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Yayın Visual obstacle detection and avoidance for indoor mobile robots(Işık Üniversitesi, 2012-09-19) İyidir, İbrahim Kamil; Tek, Faik Boray; Işık Üniversitesi, Fen Bilimleri Enstitüsü, Bilgisayar Mühendisliği Yüksek Lisans ProgramıThis study is a part of a joint team effort to transform a small-scale model car into an autonomous moving robot. This transformation includes several routines that are essential and attached together. Integration of various equipment on the model car is the first step of that routine which is shared among different thesis studies conducted at RAVLAB (Robotics and Autonomous Vehicles Laboratory) of Işık University. Hence. The resulting hardware system which is explained in this thesis is mostly the co-produce of RAVLAB team. The integration is followed by implementing the software required to establish control and communication links between different units. During this thesis, the author has developed a multi-threaded main control software to facilitate obstacle avoiding movements of the robot while reading and analyzing sensory inputs. This thesis study mainly focuses on detection of the obstacles with visual information collected from an ordinary color camera. The main obstacle detection algorithm that is proposed in this thesis is adapted from a powerful background subtraction algorithm ViBe [1] (Visual Background Extractor). The proposed algorithm uses the model of the ground plane in order to detect obstacles. A different ground plane model is kept for each pixel location as in ViBe. The proposed algorithm is robust against illumination differences, shadows and the changes in the appearance of the ground plane. A comparison is provided (using ground trurh data) with another obstacle detection algorithm [2] which also uses a ground plane based model to detect obstacles. The results of the proposed algorithm under different conditions compared to a counterpart. In addition to the obstacle detection, during this study two obstacle avoidance algorithms are developed to facilitate navigation of the robot in indoor environments. The experiments show that the robot is able to move while avoiding obstacles by using ultrasonic sensors as well as using the visual camera input.Yayın Modeling a mobile value added services platform(Işık Üniversitesi, 2002-06) Okutan, Ahmet; Yarman, Bekir Sıddık Binboğa; Işık Üniversitesi, Fen Bilimleri Enstitüsü, Bilgisayar Mühendisliği Yüksek Lisans ProgramıMobility is one of the new concepts has changed the way that people are accessing information. It is known that mobile phones can be used for more than just making phone calls. With the new generation mobile phones, mobile users can access a lot of Mobile Value Added Services (VAS). The term Value Added Services incorporates a lot of services ranging from popular information services like currency or weather information to entertainment services like multimedia messaging, logo, melody and picture message services. That is to say, a cellular phone owner can both request daily news, weather or horoscope information and can download multimedia messages, melodies, logos and picture messages to his mobile phone by sending a specific request message via SMS. In the meantime, Value Added Services Platforms utilize the GSM Operator's Short Message Service Centers, to provide Value Added Services to mobile phone users via SMS. Although the majority of Value Added Services are being provided via SMS, WAP and GPRS are other technologies that are utilized by VAS platforms. On the other hand, as the internet is making is possible to publish information content vie World Wide Web (www), mobile phones are becoming more and more popular to provide this information content to people who are mobile. So, in this context, VAS platforms are acting as mediums to provide infotainment to mobile subscribes from the web. This study models the technical features of sample Value Added Services Platform that works over SMS. The main system components of this modeled Value Added Service Platform are explained in detail. The important issues that needs special handling are described for each system component. Moreover, a research is made regarding the smart messaging which is one of the most important parts of VAS. For this, Nokia Smart Messaging Speciation, Nokia Multimedia Messaging Specifiation (MMS) and Enhanced Messaging Specifiation (EMS) are examined in detail. The modeled VAS Platform supports Nokia Smart Messaging Specification. Additionally it can support MMS and EMS if necessary software modules are implemented. So, the implemented software platform can send melodies, logos and picture messages can be requested by sending corresponding keywords for each service via SMS. In the remaining parts of the document, the word Platform will be used in stead of Value Added Services Platform (VASP) modeled in this study.Yayın Design and implementation of a software agent platform applied in E-learning and course management(Işık Üniversitesi, 2004-08) Erdoğan, Gürol; Kuru, Selahattin; Işık Üniversitesi, Fen Bilimleri Enstitüsü, Bilgisayar Mühendisliği Yüksek Lisans ProgramıIn this thesis, we report an experience on constructing a software agent platform for development and implementation of software agent systems running with integrated e-learning and course management applications which are developed and running under different technologies. The proposed platform consists of an agent development framework namely JADE (Java Agent Development Environmet), a common database infrastructure serving to many different applications and the applications infrastructure running on different platforms. An example e-university application module which is an integrated course management software running on the proposed platform namely Course ON-LINE and an agent application running as an add-on utility to this application namely GAIA is explained in detail to demonstrate the use of the proposed application.Yayın An industrial application using blackboard architecture(Işık Üniversitesi, 2006) Tünay, Kerem Burak; Kuru, Selahattin; Işık Üniversitesi, Fen Bilimleri Enstitüsü, Bilgisayar Mühendisliği Yüksek Lisans ProgramıThis thesis implements control architecture for goal-driven blackboard systems. The architecture is based on searching a general goal tree by diminishing into sub-goal trees. The aim is to develop a problem solving architecture in the AI space via blackboard system. The basic elements of the architecture are goals, policies, strategies, facts, methods, and knowledge sources. The basic control loop employs a bidding mechanism to determine the knowledge source to be executed at the current cycle. A policy is a local scheduling criterion which guides to bidding process and it indicates which of the attributes of the knowledge sources are relevant in this process. A strategy is a global scheduling criteria such as depth-first, breadth-first etc. A method is a partially complete general goal tree structure representing high level knowledge on how to solve a problem. The architecture employs a control blackboard, and separate knowledge sources for the control problem and for representing the domain knowledge. A production planning application is developed using this architecture. Both C++ and ABAP languages were used to implement this application.
