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All Journal IAES International Journal of Robotics and Automation (IJRA) TELKOMNIKA (Telecommunication Computing Electronics and Control)
Abdel Ilah Nour Alshbatat
Tafila Technical University
Automotive Engineering Computer Science & IT Electrical & Electronics Engineering

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Behavior-Based Approach for the Detection of Land Mines Utilizing off the Shelf Low Cost Autonomous Robot Abdel Ilah Nour Alshbatat
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 3: September 2013
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (634.467 KB) | DOI: 10.11591/ijra.v2i3.pp83-92

Abstract

Several countries all of the world are affected by landmines. The presence of mines represents a major threat to lives and causes economic problems. Currently, detecting and clearing mines demand specific expertise with special equipment. In this context, this paper offers the design and development of an intelligent controller which can control and enable the robot to detect mines by means of sensors and of processing the fused information to guide soldiers when passing landmines.  This is accomplished by broken down the overall system into two subsystems: sensor technologies and robotic device. Sensors devices include infrared distance sensor, metal detector, ultrasonic range finder, accelerometer sensor, while the structure of the robot in our case consists mainly  of a commercial  off-the-shelf  parts which  are  available  at  low  costs. The proposed controller is mainly based on creating fuzzy rules that reflect the behaviors of soldier beings in controlling a robot in a well known landmine. Simulation and experimental results are presented her to prove the efficiency of the proposed approach. The results show that the system is able to detect landmines and guide soldiers while crossing mines area.
Moving-horizon estimation approach for nonlinear systems with measurement contaminated by outliers Moath Jamal Awawdeh; Tarig Faisal; Anees Bashir; Abdel Ilah Nour Alshbatat; Rana T. H. Momani
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 22, No 1: February 2024
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v22i1.25230

Abstract

An application of moving-horizon strategy for nonlinear systems with possible outliers in measurements is addressed. With the increased success of movinghorizon strategy in the state estimation for linear systems with outliers acting on the measurement, investigating the nonlinear approach is highly required. In this paper we applied the nonlinear version which has been presented in the literature in term of discrete-time linear time-invariant systems, where the applied strategy considers minimizing a least-squares functions in which each measure possibly contaminated by outlier is left out in turn and the lowest cost is propagated. The moving horizon filter effectiveness as compared with the extended Kalman filter is shown by means of simulation example and estimation error comparison. The moving horizon filter shows the feature of resisting outliers with robust estimation
Co-Authors Anees Bashir Moath Jamal Awawdeh Rana T. H. Momani Tarig Faisal