{"title":"Underneath Vehicle Inspection Using Fuzzy Logic, Subsumption and OpenCV Library","authors":"Hazim Abdulsada","volume":97,"journal":"International Journal of Mechanical and Mechatronics Engineering","pagesStart":102,"pagesEnd":108,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/10000169","abstract":"
The inspection of underneath vehicle system has been
\r\ngiven significant attention by governments after the threat of
\r\nterrorism become more prevalent. New technologies such as mobile
\r\nrobots and computer vision are led to have more secure environment.
\r\nThis paper proposed that a mobile robot like Aria robot can be used
\r\nto search and inspect the bombs under parking a lot vehicle. This
\r\nrobot is using fuzzy logic and subsumption algorithms to control the
\r\nrobot that movies underneath the vehicle. An OpenCV library and
\r\nlaser Hokuyo are added to Aria robot to complete the experiment for
\r\nunder vehicle inspection. This experiment was conducted at the
\r\nindoor environment to demonstrate the efficiency of our methods to
\r\nsearch objects and control the robot movements under vehicle. We
\r\ngot excellent results not only by controlling the robot movement but
\r\nalso inspecting object by the robot camera at same time. This success
\r\nallowed us to know the requirement to construct a new cost effective
\r\nrobot with more functionality.<\/p>\r\n","references":"[1] E. E. Ruiz and K. L. Head, \u201cUse of an automatic under-vehicle\r\ninspection system as a tool to streamline vehicle screening at ports of\r\nentry and security checkpoints,\u201d 2012.\r\n[2] J. Dai, Weijun, GE, \u201cResearch on Vision-based Intelligent Vehicle\r\nSafety Inspection and Visual Surveillance,\u201d in Eighth International\r\nConference on Computational Intelligence and Security, 2012.\r\n[3] \u201c\u2018Bomb detection\u2019 Firm director arrested for Fraud over Claim Devices\r\nSent to Iraq were Useless,\u201d 2010. (Online). Available:\r\nwww.dailymail.co.uk\/news\/article-1245377\/bomb-detection-firmdirection-\r\narrested-fraud-claims-devices-sent-Iraq-useless.html.\r\n(Accessed: 24-Oct-2014).\r\n[4] P. Dickson, J. Li, Z. Zhu, A. R. Hanson, E. M. Riseman, H. Sabrin, H.\r\nSchultz, G. Whitten, and S. Spring, \u201cMosaic Generation for Under\r\nVehicle Inspection,\u201d Proc. sixth IEEE Work. Appl. Comput. Vis., pp. 3\u2013\r\n8, 2002.\r\n[5] S. Wanayuth, T. Yamada, A. Ohya, and T. Tsubouchi, \u201cUnder - Vehicle\r\nInspection Utilizing a Mobile Robot with a LRF Sensor,\u201d 2013, pp. 257\u2013\r\n262.\r\n[6] X. Li and B. Choi, \u201cDesign of Obstacle Avoidance System for Mobile\r\nRobot using Fuzzy Logic Systems,\u201d Int. J. Smart Home, vol. 7, no. 3,\r\npp. 321\u2013328, 2013.\r\n[7] H. Eskandar, P. Salehi, and M. H. Sabour, \u201cFuzzy Logic Tracking\r\nControl for a Three Wheel Circular Robot in Unknown Environment 1,\u201d\r\nWorld Appl. Sci. J., vol. 11, no. 33, pp. 321\u2013326, 2010.\r\n[8] R. M. Aguilar, V. Mu\u00f1oz, and Y. Callero, \u201cControl Application Using\r\nFuzzy Logic: Design of a Fuzzy Temperature Controller,\u201d Croatia, 2009.\r\n[9] A. Saffiotti, \u201cThe Uses of Fuzzy Logic in Autonomous Robot\r\nNavigation: 1 Introduction,\u201d vol. 1, no. 4. Center for Applied\r\nAutonomous Sensor Systems Department of Technology, Sweden.","publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 97, 2015"}