DeSilva Liyanage

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In this paper design and implementation of an accurate positioning system in indoor environments for an Omni directional Robot and a stereo vision based depth estimation system is discussed. The positioning system which is robust for wheel slip and jerky motion was implemented fusing odometry, Inertial Navigation System (INS) and magnetic compass based(More)
This paper gives the idea of the method digital image watermarking algorithm which is new popular topic for research. The Discrete wavelet is the tool used for digital image watermarking. Wavelet transform has been applied widely in watermarking research as its excellent multi-resolution analysis property. The watermark logo is embedded based on the(More)
In this paper trajectory and orientation control is addressed for an Omni directional robot (ODR). Here ODR is modeled in a state space representation using its dynamics and the kinematics incorporating correction for motor imbalance problem. Then for that nonlinear state space, novel tracking based state feedback linearizing strategy is introduced so that(More)
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