Search results for: situational fuzzy control

Authors: Doaa M. Atia, Faten H. Fahmy, Ninet M. Ahmed, Hassen T. Dorrah

Abstract:

During the past decade, pond aeration systems have been developed which will sustain large quantities of fish and invertebrate biomass. Dissolved Oxygen (DO) is considered to be among the most important water quality parameters in fish culture. Fishponds in aquaculture farms are usually located in remote areas where grid lines are at far distance. Aeration of ponds is required to prevent mortality and to intensify production, especially when feeding is practical, and in warm regions. To increase pond production it is necessary to control dissolved oxygen. Artificial intelligence (AI) techniques are becoming useful as alternate approaches to conventional techniques or as components of integrated systems. They have been used to solve complicated practical problems in various areas and are becoming more and more popular nowadays. This paper presents a new design of diffused aeration system using fuel cell as a power source. Also fuzzy logic control Technique (FLC) is used for controlling the speed of air flow rate from the blower to air piping connected to the pond by adjusting blower speed. MATLAB SIMULINK results show high performance of fuzzy logic control (FLC).

Keywords: aeration system, Fuel cell, Artificial intelligence (AI) techniques, fuzzy logic control

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Authors: M. G. Papoutsidakis, G. Chamilothoris, F. Dailami, N. Larsen, A Pipe

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Due to their high power-to-weight ratio and low cost, pneumatic actuators are attractive for robotics and automation applications; however, achieving fast and accurate control of their position have been known as a complex control problem. A methodology for obtaining high position accuracy with a linear pneumatic actuator is presented. During experimentation with a number of PID classical control approaches over many operations of the pneumatic system, the need for frequent manual re-tuning of the controller could not be eliminated. The reason for this problem is thermal and energy losses inside the cylinder body due to the complex friction forces developed by the piston displacements. Although PD controllers performed very well over short periods, it was necessary in our research project to introduce some form of automatic gain-scheduling to achieve good long-term performance. We chose a fuzzy logic system to do this, which proved to be an easily designed and robust approach. Since the PD approach showed very good behaviour in terms of position accuracy and settling time, it was incorporated into a modified form of the 1st order Tagaki- Sugeno fuzzy method to build an overall controller. This fuzzy gainscheduler uses an input variable which automatically changes the PD gain values of the controller according to the frequency of repeated system operations. Performance of the new controller was significantly improved and the need for manual re-tuning was eliminated without a decrease in performance. The performance of the controller operating with the above method is going to be tested through a high-speed web network (GRID) for research purposes.

Keywords: Fuzzy logic, gain scheduling, leaky integrator, pneumatic actuator.

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Authors: Devdutt

Abstract:

An active quarter car model with three degrees of freedom is presented for vibration reduction of passenger seat. The designed Fuzzy Logic Controller (FLC) and Self-Tuning Fuzzy Logic Controller (STFLC) are applied in seat suspension. Vibration control performance of active and passive quarter car systems are determined using simulation work. Simulation results in terms of passenger seat acceleration and displacement responses are compared for controlled and uncontrolled cases. Simulation results showed the improved results of both FLC and STFLC controllers in improving passenger ride comfort compared to uncontrolled case. Furthermore, the best performance in simulation studies is achieved by STFLC controlled suspension system compared to FLC controlled and uncontrolled cases.

Keywords: Active suspension system, quarter car model, passenger ride comfort, self-tuning fuzzy logic controller.

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Authors: P. Naderi, S.M.T. Bathaee, R. Hoseinnezhad, R. Chini

Abstract:

Using electrical machine in conventional vehicles, also called hybrid vehicles, has become a promising control scheme that enables some manners for fuel economy and driver assist for better stability. In this paper, vehicle stability control, fuel economy and Driving/Regeneration braking for a 4WD hybrid vehicle is investigated by using an electrical machine on each non-driven wheels. In front wheels driven vehicles, fuel economy and regenerative braking can be obtained by summing torques applied on rear wheels. On the other hand, unequal torques applied to rear wheels provides enhanced safety and path correction in steering. In this paper, a model with fourteen degrees of freedom is considered for vehicle body, tires and, suspension systems. Thereafter, powertrain subsystems are modeled. Considering an electrical machine on each rear wheel, a fuzzy controller is designed for each driving, braking, and stability conditions. Another fuzzy controller recognizes the vehicle requirements between the driving/regeneration and stability modes. Intelligent vehicle control to multi objective operation and forward simulation are the paper advantages. For reaching to these aims, power management control and yaw moment control will be done by three fuzzy controllers. Also, the above mentioned goals are weighted by another fuzzy sub-controller base on vehicle dynamic. Finally, Simulations performed in MATLAB/SIMULINK environment show that the proposed structure can enhance the vehicle performance in different modes effectively.

Keywords: Hybrid, pitch, roll, regeneration, yaw.

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Authors: Samit Kumar Majumder

Abstract:

In this paper the concept of Q-fuzzification of ideals of Γ-semigroups has been introduced and some important properties have been investigated. A characterization of regular Γ-semigroup in terms of Q-fuzzy ideals has been obtained. Operator semigroups of a Γ-semigroup has been made to work by obtaining various relationships between Q-fuzzy ideals of a Γ-semigroup and that of its operator semigroups.

Keywords: Q-Fuzzy set, Γ-semigroup, Regular Γ-semigroup, Q-Fuzzy left(right) ideal, Operator semigroups.

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Authors: Imran C.T., Syibrah M.N., Mohd Lazim A.

Abstract:

Fuzzy sets theory affirmed that the linguistic value for every contraries relation is complementary. It was stressed in the intuitionistic fuzzy sets (IFS) that the conditions for contraries relations, which are the fuzzy values, cannot be greater than one. However, complementary in two contradict phenomena are not always true. This paper proposes a new idea condition for conflicting bifuzzy sets by relaxing the condition of intuitionistic fuzzy sets. Here, we will critically forward examples using triangular fuzzy number in formulating a new condition for conflicting bifuzzy sets (CBFS). Evaluation of positive and negative in conflicting phenomena were calculated concurrently by relaxing the condition in IFS. The hypothetical illustration showed the applicability of the new condition in CBFS for solving non-complement contraries intuitionistic evaluation. This approach can be applied to any decision making where conflicting is very much exist.

Keywords: Conflicting bifuzzy set, conflicting degree, fuzzy sets, fuzzy numbers.

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Authors: K. A. Sumithradevi, Vijayalakshmi. M. N., Annamma Abraham., Dr. Vasanta

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The various applications of VLSI circuits in highperformance computing, telecommunications, and consumer electronics has been expanding progressively, and at a very hasty pace. This paper describes a new model for partitioning a circuit using DBSCAN and fuzzy ARTMAP neural network. The first step is concerned with feature extraction, where we had make use DBSCAN algorithm. The second step is the classification and is composed of a fuzzy ARTMAP neural network. The performance of both approaches is compared using benchmark data provided by MCNC standard cell placement benchmark netlists. Analysis of the investigational results proved that the fuzzy ARTMAP with DBSCAN model achieves greater performance then only fuzzy ARTMAP in recognizing sub-circuits with lowest amount of interconnections between them The recognition rate using fuzzy ARTMAP with DBSCAN is 97.7% compared to only fuzzy ARTMAP.

Keywords: VLSI, Circuit partitioning, DBSCAN, fuzzyARTMAP.

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Authors: C. Ardil

Abstract:

This study uses two-dimensional standard fuzzy sets to enhance multiple criteria decision-making analysis for passenger aircraft selection, allowing decision-makers to express judgments with uncertain and vague information. Using two-dimensional fuzzy numbers, three decision makers evaluated three aircraft alternatives according to seven decision criteria. A validity analysis based on two-dimensional standard fuzzy weighted geometric (SFWG) and two-dimensional standard fuzzy weighted average (SFGA) operators is conducted to test the proposed approach's robustness and effectiveness in the fuzzy multiple criteria decision making (MCDM) evaluation process. 

Keywords: Standard fuzzy sets (SFSs), aircraft selection, multiple criteria decision making, intuitionistic fuzzy sets (IFSs), SFWG, SFGA, MCDM

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Authors: Shouzhen Zeng

Abstract:

We present a new intuitionistic fuzzy aggregation operator called the intuitionistic fuzzy ordered weighted averaging-weighted average (IFOWAWA) operator. The main advantage of the IFOWAWA operator is that it unifies the OWA operator with the WA in the same formulation considering the degree of importance that each concept has in the aggregation. Moreover, it is able to deal with an uncertain environment that can be assessed with intuitionistic fuzzy numbers. We study some of its main properties and we see that it has a lot of particular cases such as the intuitionistic fuzzy weighted average (IFWA) and the intuitionistic fuzzy OWA (IFOWA) operator. Finally, we study the applicability of the new approach on a financial decision making problem concerning the selection of financial strategies.

Keywords: Intuitionistic fuzzy numbers, Weighted average, OWA operator, Financial decision making

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Authors: Aarthi Chandramohan, M. V. C. Rao

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This paper presents three new methodologies for the basic operations, which aim at finding new ways of computing union (maximum) and intersection (minimum) membership values by taking into effect the entire membership values in a fuzzy set. The new methodologies are conceptually simple and easy from the application point of view and are illustrated with a variety of problems such as Cartesian product of two fuzzy sets, max –min composition of two fuzzy sets in different product spaces and an application of an inverted pendulum to determine the impact of the new methodologies. The results clearly indicate a difference based on the nature of the fuzzy sets under consideration and hence will be highly useful in quite a few applications where different values have significant impact on the behavior of the system.

Keywords: Centroid, fuzzy set operations, intersection, triangular norms , triangular S-norms, union.

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Authors: Mazin Z. Othman

Abstract:

This paper presents the idea of a rough controller with application to control the overhead traveling crane system. The structure of such a controller is based on a suggested concept of a fuzzy logic controller. A measure of fuzziness in rough sets is introduced. A comparison between fuzzy logic controller and rough controller has been demonstrated. The results of a simulation comparing the performance of both controllers are shown. From these results we infer that the performance of the proposed rough controller is satisfactory.

Keywords: Accuracy measure, Fuzzy Logic Controller (FLC), Overhead Traveling Crane (OTC), Rough Set Theory (RST), Roughness measure

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Authors: Mustafa Bayram Gücen, Coşkun Yakar

Abstract:

In this study, we have investigated the strict stability of fuzzy differential systems and we compare the classical notion of strict stability criteria of ordinary differential equations and the notion of strict stability of fuzzy differential systems. In addition that, we present definitions of stability and strict stability of fuzzy differential equations and also we have some theorems and comparison results. Strict Stability is a different stability definition and this stability type can give us an information about the rate of decay of the solutions. Lyapunov’s second method is a standard technique used in the study of the qualitative behavior of fuzzy differential systems along with a comparison result that allows the prediction of behavior of a fuzzy differential system when the behavior of the null solution of a fuzzy comparison system is known. This method is a usefull for investigating strict stability of fuzzy systems. First of all, we present definitions and necessary background material. Secondly, we discuss and compare the differences between the classical notion of stability and the recent notion of strict stability. And then, we have a comparison result in which the stability properties of the null solution of the comparison system imply the corresponding stability properties of the fuzzy differential system. Consequently, we give the strict stability results and a comparison theorem. We have used Lyapunov second method and we have proved a comparison result with scalar differential equations.

Keywords: Fuzzy systems, fuzzy differential equations, fuzzy stability, strict stability.

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Authors: Jia-Shiun Chen, Hsiu-Ying Hwang

Abstract:

Hybrid electric vehicles can reduce pollution and improve fuel economy. Power-split hybrid electric vehicles (HEVs) provide two power paths between the internal combustion engine (ICE) and energy storage system (ESS) through the gears of an electrically variable transmission (EVT). EVT allows ICE to operate independently from vehicle speed all the time. Therefore, the ICE can operate in the efficient region of its characteristic brake specific fuel consumption (BSFC) map. The two-mode powertrain can operate in input-split or compound-split EVT modes and in four different fixed gear configurations. Power-split architecture is advantageous because it combines conventional series and parallel power paths. This research focuses on input-split and compound-split modes in the two-mode power-split powertrain. Fuzzy Logic Control (FLC) for an internal combustion engine (ICE) and PI control for electric machines (EMs) are derived for the urban driving cycle simulation. These control algorithms reduce vehicle fuel consumption and improve ICE efficiency while maintaining the state of charge (SOC) of the energy storage system in an efficient range.

Keywords: Hybrid electric vehicle, fuel economy, two-mode hybrid, fuzzy control.

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Authors: S. Sadi-Nezhad, K. Khalili Damghani, N. Pilevari

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In this article, a mathematical programming model for choosing an optimum portfolio of investments is developed. The investments are considered as investment projects. The uncertainties of the real world are associated through fuzzy concepts for coefficients of the proposed model (i. e. initial investment costs, profits, resource requirement, and total available budget). Model has been coded by using LINGO 11.0 solver. The results of a full analysis of optimistic and pessimistic derivative models are promising for selecting an optimum portfolio of projects in presence of uncertainty.

Keywords: Fuzzy Programming, Fuzzy Knapsack, FuzzyCapital Budgeting, Fuzzy Project Selection

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Authors: H. Nemmour, Y. Chibani

Abstract:

Decision fusion is one of hot research topics in classification area, which aims to achieve the best possible performance for the task at hand. In this paper, we investigate the usefulness of this concept to improve change detection accuracy in remote sensing. Thereby, outputs of two fuzzy change detectors based respectively on simultaneous and comparative analysis of multitemporal data are fused by using fuzzy integral operators. This method fuses the objective evidences produced by the change detectors with respect to fuzzy measures that express the difference of performance between them. The proposed fusion framework is evaluated in comparison with some ordinary fuzzy aggregation operators. Experiments carried out on two SPOT images showed that the fuzzy integral was the best performing. It improves the change detection accuracy while attempting to equalize the accuracy rate in both change and no change classes.

Keywords: change detection, decision fusion, fuzzy logic, remote sensing.

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Authors: Y. Sabzehmeidani, M. Mailah, M. Hussein, A. R. Tavakolpour

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In this paper, a worm-like micro robot designed for inpipe application with intelligent active force control (AFC) capability is modelled and simulated. The motion of the micro robot is based on an impact drive mechanism (IDM) that is actuated using piezoelectric device. The trajectory tracking performance of the modelled micro robot is initially experimented via a conventional proportionalintegral- derivative (PID) controller in which the dynamic response of the robot system subjected to different input excitations is investigated. Subsequently, a robust intelligent method known as active force control with fuzzy logic (AFCFL) is later incorporated into the PID scheme to enhance the system performance by compensating the unwanted disturbances due to the interaction of the robot with its environment. Results show that the proposed AFCFL scheme is far superior than the PID control counterpart in terms of the system-s tracking capability in the wake of the disturbances.

Keywords: Active Force Control, Micro Robot, Fuzzy Logic, In-pipe Application.

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Authors: Hamed Vahdat Nejad, Hameed Reza Pourreza, Hasan Ebrahimi

Abstract:

A new fuzzy filter is presented for noise reduction of images corrupted with additive noise. The filter consists of two stages. In the first stage, all the pixels of image are processed for determining noisy pixels. For this, a fuzzy rule based system associates a degree to each pixel. The degree of a pixel is a real number in the range [0,1], which denotes a probability that the pixel is not considered as a noisy pixel. In the second stage, another fuzzy rule based system is employed. It uses the output of the previous fuzzy system to perform fuzzy smoothing by weighting the contributions of neighboring pixel values. Experimental results are obtained to show the feasibility of the proposed filter. These results are also compared to other filters by numerical measure and visual inspection.

Keywords: Additive noise, Fuzzy logic, Image processing, Noise reduction.

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Authors: M. Reza Bagerzadeh Karimi, M. Mahdi Bagerzadeh Karimi

Abstract:

In the present paper, active control system is used in different heights of the building and the most effective part was studied where the active control system is applied. The mathematical model of the building is established in MATLAB and in order to active control the system FLC method was used. Three different locations of the building are chosen to apply active control system, namely at the lowest story, the middle height of the building, and at the highest point of the building with TMD system. The equation of motion was written for high rise building and it was solved by statespace method. Also passive control was used with Tuned Mass Damper (TMD) at the top floor of the building to show the robustness of FLC method when compared with passive control system.

Keywords: Fuzzy Logic Controller (FLC), Tuned Mass Damper(TMD), Active control, passive control

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Authors: Fadl M. Ba-Alwi, Kamal K. Bharadwaj

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In this paper a novel algorithm is proposed that integrates the process of fuzzy hierarchy generation and rule discovery for automated discovery of Production Rules with Fuzzy Hierarchy (PRFH) in large databases.A concept of frequency matrix (Freq) introduced to summarize large database that helps in minimizing the number of database accesses, identification and removal of irrelevant attribute values and weak classes during the fuzzy hierarchy generation.Experimental results have established the effectiveness of the proposed algorithm.

Keywords: Data Mining, Degree of subsumption, Freq matrix, Fuzzy hierarchy.

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Authors: Hassan Naraghi

Abstract:

In this paper, we define permutable and mutually permutable fuzzy subgroups of a group. Then we study their relation with permutable and mutually permutable subgroups of a group. Also we study some properties of fuzzy quasinormal subgroup. We define superfuzzy subset of a fuzzy subset and we study some properties of superfuzzy subset of a fuzzy subset.

Keywords: Permutable fuzzy subgroup, mutually permutable fuzzy subgroup, fuzzy quasinormal subgroup, superfuzzy subset.

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Authors: Shahabeddin Sotudian, M. H. Fazel Zarandi, I. B. Turksen

Abstract:

Hepatitis is one of the most common and dangerous diseases that affects humankind, and exposes millions of people to serious health risks every year. Diagnosis of Hepatitis has always been a challenge for physicians. This paper presents an effective method for diagnosis of hepatitis based on interval Type-II fuzzy. This proposed system includes three steps: pre-processing (feature selection), Type-I and Type-II fuzzy classification, and system evaluation. KNN-FD feature selection is used as the preprocessing step in order to exclude irrelevant features and to improve classification performance and efficiency in generating the classification model. In the fuzzy classification step, an “indirect approach” is used for fuzzy system modeling by implementing the exponential compactness and separation index for determining the number of rules in the fuzzy clustering approach. Therefore, we first proposed a Type-I fuzzy system that had an accuracy of approximately 90.9%. In the proposed system, the process of diagnosis faces vagueness and uncertainty in the final decision. Thus, the imprecise knowledge was managed by using interval Type-II fuzzy logic. The results that were obtained show that interval Type-II fuzzy has the ability to diagnose hepatitis with an average accuracy of 93.94%. The classification accuracy obtained is the highest one reached thus far. The aforementioned rate of accuracy demonstrates that the Type-II fuzzy system has a better performance in comparison to Type-I and indicates a higher capability of Type-II fuzzy system for modeling uncertainty.

Keywords: Hepatitis disease, medical diagnosis, type-I fuzzy logic, type-II fuzzy logic, feature selection.

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Authors: Paul B. Stone, Subhashini Ganapathy, Mary E. Fendley, Layla Akilan

Abstract:

As notifications become more common through mobile devices, it is important to understand the impact of wearable devices for improved user experience of man-machine interfaces. This study examined the use of a wearable device for a real-time system using a computer simulated petrochemical system. The key research question was to determine how using information provided by the wearable device can improve human performance through measures of situational awareness and decision making. Results indicate that there was a reduction in response time when using the watch and there was no difference in situational awareness. Perception of using the watch was positive, with 83% of users finding value in using the watch and receiving haptic feedback.

Keywords: computer applications, haptic feedback, petrochemical systems, situational awareness, wearable technology

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Authors: Nasser Shamskia, Seyyed Habib Rahmati, Hassan Haleh , Seyyedeh Hoda Rahmati

Abstract:

The main criteria of designing in the most hydraulic constructions essentially are based on runoff or discharge of water. Two of those important criteria are runoff and return period. Mostly, these measures are calculated or estimated by stochastic data. Another feature in hydrological data is their impreciseness. Therefore, in order to deal with uncertainty and impreciseness, based on Buckley-s estimation method, a new fuzzy method of evaluating hydrological measures are developed. The method introduces triangular shape fuzzy numbers for different measures in which both of the uncertainty and impreciseness concepts are considered. Besides, since another important consideration in most of the hydrological studies is comparison of a measure during different months or years, a new fuzzy method which is consistent with special form of proposed fuzzy numbers, is also developed. Finally, to illustrate the methods more explicitly, the two algorithms are tested on one simple example and a real case study.

Keywords: Fuzzy Discharge, Fuzzy estimation, Fuzzy ranking method, Hydrological data

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Authors: George E. Tsekouras, Dimitris Papageorgiou, Sotiris Kotsiantis, Christos Kalloniatis, Panagiotis Pintelas

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We develop a three-step fuzzy logic-based algorithm for clustering categorical attributes, and we apply it to analyze cultural data. In the first step the algorithm employs an entropy-based clustering scheme, which initializes the cluster centers. In the second step we apply the fuzzy c-modes algorithm to obtain a fuzzy partition of the data set, and the third step introduces a novel cluster validity index, which decides the final number of clusters.

Keywords: Categorical data, cultural data, fuzzy logic clustering, fuzzy c-modes, cluster validity index.

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Authors: Tahseen Ahmed Jilani, Syed Muhammad Aqil Burney, C. Ardil

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In the last 15 years, a number of methods have been proposed for forecasting based on fuzzy time series. Most of the fuzzy time series methods are presented for forecasting of enrollments at the University of Alabama. However, the forecasting accuracy rates of the existing methods are not good enough. In this paper, we compared our proposed new method of fuzzy time series forecasting with existing methods. Our method is based on frequency density based partitioning of the historical enrollment data. The proposed method belongs to the kth order and time-variant methods. The proposed method can get the best forecasting accuracy rate for forecasting enrollments than the existing methods.

Keywords: Fuzzy logical groups, fuzzified enrollments, fuzzysets, fuzzy time series.

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Authors: Ismail Karaca, Ridvan Saracoglu, Omer Soner

Abstract:

Fuzzy Logic, an advanced method to support decision-making, is used by various scientists in many disciplines. Fuzzy programming is a product of fuzzy logic, fuzzy rules, and implication. In marine science, fuzzy programming for ships is dramatically increasing together with autonomous ship studies. In this paper, a program to support the decision-making process for ship navigation has been designed. The program is produced in fuzzy logic and rules, by taking the marine accidents and expert opinions into account. After the program was designed, the program was tested by 46 ship accidents reported by the Transportation Safety Investigation Center of Turkey. Wind speed, sea condition, visibility, day/night ratio have been used as input data. They have been converted into a risk factor within the Fuzzy Logic Designer application and fuzzy rules set by marine experts. Finally, the expert's meteorological risk factor for each accident is compared with the program's risk factor, and the error rate was calculated. The main objective of this study is to improve the navigational safety of ships, by using the advance decision support model. According to the study result, fuzzy programming is a robust model that supports safe navigation.

Keywords: Calculation of risk factor, fuzzy logic, fuzzy programming for ship, safe navigation of ships.

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Authors: Liew Siaw Yee, Tahir Ahmad

Abstract:

In this paper, the Fuzzy Autocatalytic Set (FACS) is composed into Omega Algebra by embedding the membership value of fuzzy edge connectivity using the property of transitive affinity. Then, the Omega Algebra of FACS is a transformation semigroup which is a special class of semigroup is shown.

Keywords: Fuzzy autocatalytic set, omega algebra, semigroup, transformation semigroup.

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Authors: N. Ouldcherchali, M. S. Boucherit, L. Barazane, A. Morsli

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In this study, we proposed two techniques to track the maximum power point (MPPT) of a photovoltaic system. The first is an intelligent control technique, and the second is robust used for variable structure system. In fact the characteristics I-V and P–V of the photovoltaic generator depends on the solar irradiance and temperature. These climate changes cause the fluctuation of maximum power point; a maximum power point tracking technique (MPPT) is required to maximize the output power. For this we have adopted a control by fuzzy logic (FLC) famous for its stability and robustness. And a Siding Mode Control (SMC) widely used for variable structure system. The system comprises a photovoltaic panel (PV), a DC-DC converter, which is considered as an adaptation stage between the PV and the load. The modelling and simulation of the system is developed using MATLAB/Simulink. SMC technique provides a good tracking speed in fast changing irradiation and when the irradiation changes slowly or it is constant the panel power of FLC technique presents a much smoother signal with less fluctuations.

Keywords: Fuzzy logic controller, maximum power point, photovoltaic system, tracker, sliding mode controller.

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Authors: R. Hosseingholizadeh

Abstract:

This article presents a method for elections between the members of a group that is founded by fuzzy logic. Linguistic variables are objects for decision on election cards and deduction is based on t-norms and s-norms. In this election-s method election cards are questionnaire. The questionnaires are comprised of some questions with some choices. The choices are words from natural language. Presented method is accompanied by center of gravity (COG) defuzzification added up to a computer program by MATLAB. Finally the method is illustrated by solving two examples; choose a head for a research group-s members and a representative for students.

Keywords: fuzzy election, fuzzy electoral card, fuzzy inference, questionnaire.

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Authors: Hazim Abdulsada

Abstract:

The inspection of underneath vehicle system has been given significant attention by governments after the threat of terrorism become more prevalent. New technologies such as mobile robots and computer vision are led to have more secure environment. This paper proposed that a mobile robot like Aria robot can be used to search and inspect the bombs under parking a lot vehicle. This robot is using fuzzy logic and subsumption algorithms to control the robot that movies underneath the vehicle. An OpenCV library and laser Hokuyo are added to Aria robot to complete the experiment for under vehicle inspection. This experiment was conducted at the indoor environment to demonstrate the efficiency of our methods to search objects and control the robot movements under vehicle. We got excellent results not only by controlling the robot movement but also inspecting object by the robot camera at same time. This success allowed us to know the requirement to construct a new cost effective robot with more functionality.

Keywords: Fuzzy logic, Mobile robots, OpenCV, Subsumption, Under vehicle inspection.

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