2006 IEEE International Conference on Industrial Technology, 2006
In this paper we present a simple method using a self-organizing map neural network (SOM NN) whic... more In this paper we present a simple method using a self-organizing map neural network (SOM NN) which can be used for character recognition tasks. It describes the results of training a SOM NN to perform optical character recognition on images of printed characters. 49 features have been used to distinguish between 62 characters (both uppercase and lowercase letters of the English language and numerals). The implemented program recognizes text by analyzing an image file. The text to be recognized is currently limited to characters typed using the Verdana font type, bolded with a font size of 18. The program is capable of handling non-ideal images (noisy, colored text, rotated image). Recognition accuracy is consistently 100% for ideal images, but ranges between 80% -100% for non-ideal images.
2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2009
AbstractIn recent years, increasing trend in application of autonomous mobile robot worldwide ha... more AbstractIn recent years, increasing trend in application of autonomous mobile robot worldwide has highlighted the importance of path planning controller in robotics-related fields, especially where dynamic and unknown environment is involved. Writing a good robot controller ...
... top of page AUTHORS. Search for S. Veera Ragavan Search for SG Ponnambalam Search for Velappa... more ... top of page AUTHORS. Search for S. Veera Ragavan Search for SG Ponnambalam Search for Velappa Ganapathy Search for Joshua Teh. ... 10. http://java.sun.com/. 11. Hall, RS, Cervantes, H.: Challenges in building service-oriented applications for osgi. ...
2009 World Congress on Nature & Biologically Inspired Computing (NaBIC), 2009
Abstract This paper presents the results of an effort to develop a reconfigurable helicopter pla... more Abstract This paper presents the results of an effort to develop a reconfigurable helicopter platform capable of autonomous flight using a reconfigurable FPGA Framework to fuse the data from sensors, Readings from accelerometer and absolute GPS Location data is fused ...
2010 IEEE Symposium on Industrial Electronics and Applications (ISIEA), 2010
Mobile robot has been widely used in exploration and navigation and it is required to operate in ... more Mobile robot has been widely used in exploration and navigation and it is required to operate in domains that are completely unknown and dynamic. Unknown environment is where the locations of the obstacles are unknown and dynamic environment is where the locations of the obstacles might change with time. This research is focused on enhancing the existing D* Lite Algorithm.
2010 IEEE Asia Pacific Conference on Circuits and Systems, 2010
AbstractStereo vision algorithms can be divided into several general stages. Detailed analysis o... more AbstractStereo vision algorithms can be divided into several general stages. Detailed analysis on each specific stage allows focused improvement of the entire algorithm. Existing stereo vision algorithms typically prioritize pixel and sub-pixel accuracy, focusing on the optimization ...
2008 IEEE International Conference on Systems, Man and Cybernetics, 2008
AbstractThis paper presents the stereo vision component of the Stereo Vision Based Robot Control... more AbstractThis paper presents the stereo vision component of the Stereo Vision Based Robot Controller (SVBRC). The SVBRC is a multi-component project, integrating a stereo vision component (presented here) with a basic mapping and path-finding component on a mobile robot ...
2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2009
AbstractRobot navigation is the technique to guide the mobile robot move towards the desired goa... more AbstractRobot navigation is the technique to guide the mobile robot move towards the desired goal where dynamic and unknown environment is involved. The environment is distinguished by variable terrain and also certain objects which are known as obstacles that may block ...
Robot navigation remains as one of the unsolved problems of computer science and robotics. The pr... more Robot navigation remains as one of the unsolved problems of computer science and robotics. The problem is in the development of an algorithm which would allow the mobile robot to find its way around a room, or maze and at the same time dealing with any obstacles. Researchers had further decomposed the problem into several modules in view of the navigation problem. These are such as obstacle avoidance, wall following, path planning, etc. Acquiring robots in the facility incurs cost. Generally, it will not be cheap. Thus, it may be costly to perform tests on the real robot if it is damaged during its operation. In addition, the robot needs to be handled carefully and calibrations need to be performed. As such, simulators have come to play an important role to verify these algorithms before it is tested on the real robot. In this paper, a flexible simulation is developed for the Khepera II robot using Webots. The developed simulation is equipped with various controls to allow the user ...
Abstract In recent years, there has been an increasing amount of research performed in the area ... more Abstract In recent years, there has been an increasing amount of research performed in the area of mobile robotics. As such, numerous strategies had been proposed to incorporate various fundamental navigation behaviors such as obstacle avoidance, wall following and path ...
The objectives of autonomous mobile robotic navigation are the development of a physical system t... more The objectives of autonomous mobile robotic navigation are the development of a physical system that is functionally operative without human intervention in an unstructured environment. In this work, an effective control algorithm was developed for the Khepera II robot that enables the robot to navigate through any complex environment. In the present work, the knowledge of the complex environment is
This paper involves the design and development of an improved Ant Colony Optimization algorithm f... more This paper involves the design and development of an improved Ant Colony Optimization algorithm for the purpose of robot navigation. The algorithm is able to calculate optimum paths for the robot to travel on to perform the tasks of goal-seeking, wall-following and obstacle avoiding, where the efficiency of a path is determined based on the length of the path. This
Technological intelligence is a highly sought after commodity even in traffic-based systems. Thes... more Technological intelligence is a highly sought after commodity even in traffic-based systems. These intelligent systems do not only help in traffic monitoring but also in commuter safety, law enforcement and commercial applications. In this paper, a license plate localization and recognition system for vehicles in Malaysia is proposed. This system is developed based on digital images and can be easily
Semantic approaches to conducting SLAM are still considered to be comparatively new compared to o... more Semantic approaches to conducting SLAM are still considered to be comparatively new compared to other methods. To this end, we introduce a new model for conducting SLAM on an autonomous mobile robot equipped with vision sensors. Our model consists of four ...
2011 IEEE Symposium on Industrial Electronics and Applications, 2011
Abstract Mobile Robot Navigation is an advanced technique where static, dynamic, known and unknow... more Abstract Mobile Robot Navigation is an advanced technique where static, dynamic, known and unknown environment is involved. In this research, Genetic Algorithm (GA) is used to assist mobile robot to move, identify the obstacles in the environment, learn the ...
2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2009
AbstractThough the theory of stereo vision is easy to grasp, the practice of computational stere... more AbstractThough the theory of stereo vision is easy to grasp, the practice of computational stereo vision is much more difficult. Especially difficult is the general two-frame stereo vision problem. Many authors have published algorithms which, to a greater or lesser degrees, ...
2008 IEEE Conference on Robotics, Automation and Mechatronics, 2008
... The current approach is Velappa Ganapathy, .School ofEngineering, Monash University Sunway Ca... more ... The current approach is Velappa Ganapathy, .School ofEngineering, Monash University Sunway Campus, Bandar Sunway, Selangor, Malaysia. a loosely coupled integration of different process technologies and computational mechanisms. ...
2006 IEEE International Conference on Industrial Technology, 2006
In this paper we present a simple method using a self-organizing map neural network (SOM NN) whic... more In this paper we present a simple method using a self-organizing map neural network (SOM NN) which can be used for character recognition tasks. It describes the results of training a SOM NN to perform optical character recognition on images of printed characters. 49 features have been used to distinguish between 62 characters (both uppercase and lowercase letters of the English language and numerals). The implemented program recognizes text by analyzing an image file. The text to be recognized is currently limited to characters typed using the Verdana font type, bolded with a font size of 18. The program is capable of handling non-ideal images (noisy, colored text, rotated image). Recognition accuracy is consistently 100% for ideal images, but ranges between 80% -100% for non-ideal images.
2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2009
AbstractIn recent years, increasing trend in application of autonomous mobile robot worldwide ha... more AbstractIn recent years, increasing trend in application of autonomous mobile robot worldwide has highlighted the importance of path planning controller in robotics-related fields, especially where dynamic and unknown environment is involved. Writing a good robot controller ...
... top of page AUTHORS. Search for S. Veera Ragavan Search for SG Ponnambalam Search for Velappa... more ... top of page AUTHORS. Search for S. Veera Ragavan Search for SG Ponnambalam Search for Velappa Ganapathy Search for Joshua Teh. ... 10. http://java.sun.com/. 11. Hall, RS, Cervantes, H.: Challenges in building service-oriented applications for osgi. ...
2009 World Congress on Nature & Biologically Inspired Computing (NaBIC), 2009
Abstract This paper presents the results of an effort to develop a reconfigurable helicopter pla... more Abstract This paper presents the results of an effort to develop a reconfigurable helicopter platform capable of autonomous flight using a reconfigurable FPGA Framework to fuse the data from sensors, Readings from accelerometer and absolute GPS Location data is fused ...
2010 IEEE Symposium on Industrial Electronics and Applications (ISIEA), 2010
Mobile robot has been widely used in exploration and navigation and it is required to operate in ... more Mobile robot has been widely used in exploration and navigation and it is required to operate in domains that are completely unknown and dynamic. Unknown environment is where the locations of the obstacles are unknown and dynamic environment is where the locations of the obstacles might change with time. This research is focused on enhancing the existing D* Lite Algorithm.
2010 IEEE Asia Pacific Conference on Circuits and Systems, 2010
AbstractStereo vision algorithms can be divided into several general stages. Detailed analysis o... more AbstractStereo vision algorithms can be divided into several general stages. Detailed analysis on each specific stage allows focused improvement of the entire algorithm. Existing stereo vision algorithms typically prioritize pixel and sub-pixel accuracy, focusing on the optimization ...
2008 IEEE International Conference on Systems, Man and Cybernetics, 2008
AbstractThis paper presents the stereo vision component of the Stereo Vision Based Robot Control... more AbstractThis paper presents the stereo vision component of the Stereo Vision Based Robot Controller (SVBRC). The SVBRC is a multi-component project, integrating a stereo vision component (presented here) with a basic mapping and path-finding component on a mobile robot ...
2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2009
AbstractRobot navigation is the technique to guide the mobile robot move towards the desired goa... more AbstractRobot navigation is the technique to guide the mobile robot move towards the desired goal where dynamic and unknown environment is involved. The environment is distinguished by variable terrain and also certain objects which are known as obstacles that may block ...
Robot navigation remains as one of the unsolved problems of computer science and robotics. The pr... more Robot navigation remains as one of the unsolved problems of computer science and robotics. The problem is in the development of an algorithm which would allow the mobile robot to find its way around a room, or maze and at the same time dealing with any obstacles. Researchers had further decomposed the problem into several modules in view of the navigation problem. These are such as obstacle avoidance, wall following, path planning, etc. Acquiring robots in the facility incurs cost. Generally, it will not be cheap. Thus, it may be costly to perform tests on the real robot if it is damaged during its operation. In addition, the robot needs to be handled carefully and calibrations need to be performed. As such, simulators have come to play an important role to verify these algorithms before it is tested on the real robot. In this paper, a flexible simulation is developed for the Khepera II robot using Webots. The developed simulation is equipped with various controls to allow the user ...
Abstract In recent years, there has been an increasing amount of research performed in the area ... more Abstract In recent years, there has been an increasing amount of research performed in the area of mobile robotics. As such, numerous strategies had been proposed to incorporate various fundamental navigation behaviors such as obstacle avoidance, wall following and path ...
The objectives of autonomous mobile robotic navigation are the development of a physical system t... more The objectives of autonomous mobile robotic navigation are the development of a physical system that is functionally operative without human intervention in an unstructured environment. In this work, an effective control algorithm was developed for the Khepera II robot that enables the robot to navigate through any complex environment. In the present work, the knowledge of the complex environment is
This paper involves the design and development of an improved Ant Colony Optimization algorithm f... more This paper involves the design and development of an improved Ant Colony Optimization algorithm for the purpose of robot navigation. The algorithm is able to calculate optimum paths for the robot to travel on to perform the tasks of goal-seeking, wall-following and obstacle avoiding, where the efficiency of a path is determined based on the length of the path. This
Technological intelligence is a highly sought after commodity even in traffic-based systems. Thes... more Technological intelligence is a highly sought after commodity even in traffic-based systems. These intelligent systems do not only help in traffic monitoring but also in commuter safety, law enforcement and commercial applications. In this paper, a license plate localization and recognition system for vehicles in Malaysia is proposed. This system is developed based on digital images and can be easily
Semantic approaches to conducting SLAM are still considered to be comparatively new compared to o... more Semantic approaches to conducting SLAM are still considered to be comparatively new compared to other methods. To this end, we introduce a new model for conducting SLAM on an autonomous mobile robot equipped with vision sensors. Our model consists of four ...
2011 IEEE Symposium on Industrial Electronics and Applications, 2011
Abstract Mobile Robot Navigation is an advanced technique where static, dynamic, known and unknow... more Abstract Mobile Robot Navigation is an advanced technique where static, dynamic, known and unknown environment is involved. In this research, Genetic Algorithm (GA) is used to assist mobile robot to move, identify the obstacles in the environment, learn the ...
2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2009
AbstractThough the theory of stereo vision is easy to grasp, the practice of computational stere... more AbstractThough the theory of stereo vision is easy to grasp, the practice of computational stereo vision is much more difficult. Especially difficult is the general two-frame stereo vision problem. Many authors have published algorithms which, to a greater or lesser degrees, ...
2008 IEEE Conference on Robotics, Automation and Mechatronics, 2008
... The current approach is Velappa Ganapathy, .School ofEngineering, Monash University Sunway Ca... more ... The current approach is Velappa Ganapathy, .School ofEngineering, Monash University Sunway Campus, Bandar Sunway, Selangor, Malaysia. a loosely coupled integration of different process technologies and computational mechanisms. ...
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