scholarly journals Lane Tracking pada Robot Beroda Holonomic menggunakan Pengolahan Citra

Author(s):  
ALI RIZAL CHAIDIR ◽  
KHAIRUL ANAM ◽  
GAMMA ADITYA RAHARDI

ABSTRAK Robot merupakan teknologi yang dapat diterapkan bidang pertanian dan industri. Salah satu teknik navigasi robot yang dapat diterapkan di bidang pertanian dan industri adalah lane tracking. Untuk bernavigasi robot membutuhkan sebuah alat untuk mengenali lingkungannya, alat tersebut dapat berupa sensor atau kamera. Salah satu kelebihan menggunakan kamera jika dibandingkan dengan sensor adalah dapat mengurangi penggunaan perangkat keras untuk mengenali lingkungan robot. Fokus utama penelitian ini adalah membuat robot beroda holonomic untuk bernavigasi di antara dua garis yang berada di sebelah kiri dan kanan robot menggunakan kamera. Kamera digunakan untuk menangkap citra di depan robot, citra tersebut diolah disebuah SBC (Single Board Computer) untuk mendapatkan parameter jumlah pixel antara garis tengah robot dengan garis sebelah kanan dan kiri robot. Parameter tersebut kemudian diolah untuk menentukan kecepatan motor pada roda robot holonomic. Hasil yang diperoleh adalah dari setiap pengujian robot mampu bernavigasi pada jalur yang telah ditentukan. Kata kunci: Lane Tracking, Pengolahan Citra, Robot Beroda Holonomic ABSTRACT Robotic navigation techniques that can be applied in agriculture and industry is lane tracking. To navigate, robots need device to recognize the environment, the device can use sensors or cameras. The main focus of this research is to make holonomic wheeled robot to navigate between two lines located on the left and right of the robot using the camera. The camera is used to capture the image in front of the robot, the image is processed in an SBC (Single Board Computer) to get the paramters of the number of pixels between the center line with the right and left lines of the robot. These paramaters are the processed to determine the motor speed on the holonomic robot wheel. The result of each test is that the robot is able to navigate on a predetermined path. Keywords: Lane Tracking, Image Processing, Holonomic Wheeled Robot

2020 ◽  
Vol 8 (3) ◽  
pp. 185-191
Author(s):  
Ali Rizal Chaidir ◽  
Gamma Aditya Rahardi ◽  
Khairul Anam

Line following and lane tracking are robotic navigation techniques that use lines as a guide. The techniques can be applied to mobile robots in the industry. This research applied the Braitenberg controller and image processing to control and obtain line information around the mobile robot. The robot was implemented using Arduino Uno as a controller. A webcam was connected to a computer that performs image processing using canny edge detection and sends the data to the robot controller via serial communication. The robot can navigate on the side of the line, and the success rate of the system is 100 % at a turn of 135 ° and 80 % at a turn of 90 °.


2021 ◽  
Vol 20 ◽  
pp. 43-59
Author(s):  
Gunnar Appelqvist

My investigation shows that there is a regularity even by the prime numbers. This structure is obvious when a prime square is created. The squared prime numbers. 1. Connections in a prime square A prime square (or origin square) is defined as a square consisting of as many boxes as the origin prim squared. This prime settle every side of the square. So, for example, the origin square 17 have got four sides with 17 boxes along every side. The prime numbers in each of the 289 boxes are filled with primes when a prime number occur in the number series (1,2,3,4,5,6,7,8,9 and so on) and then is noted in that very box. If a box is occupied in the origin square A this prime number could be transferred to the corresponding box in a second square B, and thereafter the counting and noting continue in the first square A. Eventually we get two filled prime squares. Analyzing these squares, you leave out the right vertical line, representing only the origin prime number, When a square is filled with primes you subdivide it into four corner squares, as big as possible, denoted a, b, c and d clockwise. You also get a center line between the left and right vertical sides. Irrespective of what kind of constellation you activate this is what you find: Every constellation in the corner square a and/or d added to a corresponding constellation in the corner square b and/or c is evenly divisible with the origin prime. Every constellation in the corner square a and/or b added to a corresponding constellation in the corner square d and/or c is not evenly divisible with the origin prime. Every reflecting constellation inside two of the opposed diagonal corner squares, possibly summarized with any optional reflecting constellation inside the two other diagonal corner squares, is evenly divisible with the origin prime squared. You may even add a reflection inside the center line and get this result. My Conjecture 1 is that this applies to every prime square without end.   A formula giving all prime numbers endless   In the second prime square the prime numbers are always higher than in the first square if you compare a specific box. There is a mathematic connection between the prime numbers in the first and second square. This connection appears when you square and double the origin prime and thereafter add this number to the prime you investigate. A new higher prime is found after n additions. You start with lowest applicable prime number 3 and its square 3². Double it and you get 18. We add 18 to the six next prime numbers 5, 7, 11, 13, 17 and 19 in any order. After a few adds you get a prime and after another few adds you get another higher one. In this way you continue as long as you want to. The primes are creating themselves. A formula giving all prime numbers is:   5+18×n, +18×n, +18×n … without end   7+18×n, +18×n, +18×n … without end 11+18×n, +18×n, +18×n … without end 13+18×n, +18×n, +18×n … without end 17+18×n, +18×n, +18×n … without end 19+18×n, +18×n, +18×n … without end The letter n in the formula stands for how many 18-adds you must do until the next prime is found. My Conjecture 2 is that this you find every prime number by adding 18 to the primes 5, 7, 11, 13, 17 and 19 one by one endless. A method giving all prime numbers endless  There is still a possibility to even more precise all prime numbers. You start a 5-number series derived from the start primes 7, 17, 19, 11, 13 and 5 in that very order. Factorized these number always begin with number 5. When each of these numbers are divided with five the quotient is either a prime number or a composite number containing of two or some more prime numbers in the nearby. By sorting out all the composite quotients you get all the prime numbers endless and in order. Every composite quotient starts with a prime from 5 and up, squared. Thereafter the quotients starting with that prime show up periodically according to a pattern of short and long sequences. The position for each new prime beginning the composite quotient is this prime squared and multiplied with 5. Thereafter the short sequence is this prime multiplied with 10, while the long sequence is this prime multiplied with 20. When all the composite quotients are deleted there are left several 5-numbers which divided with 5 give all prime numbers, and you even see clearly the distance between the prime numbers which for instance explain why the prime twins occur as they do. My Conjecture 3 is that this is an exact method giving all prime numbers endless and in order.


Author(s):  
O. I. Admakin ◽  
I. A. Solop ◽  
A. D. Oksentyuk

Relevance. The narrowing of the maxilla is one of the most common pathologies in orthodontics. Recent studies show that the narrowing is always asymmetric which is connected to the rotation of the maxilla. To choose the treatment correctly one need a calculation that reveals the asymmetry, which is impossible with using standard indexes.Purpose – to compare efficiency of indexes of Pont and Korkhause with the Kernott's method in patients with narrowing of the maxilla.Materials and methods. The study involved 35 children aged from 8 to 12 years old undergoing dental treatment in the University Children's Clinical Hospital of the First Moscow State Medical University with no comorbidities. For every patient a gypsum model was prepared and after that to carry out the biometrical calculation. In this study two indexes were used: Pont's index and Korkhause's; using this standard analysis the narrowing of the maxilla was revealed. After using Pont's Index and Korkhaus analysis all the models were calculated by the method of Kernott with Kernott's dynamic pentagon.Results. As a result of the analysis of the control diagnostic models a narrowing of the maxilla in 69% of cases (n = 24) was revealed in all cases, the deviation of the size of the dentition was asymmetric. Thus, 65% of the surveyed models showed a narrowing on the right. This narrowing was of a different severity and averaged 15 control models.Conclusions. This shows that for the biometrics of diagnostic models it is necessary to use methods that allow to estimate the width of the dentition rows on the left and on the right separately. To correct the asymmetric narrowing of the dentition, it is preferable to use non-classical expanding devices that act equally on the left and right sides separetly.


2017 ◽  
Vol 919 (1) ◽  
pp. 55-59
Author(s):  
O.V. Raskatkina

There is a method of using the corded plumb as vertical reference straight line, located in front of the objective of a digital photocamera in the article. When we take picture of the object under study, there will be this straight line in the photo, from which we can carry out all necessary measurements in the Paint system with the following conversion them into metric system. All possible variants of location of the reference straight line relative to it axis are considered by the example of the construction of the tower round shape and it is shown a method of heeling calculation by image processing results. Experimental research to determine the degree of influence of plumb location in the photo relative to it axe on the accuracy of the heeling determination was carried out by shooting the brick chimney with the 30 metres height when the plumb is located on the chimney axis and on different distance from the left and right of the axis. It is set in the result that the plumb location has influence on the accuracy of heeling determination. The optimal location is on the centre of the top section of the chimney and there is shown the method of accounting corrections due to inaccurate location.


2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Sanda Iacobas ◽  
Bogdan Amuzescu ◽  
Dumitru A. Iacobas

AbstractMyocardium transcriptomes of left and right atria and ventricles from four adult male C57Bl/6j mice were profiled with Agilent microarrays to identify the differences responsible for the distinct functional roles of the four heart chambers. Female mice were not investigated owing to their transcriptome dependence on the estrous cycle phase. Out of the quantified 16,886 unigenes, 15.76% on the left side and 16.5% on the right side exhibited differential expression between the atrium and the ventricle, while 5.8% of genes were differently expressed between the two atria and only 1.2% between the two ventricles. The study revealed also chamber differences in gene expression control and coordination. We analyzed ion channels and transporters, and genes within the cardiac muscle contraction, oxidative phosphorylation, glycolysis/gluconeogenesis, calcium and adrenergic signaling pathways. Interestingly, while expression of Ank2 oscillates in phase with all 27 quantified binding partners in the left ventricle, the percentage of in-phase oscillating partners of Ank2 is 15% and 37% in the left and right atria and 74% in the right ventricle. The analysis indicated high interventricular synchrony of the ion channels expressions and the substantially lower synchrony between the two atria and between the atrium and the ventricle from the same side.


2012 ◽  
Vol 25 (0) ◽  
pp. 222 ◽  
Author(s):  
Michael J. Proulx ◽  
Achille Pasqualotto ◽  
Shuichiro Taya

The topographic representation of space interacts with the mental representation of number. Evidence for such number–space relations have been reported in both synaesthetic and non-synaesthetic participants. Thus far most studies have only examined related effects in sighted participants. For example, the mental number line increases in magnitude from left to right in sighted individuals (Loetscher et al., 2008, Curr. Biol.). What is unclear is whether this association arises from innate mechanisms or requires visual experience early in life to develop in this way. Here we investigated the role of visual experience for the left to right spatial numerical association using a random number generation task in congenitally blind, late blind, and blindfolded sighted participants. Participants orally generated numbers randomly whilst turning their head to the left and right. Sighted participants generated smaller numbers when they turned their head to the left than to the right, consistent with past results. In contrast, congenitally blind participants generated smaller numbers when they turned their head to the right than to the left, exhibiting the opposite effect. The results of the late blind participants showed an intermediate profile between that of the sighted and congenitally blind participants. Visual experience early in life is therefore necessary for the development of the spatial numerical association of the mental number line.


VLSI Design ◽  
1998 ◽  
Vol 6 (1-4) ◽  
pp. 379-384 ◽  
Author(s):  
Ganesh Rajagopalan ◽  
Vadali Mahadev ◽  
Timothy S. Cale

We discuss our approach to using the Riemann problem to compute surface profile evolution during the simulation of deposition, etch and reflow processes. Each pair of segments which represents the surface is processed sequentially. For cases in which both segments are the same material, the Riemann problem is solved. For cases in which the two segments are different materials, two Riemann problems are solved. The material boundary is treated as the right segment for the left material and as the left segment for the right material. The critical equations for the analyses are the characteristics of the Riemann problem and the ‘jump conditions’ which represent continuity of the surface. Examples are presented to demonstrate selected situations. One limitation of the approach is that the velocity of the surface is not known as a function of the surface angle. Rather, it is known for the angles of the left and right segments. The rate as a function of angle must be assumed for the explicit integration procedure used. Numerical implementation is briefly discussed.


2014 ◽  
Vol 117 (5) ◽  
pp. 535-543 ◽  
Author(s):  
Justin A. R. Lang ◽  
James T. Pearson ◽  
Arjan B. te Pas ◽  
Megan J. Wallace ◽  
Melissa L. Siew ◽  
...  

At birth, the transition to newborn life is triggered by lung aeration, which stimulates a large increase in pulmonary blood flow (PBF). Current theories predict that the increase in PBF is spatially related to ventilated lung regions as they aerate after birth. Using simultaneous phase-contrast X-ray imaging and angiography we investigated the spatial relationships between lung aeration and the increase in PBF after birth. Six near-term (30-day gestation) rabbits were delivered by caesarean section, intubated and an intravenous catheter inserted, before they were positioned for X-ray imaging. During imaging, iodine was injected before ventilation onset, after ventilation of the right lung only, and after ventilation of both lungs. Unilateral ventilation increased iodine levels entering both left and right pulmonary arteries (PAs) and significantly increased heart rate, iodine ejection per beat, diameters of both left and right PAs, and number of visible vessels in both lungs. Within the 6th intercostal space, the mean gray level (relative measure of iodine level) increased from 68.3 ± 11.6 and 70.3 ± 7.5%·s to 136.3 ± 22.6 and 136.3 ± 23.7%·s in the left and right PAs, respectively. No differences were observed between vessels in the left and right lungs, despite the left lung not initially being ventilated. The increase in PBF at birth is not spatially related to lung aeration allowing a large ventilation/perfusion mismatch, or pulmonary shunting, to occur in the partially aerated lung at birth.


1989 ◽  
Vol 68 (2) ◽  
pp. 435-441 ◽  
Author(s):  
Richard A. McFarland ◽  
Robert Kennison

Music was played monaurally to 80 right-handed and 80 left-handed subjects. Right-handers reported more positive and less negative affect if the music was to the right ear. Left-handers reported experiencing more positive and less negative affect during music to the left ear. The hand × ear interaction was significant. The valence of emotional responses to the music seems influenced by a combination of at least two factors, (1) differences between left- and right-handers in the cerebral processing of emotional valence and (2) differences in the processing of emotional valence within each handedness group depending upon which hemisphere was initially most strongly engaged by the music. These results partially corroborate and extend the findings of previous studies in which briefer stimuli were presented tachistoscopically or dichotically. It is concluded that, while there is hemispheric asymmetry in the processing of emotional valence, the direction of the asymmetry may be associated with the handedness of the subjects.


Development ◽  
1999 ◽  
Vol 126 (21) ◽  
pp. 4703-4714 ◽  
Author(s):  
M. Levin ◽  
M. Mercola

Invariant patterning of left-right asymmetry during embryogenesis depends upon a cascade of inductive and repressive interactions between asymmetrically expressed genes. Different cascades of asymmetric genes distinguish the left and right sides of the embryo and are maintained by a midline barrier. As such, the left and right sides of an embryo can be viewed as distinct and autonomous fields. Here we describe a series of experiments that indicate that the initiation of these programs requires communication between the two sides of the blastoderm. When deprived of either the left or the right lateral halves of the blastoderm, embryos are incapable of patterning normal left-right gene expression at Hensen's node. Not only are both flanks required, suggesting that there is no single signaling source for LR pattern, but the blastoderm must be intact. These results are consistent with our previously proposed model in which the orientation of LR asymmetry in the frog, Xenopus laevis, depends on large-scale partitioning of LR determinants through intercellular gap junction channels (M. Levin and M. Mercola (1998) Developmental Biology 203, 90–105). Here we evaluate whether gap junctional communication is required for the LR asymmetry in the chick, where it is possible to order early events relative to the well-characterized left and right hierarchies of gene expression. Treatment of cultured chick embryos with lindane, which diminishes gap junctional communication, frequently unbiased normal LR asymmetry of Shh and Nodal gene expression, causing the normally left-sided program to be recapitulated symmetrically on the right side of the embryo. A survey of early expression of connexin mRNAs revealed that Cx43 is present throughout the blastoderm at Hamburger-Hamilton stage 2–3, prior to known asymmetric gene expression. Application of antisense oligodeoxynucleotides or blocking antibody to cultured embryos also resulted in bilateral expression of Shh and Nodal transcripts. Importantly, the node and primitive streak at these stages lack Cx43 mRNA. This result, together with the requirement for an intact blastoderm, suggests that the path of communication through gap junction channels circumvents the node and streak. We propose that left-right information is transferred unidirectionally throughout the epiblast by gap junction channels in order to pattern left-sided Shh expression at Hensen's node.


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