Norrima Mokhtar

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In the system introduced in this report, a ceiling map is shared by mobile robots inside a building. Firstly, the map is generated from a video trough an "upward" camera on a leading robot. Next, location of a following robot is estimated and plotted on the map. If there is debris on the floor, the estimated location contains error. To avoid this(More)
The Vector Evaluated Particle Swarm Optimisation algorithm is widely used to solve multiobjective optimisation problems. This algorithm optimises one objective using a swarm of particles where their movements are guided by the best solution found by another swarm. However, the best solution of a swarm is only updated when a newly generated solution has(More)
Keywords: Finite state machine EEG signals EOG artifacts Wheelchair navigation Minimum distance classifier Eye gaze a b s t r a c t In this study, an asynchronous wheelchair navigation system using a hybrid of EEG signal and EOG arti-facts embedded in EEG signals is demonstrated. The EEG signals are recorded at three different locations on the scalp in the(More)
Deoxyribonucleic Acid (DNA) has certain unique properties such as selfassembly and self-complementary in hybridization, which are important in many DNA-based technologies. DNA computing, for example, uses these properties to realize a computation, in vitro, which consists of several chemical reactions. Other DNA-based technologies such as DNAbased(More)
This paper presents a wheelchair navigation system based on a hidden Markov model (HMM), which we developed to assist those with restricted mobility. The semi-autonomous system is equipped with obstacle/collision avoidance sensors and it takes the electrooculography (EOG) signal traces from the user as commands to maneuver the wheelchair. The EOG traces(More)
Deoxyribonucleic Acid (DNA) has certain unique properties such as self-assembly and self-complementary in hybridization, which are important in many DNA-based technologies. DNA computing, for example, uses these properties to realize a computation in vitro, which consists of several chemical reactions. Other DNA-based technologies such as DNA-based(More)
In a visual odometry system, location of a mobile robot is automatically estimated (localized) from video. When the video is captured by an "upward" camera fixed to an indoor mobile robot, a panorama image of the ceiling (ceiling map) is generated by using a visual motion between two adjacent frames in the video. Similarly, location of another robot can be(More)
Because decisions made by human inspectors often involve subjective judgment , in addition to being intensive and therefore costly, an automated approach for printed circuit board (PCB) inspection is preferred to eliminate subjective discrimination and thus provide fast, quantitative, and dimensional assessments. In this study, defect classification is(More)
Peak detection is a significant step in analyzing the electroencephalography (EEG) signal because peaks may represent meaningful brain activities. Several approaches can be used for peak point detection such as time domain, frequency domain, time-frequency domain, and nonlinear approaches. The main intention of this study is to find the significant peak(More)
In the SLAM (Simultaneous Localization and Mapping) technology, an environmental map is generated by a mobile robot. When it results in failure, it is necessary to inspect the scene. This localization and browsing require transmission of video signal to a remote place. In the system in this paper, an indoor mobile robot has two cameras. One is the "upward"(More)