the pre-processing technique.
A MUTATION TESTING ANALYSIS AND REGRESSION TESTINGijfcstjournal
Software testing is a testing which conducted a test to provide information to client about the quality of the
product under test. Software testing can also provide an objective, independent view of the software to
allow the business to appreciate and understand the risks of software implementation. In this paper we
focused on two main software testing –mutation testing and mutation testing. Mutation testing is a
procedural testing method, i.e. we use the structure of the code to guide the test program, A mutation is a
little change in a program. Such changes are applied to model low level defects that obtain in the process
of coding systems. Ideally mutations should model low-level defect creation. Mutation testing is a process
of testing in which code is modified then mutated code is tested against test suites. The mutations used in
source code are planned to include in common programming errors. A good unit test typically detects the
program mutations and fails automatically. Mutation testing is used on many different platforms, including
Java, C++, C# and Ruby. Regression testing is a type of software testing that seeks to uncover
new software bugs, or regressions, in existing functional and non-functional areas of a system after
changes such as enhancements, patches or configuration changes, have been made to them. When defects
are found during testing, the defect got fixed and that part of the software started working as needed. But
there may be a case that the defects that fixed have introduced or uncovered a different defect in the
software. The way to detect these unexpected bugs and to fix them used regression testing. The main focus
of regression testing is to verify that changes in the software or program have not made any adverse side
effects and that the software still meets its need. Regression tests are done when there are any changes
made on software, because of modified functions.
GREEN WSN- OPTIMIZATION OF ENERGY USE THROUGH REDUCTION IN COMMUNICATION WORK...ijfcstjournal
Advances in micro fabrication and communication techniques have led to unimaginable proliferation of
WSN applications. Research is focussed on reduction of setup operational energy costs. Bulk of operational
energy costs are linked to communication activities of WSN. Any progress towards energy efficiency has a
potential of huge savings globally. Therefore, every energy efficient step is an endeavour to cut costs and
‘Go Green’. In this paper, we have proposed a framework to reduce communication workload through: Innetwork compression and multiple query synthesis at the base-station and modification of query syntax
through introduction of Static Variables. These approaches are general approaches which can be used in
any WSN irrespective of application.
A NEW MODEL FOR SOFTWARE COSTESTIMATION USING HARMONY SEARCHijfcstjournal
Accurate and realistic estimation is always considered to be a great challenge in software industry.
Software Cost Estimation (SCE) is the standard application used to manage software projects. Determining
the amount of estimation in the initial stages of the project depends on planning other activities of the
project. In fact, the estimation is confronted with a number of uncertainties and barriers’, yet assessing the
previous projects is essential to solve this problem. Several models have been developed for the analysis of
software projects. But the classical reference method is the COCOMO model, there are other methods
which are also applied such as Function Point (FP), Line of Code(LOC); meanwhile, the expert`s opinions
matter in this regard. In recent years, the growth and the combination of meta-heuristic algorithms with
high accuracy have brought about a great achievement in software engineering. Meta-heuristic algorithms
which can analyze data from multiple dimensions and identify the optimum solution between them are
analytical tools for the analysis of data. In this paper, we have used the Harmony Search (HS)algorithm for
SCE. The proposed model which is a collection of 60 standard projects from Dataset NASA60 has been
assessed.The experimental results show that HS algorithm is a good way for determining the weight
similarity measures factors of software effort, and reducing the error of MRE.
AGENT ENABLED MINING OF DISTRIBUTED PROTEIN DATA BANKSijfcstjournal
Mining biological data is an emergent area at the intersection between bioinformatics and data mining
(DM). The intelligent agent based model is a popular approach in constructing Distributed Data Mining
(DDM) systems to address scalable mining over large scale distributed data. The nature of associations
between different amino acids in proteins has also been a subject of great anxiety. There is a strong need to
develop new models and exploit and analyze the available distributed biological data sources. In this study,
we have designed and implemented a multi-agent system (MAS) called Agent enriched Quantitative
Association Rules Mining for Amino Acids in distributed Protein Data Banks (AeQARM-AAPDB). Such
globally strong association rules enhance understanding of protein composition and are desirable for
synthesis of artificial proteins. A real protein data bank is used to validate the system.
International Journal on Foundations of Computer Science & Technology (IJFCST)ijfcstjournal
International Journal on Foundations of Computer Science & Technology (IJFCST) is a Bi-monthly peer-reviewed and refereed open access journal that publishes articles which contribute new results in all areas of the Foundations of Computer Science & Technology. Over the last decade, there has been an explosion in the field of computer science to solve various problems from mathematics to engineering. This journal aims to provide a platform for exchanging ideas in new emerging trends that needs more focus and exposure and will attempt to publish proposals that strengthen our goals. Topics of interest include, but are not limited to the following:
Because the technology is used largely in the last decades; cybercrimes have become a significant
international issue as a result of the huge damage that it causes to the business and even to the ordinary
users of technology. The main aims of this paper is to shed light on digital crimes and gives overview about
what a person who is related to computer science has to know about this new type of crimes. The paper has
three sections: Introduction to Digital Crime which gives fundamental information about digital crimes,
Digital Crime Investigation which presents different investigation models and the third section is about
Cybercrime Law.
DISTRIBUTION OF MAXIMAL CLIQUE SIZE UNDER THE WATTS-STROGATZ MODEL OF EVOLUTI...ijfcstjournal
In this paper, we analyze the evolution of a small-world network and its subsequent transformation to a
random network using the idea of link rewiring under the well-known Watts-Strogatz model for complex
networks. Every link u-v in the regular network is considered for rewiring with a certain probability and if
chosen for rewiring, the link u-v is removed from the network and the node u is connected to a randomly
chosen node w (other than nodes u and v). Our objective in this paper is to analyze the distribution of the
maximal clique size per node by varying the probability of link rewiring and the degree per node (number
of links incident on a node) in the initial regular network. For a given probability of rewiring and initial
number of links per node, we observe the distribution of the maximal clique per node to follow a Poisson
distribution. We also observe the maximal clique size per node in the small-world network to be very close
to that of the average value and close to that of the maximal clique size in a regular network. There is no
appreciable decrease in the maximal clique size per node when the network transforms from a regular
network to a small-world network. On the other hand, when the network transforms from a small-world
network to a random network, the average maximal clique size value decreases significantly
Neuro-symbolic is not enough, we need neuro-*semantic*Frank van Harmelen
Neuro-symbolic (NeSy) AI is on the rise. However, simply machine learning on just any symbolic structure is not sufficient to really harvest the gains of NeSy. These will only be gained when the symbolic structures have an actual semantics. I give an operational definition of semantics as “predictable inference”.
All of this illustrated with link prediction over knowledge graphs, but the argument is general.
Search and Society: Reimagining Information Access for Radical FuturesBhaskar Mitra
The field of Information retrieval (IR) is currently undergoing a transformative shift, at least partly due to the emerging applications of generative AI to information access. In this talk, we will deliberate on the sociotechnical implications of generative AI for information access. We will argue that there is both a critical necessity and an exciting opportunity for the IR community to re-center our research agendas on societal needs while dismantling the artificial separation between the work on fairness, accountability, transparency, and ethics in IR and the rest of IR research. Instead of adopting a reactionary strategy of trying to mitigate potential social harms from emerging technologies, the community should aim to proactively set the research agenda for the kinds of systems we should build inspired by diverse explicitly stated sociotechnical imaginaries. The sociotechnical imaginaries that underpin the design and development of information access technologies needs to be explicitly articulated, and we need to develop theories of change in context of these diverse perspectives. Our guiding future imaginaries must be informed by other academic fields, such as democratic theory and critical theory, and should be co-developed with social science scholars, legal scholars, civil rights and social justice activists, and artists, among others.
GDG Cloud Southlake #33: Boule & Rebala: Effective AppSec in SDLC using Deplo...James Anderson
Effective Application Security in Software Delivery lifecycle using Deployment Firewall and DBOM
The modern software delivery process (or the CI/CD process) includes many tools, distributed teams, open-source code, and cloud platforms. Constant focus on speed to release software to market, along with the traditional slow and manual security checks has caused gaps in continuous security as an important piece in the software supply chain. Today organizations feel more susceptible to external and internal cyber threats due to the vast attack surface in their applications supply chain and the lack of end-to-end governance and risk management.
The software team must secure its software delivery process to avoid vulnerability and security breaches. This needs to be achieved with existing tool chains and without extensive rework of the delivery processes. This talk will present strategies and techniques for providing visibility into the true risk of the existing vulnerabilities, preventing the introduction of security issues in the software, resolving vulnerabilities in production environments quickly, and capturing the deployment bill of materials (DBOM).
Speakers:
Bob Boule
Robert Boule is a technology enthusiast with PASSION for technology and making things work along with a knack for helping others understand how things work. He comes with around 20 years of solution engineering experience in application security, software continuous delivery, and SaaS platforms. He is known for his dynamic presentations in CI/CD and application security integrated in software delivery lifecycle.
Gopinath Rebala
Gopinath Rebala is the CTO of OpsMx, where he has overall responsibility for the machine learning and data processing architectures for Secure Software Delivery. Gopi also has a strong connection with our customers, leading design and architecture for strategic implementations. Gopi is a frequent speaker and well-known leader in continuous delivery and integrating security into software delivery.
Kubernetes & AI - Beauty and the Beast !?! @KCD Istanbul 2024Tobias Schneck
As AI technology is pushing into IT I was wondering myself, as an “infrastructure container kubernetes guy”, how get this fancy AI technology get managed from an infrastructure operational view? Is it possible to apply our lovely cloud native principals as well? What benefit’s both technologies could bring to each other?
Let me take this questions and provide you a short journey through existing deployment models and use cases for AI software. On practical examples, we discuss what cloud/on-premise strategy we may need for applying it to our own infrastructure to get it to work from an enterprise perspective. I want to give an overview about infrastructure requirements and technologies, what could be beneficial or limiting your AI use cases in an enterprise environment. An interactive Demo will give you some insides, what approaches I got already working for real.
Let's dive deeper into the world of ODC! Ricardo Alves (OutSystems) will join us to tell all about the new Data Fabric. After that, Sezen de Bruijn (OutSystems) will get into the details on how to best design a sturdy architecture within ODC.
Dev Dives: Train smarter, not harder – active learning and UiPath LLMs for do...UiPathCommunity
💥 Speed, accuracy, and scaling – discover the superpowers of GenAI in action with UiPath Document Understanding and Communications Mining™:
See how to accelerate model training and optimize model performance with active learning
Learn about the latest enhancements to out-of-the-box document processing – with little to no training required
Get an exclusive demo of the new family of UiPath LLMs – GenAI models specialized for processing different types of documents and messages
This is a hands-on session specifically designed for automation developers and AI enthusiasts seeking to enhance their knowledge in leveraging the latest intelligent document processing capabilities offered by UiPath.
Speakers:
👨🏫 Andras Palfi, Senior Product Manager, UiPath
👩🏫 Lenka Dulovicova, Product Program Manager, UiPath
LF Energy Webinar: Electrical Grid Modelling and Simulation Through PowSyBl -...DanBrown980551
Do you want to learn how to model and simulate an electrical network from scratch in under an hour?
Then welcome to this PowSyBl workshop, hosted by Rte, the French Transmission System Operator (TSO)!
During the webinar, you will discover the PowSyBl ecosystem as well as handle and study an electrical network through an interactive Python notebook.
PowSyBl is an open source project hosted by LF Energy, which offers a comprehensive set of features for electrical grid modelling and simulation. Among other advanced features, PowSyBl provides:
- A fully editable and extendable library for grid component modelling;
- Visualization tools to display your network;
- Grid simulation tools, such as power flows, security analyses (with or without remedial actions) and sensitivity analyses;
The framework is mostly written in Java, with a Python binding so that Python developers can access PowSyBl functionalities as well.
What you will learn during the webinar:
- For beginners: discover PowSyBl's functionalities through a quick general presentation and the notebook, without needing any expert coding skills;
- For advanced developers: master the skills to efficiently apply PowSyBl functionalities to your real-world scenarios.
UiPath Test Automation using UiPath Test Suite series, part 3DianaGray10
Welcome to UiPath Test Automation using UiPath Test Suite series part 3. In this session, we will cover desktop automation along with UI automation.
Topics covered:
UI automation Introduction,
UI automation Sample
Desktop automation flow
Pradeep Chinnala, Senior Consultant Automation Developer @WonderBotz and UiPath MVP
Deepak Rai, Automation Practice Lead, Boundaryless Group and UiPath MVP
Software Delivery At the Speed of AI: Inflectra Invests In AI-Powered QualityInflectra
In this insightful webinar, Inflectra explores how artificial intelligence (AI) is transforming software development and testing. Discover how AI-powered tools are revolutionizing every stage of the software development lifecycle (SDLC), from design and prototyping to testing, deployment, and monitoring.
Learn about:
• The Future of Testing: How AI is shifting testing towards verification, analysis, and higher-level skills, while reducing repetitive tasks.
• Test Automation: How AI-powered test case generation, optimization, and self-healing tests are making testing more efficient and effective.
• Visual Testing: Explore the emerging capabilities of AI in visual testing and how it's set to revolutionize UI verification.
• Inflectra's AI Solutions: See demonstrations of Inflectra's cutting-edge AI tools like the ChatGPT plugin and Azure Open AI platform, designed to streamline your testing process.
Whether you're a developer, tester, or QA professional, this webinar will give you valuable insights into how AI is shaping the future of software delivery.
Connector Corner: Automate dynamic content and events by pushing a buttonDianaGray10
Here is something new! In our next Connector Corner webinar, we will demonstrate how you can use a single workflow to:
Create a campaign using Mailchimp with merge tags/fields
Send an interactive Slack channel message (using buttons)
Have the message received by managers and peers along with a test email for review
But there’s more:
In a second workflow supporting the same use case, you’ll see:
Your campaign sent to target colleagues for approval
If the “Approve” button is clicked, a Jira/Zendesk ticket is created for the marketing design team
But—if the “Reject” button is pushed, colleagues will be alerted via Slack message
Join us to learn more about this new, human-in-the-loop capability, brought to you by Integration Service connectors.
And...
Speakers:
Akshay Agnihotri, Product Manager
Charlie Greenberg, Host
Connector Corner: Automate dynamic content and events by pushing a button
Modelling of walking humanoid robot with capability of floor detection and dynamic balancing using colored petri net
1. International Journal in Foundations of Computer Science & Technology (IJFCST), Vol.4, No.2, March 2014
DOI:10.5121/ijfcst.2014.4201 1
Modelling of Walking Humanoid Robot With
Capability of Floor Detection and Dynamic
Balancing Using Colored Petri Net
Saeid Pashazadeh and Saeed Saeedvand
Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran
ABSTRACT
Most humanoid robots have highly complicated structure and design of robots that are very similar to
human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control
of humanoid robots is presented using Colored Petri Nets. For keeping dynamic balance of the robot,
combination of Gyroscope and Accelerometer sensors are used in algorithm. Image processing is used to
identify two fundamental issues: first, detection of target or an object which robot must follow; second,
detecting surface of the ground so that walking robot could maintain its balance just like a human and
shows its best performance. Presented model gives high-level view of humanoid robot's operations.
KEYWORDS
Humanoid Robots, Modelling, Colored Petri Net, Dynamic Walking, Image Processing, Filtering.
1. INTRODUCTION
Humanoid robots are group of robots that robot designers have long desire to make them more
similar to humans such that they could replace them instead of people for doing different works in
harsh environments like transportation of nuclear devices. One of the most important issues in
making a robot is keeping its balance when it stands or moves. When a robot is standing or
walking, it can maintain its balance on uneven surfaces using different sensors like Gyroscope
and Accelerometers that are controlled by various algorithms that examples of which are given in
[1- 4]. Main problem is that usually robot has little information about floor on which it is moving,
therefore it can often detect the surface and show appropriate response only after it has reached
the intended place. This usually gets the robot into trouble, disturbs the balance of the two-leg
robot and sharply decreases its speed. This paper aims to present an algorithm by which the robot
detects the floor, follows a predetermined target, and shows the desired reactions.
Section 2 of paper gives a brief explanation about modelling using Colored Petri Nets (CPN) [5-
7] and then addresses the operation of balance sensors as well as the proposed algorithms for
noise filtering. Later, the proposed algorithm is modelled using CPN-Tools software. In the image
processing part of presented model using CPN, different filters applied to captures images of
cameras and the way in which image processing is used to detect the floor are investigated.
Finally, the proposed method is implemented and tested, and the results of applying it to the
designed robot (SoRoBo) are analyzed.
Many projects have been carried out on the humanoid robots, each having its own ideas and
methods. Some of these projects are as follows: Jung-Yup Kim et al. developed a control
2. International Journal in Foundations of Computer Science & Technology (IJFCST), Vol.4, No.2, March 2014
2
algorithm in which they controlled their robot on a sloping ground with little roughness, using
control sensors in dynamic and stable states [1]. Sebastien Dalibard et al. presented an interesting
two-stage method to control the robot’s dynamic walking through narrow spaces on a smooth
ground [2]. In their method, Andrew L. Kun and W. Thomas Miller making use of an Accelerator
sensor upon nervous systems for keeping balance of walking robot [3]. Kenji Kaneko et al.
introduced the platform of the Japanese robot (HRP-2) which is able to move on rough surfaces at
two speeds and on an even line using Gyro and Accelerator sensors [4]. Karungaru et al.
developed an algorithm for determining position of their robots using image processing. By real-
time image processing and filtering of image blur during movement of robot, they focused on
using image processing to control walking humanoid robot. They were sending results of image
processing to robot for immediately controlling it [8]. Jung-Yup Kim et al. conducted an
experiment on their robot, in which they first set a target in stereovision and controlled their
robot’s movement on an even ground towards the target [9]. Hirai, K et al., too, presented a
control algorithm for Honda robot that can do various movements and sustain its balance [10].
2. COLORED PETRI NET
Petri Net [5-7] is a modelling method that benefits from graphical representation for analysis of
activities involved in synchronous and concurrent systems. A Petri net consists of four basic
elements: places, transitions, arcs, and tokens. Assignment of tokens to places (markings)
represents states of the system. A place is shown in the form of a circle or oval and tokens in the
form of small filled inside circles that resides in the places. Each transition is shown in the form
of a rectangle and represents system activities. Petri nets works based on its special enabling and
firing rules.
Many extensions to classical Petri net is developed that aims of all of them are extending
modelling capability of Petri nets. Colored Petri net is the most recent and powerful extension of
classical Petri net that enables modeller to define colour type (data type) for tokens and their
containing places. Its modelling capability is extended using ML programming language that is an
artificial intelligence language. ML allows using inscriptions and functions as arc expressions and
guard conditions of transitions. Using colored Petri net enables modeller for modelling wide
range of systems. ML language that is used in colored Petri net is revision of original one that
some futures of it is removed and some new futures are added to it that make it synchronized with
Petri net terms such as defining multi-set operators and multi-set markings [11],[12]. One of the
best tools that is developed for modelling and analysis of colored Petri net models is the CPN
Tools. This free open source software is accessible from its web site [13]. Colored Petri net can
be used for modelling and verification of wide range of protocols and rules in different fields of
computer science like security and database systems [14],[15]. Modelling of humanoid robot
using colored Petri net is under study in this paper.
3. GYROSCOPE AND ACCELERATOR SENSORS
Gyroscope and accelerator are most commonly used sensors for controlling majority of dynamic
walking humanoid robots. Gyroscope sensors are used to measure direction of robot by measuring
yaw, pitch and roll angles of it and accelerator sensors are used for measuring motion gradient in
(x, y, z) axes directions in real-time manner. Proposed algorithm in this paper uses both of these
sensors. When humanoid robot is moving, its skeleton suffers from violent convulsions that cause
noise and inaccuracy of data read by sensors. Kalman Filtering algorithm is often used to
overcome this problem and yields desired results. Method that was presented by Ferdinando et al.
[16] is used to obtain some filtered data from two different coordinates which are likely to bring
3. International Journal in Foundations of Computer Science & Technology (IJFCST), Vol.4, No.2, March 2014
3
about noise. Performance of these two sensors is shown and is explained by model provided in
section Gyroscope and Accelerometer.
4. MODEL OF HUMANOID ROBOT
A hierarchical model of a humanoid robot is present in this paper. Figure 1 shows top-level model
of system. Model contains three substitution transitions. Description of each substitution
transition is as follows:
Gyroscope and Accelerometer Transition: Sub module of this substitution transition is
responsible for producing filtered coordinates after noise elimination in x, y, and z axes from
control sensors, indicating correct acceleration in specified small time spans. Output of this
transition transmits to place Filtered Coordinate with colorset of type f_coordiante that is some
kind of list.
colset axis= int with 1..330;
colset filtered_coordinate=product axis*axis*axis;
colset f_coordinate=list filtered_coordinate;
List elements are of colorset product of three variables of colorset axis that shows correct gradient
of each angle. Sub model of substitution transition Gyroscope and Accelerometer is appeared as
Tilt sensor, which will be explained later in detail in section 4.1.
Figure 1. Top-level model of humanoid robot's operation
4. International Journal in Foundations of Computer Science & Technology (IJFCST), Vol.4, No.2, March 2014
4
Image processing Transition: Sub module of this substitution transition carries out operations
that are related to image processing. Transition fires processed information at place Final
Calculated Coordinate. Sub module of this substitution transition is named as Image Processing
and will be addressed in section 4.2. Transition Send Motor Motion Instruction Transition is
responsible for receiving data from following places:
Final Calculated Coordinates place: Colorset of this place is of type int. This place
specifies instruction code for determining control operations of robot. Amount of this code is
obtained in subpage that will be explained in section 4.2, and determines which control
instruction has been calculated in Image Processing subpage.
Motor Numbers (Dynamixel) Place: Colorset of this place is of type string and specifies
control package for controlling each of engines, regarding motions that already have been
made based on mechanical structure of the robot. Here, protocol Dynamixel is used for
Dynamixel-RX28 engines [17].
Send Motor Motion Instruction Transition: This Transition, after binding required data from
places that are connected to it, sets out to calculate instructions which must be binding to each of
engines based on the control instruction involved in place Final Controlling Instruction and
Motion from place Motor Instructions Default Motions (Dynamixel) by variable Data. Then, it
changes instruction, engine ID and other required quantities existing in protocol of Dynamixel
engines and fires them into place Dynamixel Motors Running Motion to send them to the engines.
4.1. Tilt Sensors Sub Module
Figure 2 shows subpage of Tilt Sensors sub module of substitution transition Gyroscope and
Accelerometer substitution of Figure 1. This sub model contains 2 transitions and 6 places that
responsibilities of them are as follows. Place Gyroscope Sensor holds change in rotation of
humanoid robot around x, y, and z axis respectively and place Accelerometer Sensor holds
acceleration of robot in direction of three axes relative to humanoid robot in each step. We
assumed in model that sensed information of gyroscope and acceleration sensors are placed in
these places. We generated random values as sensed data for these sensors in the model.
Accelerometer indicates correct gradient of robot at each moment (x, y, z), and Gyroscope
measures direction or turn of robot at each moment (yaw, pitch, roll). Some of color sets that are
used for modelling these two sensors are as follows:
colset Angle = int with 1..330;
colset Coordinate_g = record yaws : Angle * pitchs : Angle * rolls : Angle;
colset Acc = int with 1..330;
colset Coordinate_ac = record x_ac : Acc * y_ac : Acc * z_ac : Acc;
Color set Angle is defined of type sub range 1..330 of int for representing directional change of
robot along each axes. Color set Coordinate_g is a record of three fields that each one represents
amount of robot's rotation along each of three axes. Color set Acc is defined of type sub range
1..330 of int for representing acceleration of robot along each axis. Color set Coordinate_ac is a
record of three fields that each one represents amount of robot's acceleration along each of three
axes.
Transition Gyroscope and Accelerometer continually binds produced coordinates by each sensor
from places Accelerometer Sensor and Gyroscope sensor and puts them in places Accelerometer
Data and Gyroscope Data. places Accelerometer Sensor and Gyroscope Sensor must not
considered as real sensors, they present result of sensing and pre-processing of their sensed data.
Place Number causes that after reading of sensors inputs transitions Gyroscope and
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Accelerometer becomes disabled until filtering of these information will be done. Transition
Kalman Filtering uses data from places Accelerometer Data and Gyroscope Data using Kalman
Filtering algorithm proposed by Ferdinando [16] and sends result in place Filtered Coordination.
Operation of transition Kalman Filtering is demonstrated by making average of coordinates of
two sensors in the Transition. More information about Kalman filleting is available in [18].
Figure 2. Gyroscope and Accelerometer subpage
4.2. Image Processing Sub Module
Figure 3 shows Image Processing sub module of substitution transition Image Processing in
Figure 1. As name of transition implies, operations of image processing are carried out in this
part. Place camera is regarded as image processing camera, in which every frame of the taken
pictures is stored. When the humanoid robot is walking, small movement of robot shakes robot’s
camera and make blurred take images. To overcome this problem, operations of image
stabilization in transition Anti-Image Vibration Filtering are carried out. Task of this transition is
to clear up blurred vision when robot is walking. Let Assume that method proposed by J. Windau
et al. [19] was used in implementation of operations. Real-time video image stabilization system
(VISS) was implemented in several layers that primarily is developed for aerial robots. Its unique
architecture combines four independent stabilization layers.
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Figure 3. Image processing subpage
First layer detects vibrations via an inertial measurement unit (IMU) and performs external
counter-movements with a motorized gimbal. Second layer damps vibrations by using mechanical
devices. Internal optical image stabilizes image of camera in third layer and finally, fourth layer
filters remaining vibrations using software. This study is not aimed at detailing this
implementation due to enormous volume of information. In general, VISS operations are
considered as Anti Image Vibration Filtering transition in our model. Then anti-image vibration
filtering is applied to the image and new image will be located in place Picture. In this stage, each
of two following transitions on image must be run once and this is controlled by places Lock. First
transition is Target Detection, whose task is finding intended target on image with regard to the
information that exists in place Target Information. Take an orange ball as an example, if
intended target is spotted from the image in that frame, coordinates of target on image are sent to
place Target Position and in otherwise, zero quantity is sent to this place. Second transition is
Floor Detection, which is a very important and has responsibility of detecting floor. Young-geun
Kim et al., in a study conducted in 2004 introduced an interesting method for detecting floor by
means of various filters [20]. Let assumed that their method is used in our model of humanoid
robot system. Transition Floor Detection binds new image from place Picture and after
conducting necessary operations, detects image of floor and sends them to place Detected Floor
Picture.
Transition Image Processing will be enabled after firing of these two transitions. Let assume that
place Detected Floor Picture contains taken image of the floor and place Head Camera Position
contains current position of robot's camera that amount of it is in form of two dimensional
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coordinates in range of (x=(1..8), y=(1..6)). After binding of input arc inscriptions of transition
Image Processing fires and calculates approximate position of the robot and sends them at place
Robot Approximate Position in floor.
Last transition of this subpage is Calculate Humanoid Robot Balance and Way. It is responsible
for processing balance instructions and calculating path of the robot through binding existing data
in places Target Position, Robot Approximate Position in floor, Controlling Instruction, and
Filtered Coordinate. Tokens of place Controlling Instructions are instructions of control unit for
movement of robot. This transition uses tokens of mentioned places and by firing computes next
position of robot and sends them to place Final Calculated Coordinates. Values of control
instructions are considered random values from uniform distribution in this model.
4.3. Robot Motors Subpage
Figure 4 shows Robot Motors subpage that includes detailed model of substitution transition Send
Data to run in Figure 1. This sub model contains 20 places that each one is responsible for
controlling one part of engine of humanoid robot that is shown in Figure 5. Transition Send
instruction to Motors (Dynamixel) takes incoming instructions that are stored in place Dynamixel
Motor Running Instruction then translates and sends them to appropriate motor of robot's engine
such that each engine can carry out its instructions, causing the robot to respond.
Figure 4. Robot motors subpage
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5. RUNNING PROPOSED MODEL OF SOROBO HUMANOID ROBOT
Figure 5 shows SOROBO humanoid robot that is 54 centimetres tall. Figure shows joints and
places of robots motors and their degree of freedom. Structure of this robot is used in modelling
proposed algorithms in this paper.
Figure 5. SOROBO robot and its motors structure
Experiment done on the robot has yielded good results so that the robot is able to detect assigned
target without getting out off the floor and continue walking dynamically without conflict with
any obstacles. Robot has a camera with two moving angles with engines No. 19 and No. 20,
marked with their movement angles in Figure 5. In this robot, Dynamixel engines of RX28 series
have been used. Inside main body of robot, there is a RoBoard RB-110 for controlling its different
parts. Robot has 20 engines, and as mentioned earlier, engines 19 and 20 control movements of
robot’s head in two different directions. Main engines whose amounts are changed to maintain
robot’s balance in Real-time manner are engines 1 to 6 at upper body and engines 7 to 18 at lower
body. These engines, during robot’s walking controlled by motions designed for different
movement directions, must be changed by transition ‘Calculate Humanoid Robot Balance and
Way’ so robot’s balance is kept in different conditions.
6. CONCLUSION
Given enormous complexity of humanoid robots and limitations in explaining all of its parts in
detail, a general algorithm was proposed for humanoid robots that enables robot to automatically
detect floor, dynamically find a preset target on a sloping and uneven surface and walking
towards it. Proposed algorithm was modelled using colored Petri net and presented by CPN-Tools
for more future study on the model. This model presents workflow of humanoid robot in high
level abstraction. Model checking shows correct operation of robot and can be used for
verification of different aspect of robot's operations. This model planned to be used for
performance evaluation of robot and future studies.
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Authors
Saeid Pashazadeh is Assistant Professor of Software Engineering in Information
Technology Department at Faculty of Electrical and Computer Engineering in
University of Tabriz in Iran. He received his B.Sc. in Computer Engineering from
Sharif Technical University of Iran in 1995. He obtained M.Sc. and Ph.D. in Computer
Engineering from Iran University of Science and Technology in 1998 and 2010
respectively. He was Lecturer in Faculty of Electrical Engineering in Sahand
University of Technology in Iran from 1999 until 2004. His main interests are
modelling and formal verification of distributed systems, computer security, wireless sensor/actor
networks, and applications of artificial neural networks. He is senior member of IACSIT and member of
editorial board of journal of electrical engineering at University of Tabriz in Iran.
10. International Journal in Foundations of Computer Science & Technology (IJFCST), Vol.4, No.2, March 2014
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Saeed Saeedvand is Ms.c student of software engineering in Faculty of Electrical
and Computer Engineering in University of Tabriz in Iran. He is working as a
Lecturer in Islamic Azad University of Iran. He is Capitan of SoRoBo Humanoid-
Kid size robotic team in Islamic Azad University and he has two champions in
IRANOPEN 2011 and 2012 games. His research interests are Robotic and artificial
intelligence.