PurposeSonar sensor-based mobile robot mapping is an efficient and low cost technique for the application such as localization, autonomous navigation, SLAM and path planning. In multi-robots system, numbers of sonar sensors are used and the sound waves from sonar are interacting with the sound wave of other sonar causes wave interference. Because of wave interference, the generated sonar grid maps get distorted which resulted in decreasing the reliability of mobile robot’s navigation in the generated grid maps. This research study focus in removing the effect of wave interfaces in the sonar mapping to achieve robust navigation of mobile robot.Design/methodology/approachThe wrong perception (occupancy grid map) of the environment due to cross talk/wave interference is eliminated by randomized the triggering time of sonar by varying the delay/sleep time of each sonar sensor. A software-based approach randomized triggering technique (RTT) is design in laboratory virtual instrument engineering workbench (LabVIEW) that randomized the triggering time of the sonar sensor to eliminate the effect of wave interference/cross talk when multiple sonar are placed in face-forward directions.FindingsTo check the reliability of the RTT technique, various real-world experiments are perform and it is experimentally obtained that 64.8% improvement in terms of probabilities in the generated occupancy grid map has been attained when compared with the conventional approaches.Originality/valueThis proposed RTT technique maybe implementing for SLAM, reliable autonomous navigation, optimal path planning, efficient robotics vision, consistent multi-robotic system, etc.
Hybrid brain–computer interfacing (BCI), recently, has been the epicenter of research in the area of rehabilitation engineering. The concept is based on the principle that the paradigm used for the BCI elicits one BCI marker in combination with one or more BCI modalities or other physiological signals. These paradigms elicit human brain response to successfully determine user intentions. Steady-state visually evoked potential (SSVEP) has been the favourite amongst researchers to combine with other BCI modalities such as P300, Motor Imagery (MI), etc. to develop assistive devices (ADs) based on hybrid BCI. This research paper is a record of a comparative study conducted between two hybrid BCI’s, namely hybrid BCI-1, hybrid BCI-2 and traditional SSVEP BCI. Both hybrid paradigms are similar in schematics but differ in the operational protocol. The study aimed to find the optimal protocol which greatly enhances the average information transfer rate (ITR) of a BCI-based AD. Hybrid BCI-1 showed lower classification accuracy (90.36%) and higher false activation rate (FAR) (3.16%) as compared to Hybrid BCI-2 (92.35% and 2.78%, respectively) as well as traditional SSVEP (93.38% and 2.73%, respectively). However, the average ITR of Hybrid BCI-1 (80.76 bits/min) was much higher than that of Hybrid BCI-2 (41.21 bits/min) and traditional SSVEP paradigm (36.34 bits/min). This led to the conclusion, that Hybrid BCI-1 is the most viable option for developing an AD.
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