#Verilog Assignment Help

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Top VLSI Institutes in Bangalore and Top 10 VLSI Training Institutes – Takshila Institute

The Takshila Institute of VLSI Technologies in India is recognized as one of the top VLSI institutes in Bangalore, offering industry-focused training for students and professionals aspiring to build a career in Very Large Scale Integration (VLSI) design. With the growing demand for skilled VLSI engineers in the semiconductor industry, high-quality training institutes play a crucial role in bridging the gap between academic knowledge and industry requirements. Takshila Institute of VLSI Technologies stands out as a leading VLSI training provider, offering specialized courses that equip learners with practical skills and real-world experience.

As one of the top 10 VLSI training institutes, Takshila Institute of VLSI Technologies provides comprehensive training programs covering digital design, analog layout, FPGA design, ASIC verification, physical design, and semiconductor fabrication. The curriculum is designed in collaboration with industry experts, ensuring that students gain hands-on experience in EDA tools, RTL coding, verification methodologies, and physical design flow. The institute also offers specialized courses in Verilog, SystemVerilog, UVM, and Python for VLSI, helping students develop expertise in front-end and back-end design.

The top VLSI institute in Bangalore, Takshila Institute of VLSI Technologies, provides state-of-the-art lab facilities, expert faculty guidance, and real-time project work to ensure that students gain practical exposure to modern VLSI design methodologies. The training includes live interactive sessions, hands-on assignments, and industrial case studies, allowing learners to develop a deep understanding of semiconductor technology. The institute focuses on preparing students for job opportunities by offering placement assistance, resume-building support, mock interviews, and internship opportunities.

What makes Takshila Institute of VLSI Technologies one of the top 10 VLSI training institutes is its career-oriented approach and strong industry connections. The institute has a proven track record of placing students in top semiconductor companies, making it a preferred choice for those looking to enter the VLSI industry. Whether you are a fresh graduate, working professional, or career switcher, this institute provides flexible learning options through classroom-based training and online courses.

With a reputation for excellence in VLSI education, Takshila Institute of VLSI Technologies is a trusted name in semiconductor training in India. If you are looking for the top VLSI institute in Bangalore or one of the top 10 VLSI training institutes, Takshila Institute of VLSI Technologies offers the best learning experience to help you succeed in the VLSI industry.

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VLSI Design And Verification Course For Fresher - VLSI Guru

VLSI Guru offers a comprehensive VLSI Design and Verification course for freshers, providing the perfect platform to kickstart your career in the semiconductor industry. Designed for engineering graduates and beginners, this course focuses on equipping students with the skills and knowledge needed to excel in VLSI design, verification, and front-end/back-end processes.

Why Choose VLSI Guru?

Industry-Relevant Curriculum: Our course covers all major aspects of VLSI design and verification, including RTL design, functional verification, SystemVerilog, UVM, and advanced techniques used in the industry.

Hands-On Training: Learn through practical assignments and projects that simulate real-world challenges in VLSI design and verification.

Expert Trainers: Our instructors are seasoned professionals with extensive experience in the VLSI industry, offering valuable insights and mentorship.

Job Assistance: We provide placement support and career guidance to help freshers secure opportunities in top semiconductor companies.

Flexible Learning Options: Choose from online or offline classes to suit your learning preferences.

What Will You Learn?

Fundamentals of VLSI design and verification.

Basics of digital design, Verilog, and SystemVerilog.

Advanced concepts in UVM methodology.

Practical skills to work on VLSI projects.

Who Should Enroll?

Engineering graduates in electronics, electrical, or related fields.

Freshers aspiring to build a career in VLSI design and verification.

Beginners looking for an in-depth, industry-oriented VLSI course.

Take the first step toward a rewarding career in the semiconductor domain with VLSI Guru’s VLSI Design and Verification course for freshers.

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Want To Know More About Verilog Assignment Help: Here Is Detail Overview

Verilog can be defined as Hardware Descriptive Language (HDL), which can describe a digital system, like a microprocessor, or it can be a network switch. Our online Verilog assignment help experts suggest that with the help of Hardware Descriptive Language, one can describe any digital hardware at any point in time.

Some of the Top Features of Hardware Description Language (HDL) is:

·        Hardware descriptive language can be dependent on any technology;

·        Easy to Design;

·        When a case comes to large electronic circuits, it can be easily debugged;

·        HDL is beneficial in terms of large electronic circuits.

Apart from these, Verilog contains some commands and important statements like other programming languages. Some of these commands and statements are mentioned below:

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Verilog Homework Assignment Help

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Verilog assignment solvers have highlighted  some of the key design that are used at different level of abstraction. The  three-level are as follows:

           Behavioral level - Online Verilog assignment experts have  compiled the following notes on behavioral level, it aims to inform the  students on what behavioral level entails. It is a level that gives a  description of system concurrent algorithms. Algorithms are arranged in a  sequential manner which means it is made up of a set of instructions which are  executed individually. Among the main elements associated with behavioral level  include tasks, blocks, and functions. This level has no regard to the   structural realization of design.

           Register-transfer level - These levels give a description of the  characteristics of a circuit which using operations as well as data transfer  between the registers. Any code can be synthesizable is referred to as an RTL  code.

           Gate level – Based on the notes compiled by Verilog  homework solvers, it states that a logical level, a system characteristic will  be described on the basis of timing properties, and logical links. The entire signals  are referred to as discrete signals. The systems can have only definite logical  values. The code for gate level model is usually generated by using tools such   as synthesis tools.

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assignment for VERILOG

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VLSI Courses – Qualification and Expectation

VLSI stands for Very Large Scale Integrated circuits that consists of millions of transistors and its main purpose is to reduce the area, improve the speed of the chip, and reduce power losses. In each and every electronic device, Integrated Circuits are used. So, the demand for VLSI engineers is increasing day by day. The VLSI sector is a highly technical field that is completely based on electronics and electrical engineering. One needs to be strong enough in the engineering subjects like circuit analysis ,digital electronics,Verilog etc. Also one must be familiar with the EDA tools that are used in chip design. 

Desirable skills for the VLSI industry are:

❏      Programming: Good programming skills will help in the field of digital design and verification. Object oriented programming is mostly used these days.

❏      Problem-solving ability: Designing involves converting a specification to code. Debugging skills are handy to identify and fix coding errors.

❏      Think out of the box- This skill is useful in identifying the best way to design/verify such that time and effort are saved and we get a better design in terms of power and area.

❏      Quick-learning- WIth the rapid advancement of technology, one needs to get himself adapted with new technologies.

❏      One must have good knowledge of scripting languages such as Perl, Python, Shell etc.

❏      Apart from the above requisites, one must have strong communication skills.

The Training Institutes thereby play a crucial role in making the prospective candidates industry-ready by assisting them in :

●      Real-time projects -The real-time projects help students to understand the industry better as this would give them a good practical exposure.

●     Time-Management - This is very important as it would help the students to complete the assigned projects effectively on time.

●      Working in huge teams - While handling projects one might have to work in huge teams so one must be acquainted working in teams where good listening skills would be required.

●     Organizational skills - The one who possesses organizational skills works systematically and achieves desired results.

●     Soft-skills - Good communication skills help interacting with people thereby knowing customer needs and serve them better.

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Regardless of whether you happen to be a youthful engineer looking to go into the VLSI industry, or are aspiring to construct the most amazing profession, our UVM and ASIC verification training is unquestionably the training alternative that will work best for you. Our ASIC verification course trains budding engineers broadly on the foremost and the most trending verification strategies, in the end, helping them to join the VLSI verification industry as a portion of the foremost ASIC verification engineers. There are numerous reasons why we guarantee that our course is the one that will work best for you. A portion of those reasons are; We Lead All Other ASIC Verification Institutes As an aggregate that includes a few ASIC verification institutes with placement openings after you graduate, we are certainly the pioneer of the pack. We have online verification training that is offered in the entirety of our institutes including our ASIC verification training institutes in Bangalore, just as our ASIC verification training institutes in Hyderabad. This means you can join and experience our examinations from basically any piece of the world. Is there any comfort that outperforms this? Low Cost Training We are the foremost of all low cost verification training institutes you will ever find the world over. On the off chance that you analyze the measure of cash our understudies pay with the kind of training we offer, the instructors, materials, and most trending advances that we use in teaching, at that point you will comprehend that we offer much more incentive for the affordable value that we charge. This is among the key reasons why we are among the main 10 verification training institutes around. Dynamically more understudies from around the globe are seeing the worth we are offering and signing up for our ASIC verification course. The Best ASIC verification Course Around With the RTL verification training and System Verilog training that we have mixed into this course, we have had the option to beat all other System Verilog training institutes and Verilog training institutes. Different courses we have in the blend that causes this conceivable to include out VHDL training courses and our RTL design training. No institute offers a single course that combines such a wide assortment of vital training as we do. We do all these to guarantee that our understudies turn out the best the industry brings to the table when they graduate. Also, that is the motivation behind why we gladly offer 100% placement support after you graduate. We are certain that our understudies can contend with the best of them. The Best in UVM Verification Training We are the foremost among the best UVM training institutes in the event that you investigate the substance and setting of the UVM training that we provide for our understudies. UVM (Universal Verification Methodology) is an approach that defines the use of System Verilog to confirm complex designs. By joining us, you are acquiring the most standard UVM training from a standout among st other UVM training institutes in the entire world. UVM instructs engineers to compose reusable yet exceptionally exhaustive test conditions using a hearty procedure that offers a few propelled highlights. In the wake of going through our training, engineers become experts at applying UVM to exchange level verification, inclusion, age of constrained irregular tests, just as score boarding. Subjects that are educated by the foremost specialists of the industry in our training include UVM test stages, UVM utilities, UVM sequencers, UVM screens, UVM Registers, UVM class libraries, UVM production lines, UVM drivers, UVM scoreboards, just as the setup of UVM tests. We Have the Best UVM Training Institutes With the foremost UVM training institute in Bangalore which offers the best yet most affordable UVM training for professionals, you ought to be certain that we offer the best training that the industry has ever observed. We are the best UVM training institute with placement support for our understudies after the finishing of their training. This additionally makes us the best PERL training institute considering that we have the foremost specialists of the whole industry to instruct PERL to our understudies. Features and Features of the Course As the multifaceted nature of advanced systems develops, the strategies of verification are likewise becoming continuously progressively basic. Despite the fact that computerized designs could be confirmed by taking a glance at wave forms and conducting manual checks in the early beginnings, the present-day intricacy doesn't allow for such verification's any longer. Thusly, designers have been improving methods for automating the procedure. That is the reason we guarantee that we give our understudies the best conceivable training. The features of the highlights of our training include; Classes that are directed  by the foremost specialists who are as of now working in the industry. All modules being cultivated  together with hands-on undertakings. Assignments that include totally robotized verification flows. Research center help together with classwork practice presents just as the best course materials. The improvement of delicate abilities, UVM training which is work situated, together with 100% placement support. Incredible accentuation on UVM libraries and ideas, UVM test structuring just as utilitarian inclusion. Under taking on the most trending industry-acknowledged conventions. Taking everything into account, there are a few different explanations behind which our UVM and ASIC verification training is the alternative that will work best for you, particularly when you take all the novel highlights of the course into thought. Be that as it may, these recorded ones are sufficient to make you join us. That is without a doubt the best thing you can accomplish for your profession.

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Verilog Assignment Homework Help

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www.answersportals.com is a pioneer in providing �� online Verilog help. Our Verilog tutors will provide step by step Verilog solutions to all your Verilog queries so that you can easily understand difficult Verilog concepts. All our Verilog tutors are experienced professionals with an in-depth knowledge of their   respective areas in Verilog. Our experts hold either PhD or Masters’ degree and thus can provide unique and plagiarism free Verilog assignments or homework. Students Verilog assignments are handled by highly qualified and well experienced experts from various countries as per student’s assignment requirements. Following are the extensive list of topics in Verilog in which we provide Help with Homework and Help with Project:

           ACC Routines

           Adding delays To Verilog  Behavioral Models

           Architectures and  algorithms for digital processors

           Architectures for  arithmetic processors

           Basic Contructs Of  Verilog Models

           Behavioral Level  Modelling

           Combinational logic  design

           Control Constructs

           Cross-Module References

           Data Types

           Debugging Verilog Models

           Declared Events

           Design and synthesis of  datapath controllers

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2019's Best Basic Electronics PDF Notes, Books, Course Data and Tutorials

Introduction to Basic Electronics

Electronics is the branch of science and engineering that deals with the theory and uses of devices in which electrons are transported through a vacuum, gas or semiconductor. All Devices much contain Electrons in Shells. Basic Electronics Helps to stud basic knowledge about the functionality of electrical devices. We study conductors, insulators, semiconductors, capacitors, transistors, resistors, diodes and rules and principals of working for these devices.

Electronic devices and components

An electronic component is any physical entity in an electronic system used to affect the electrons or their associated fields in a manner consistent with the intended function of the electronic system. Components are generally intended to be connected together, usually by being soldered to a printed circuit board (PCB), to create an electronic circuit with a particular function (for example an amplifier, radio receiver, or oscillator). Components may be packaged singly, or in more complex groups as integrated circuits. Some common electronic components are capacitors, inductors, resistors, diodes, transistors, etc. Components are often categorized as active (e.g. transistors and thyristors) or passive (e.g. resistors, diodes, inductors and capacitors).

This Outline Will be similar with your University 2019 Course Outline for Basic Electronics Subject.

Contents Zero Reference Level, Ohm’s Law, Linear & Non-Linear Resistors, Cells in Series and Parallel. Resistive Circuits. Resistors, Inductors, Capacitors, Energy Sources. Magnetism and Electromagnetism; Theory of Solid State; P- N Junction; Forward Biased P-N Junction; Forward V/I Characteristics; Reverse Biased P-N Junction; Reverse Saturation Current; Reverse V/I  Characteristics, Junction Breakdown, Junction Capacitance. Opto-electronics Devices; Spectral Response of Human Eye; Light Emitting Diode (LED); Photoemission Devices, Photomultiplier Tube, Photovoltaic Devices, Bulk Type Photoconductive Cells, Photodiodes, P-N Junction Photodiode, PIN Photodiode, and Avalanche Photodiode; DC Power Supplies; Rectifiers. Filters, Voltage Multipliers, Silicon Controlled Rectifier SCR; The Basic Transistor; Transistor Biasing, Transistor Circuit Configuration; Modulation and Demodulation; Carrier Waves; Integrated Circuits.Number Systems, Logic Gates, Boolean Algebra, Combination logic circuits and designs, Simplification Methods K-Maps, Quinne, McCluskey,, Flip Flops and Latches, Asynchronous and Synchronous circuits, Counters, Shift Registers, Shift Registers Counters, Triggered devices & its types. Binary Arithmetic and Arithmetic Circuits, Memory Elements, State Machines. Introduction Programmable Logic Devices (CPLD, FPGA); Lab Assignments using tools such as Verilog HDL/VHDL, MultiSim, etc.

Best Recommended Basic Electronics PDF Notes, Books,  Tutorials for Universities:

Here is detailed list of best Basic Electronics Books for Universities: Basic Electronics Solid State by B. L. Theraja Electronic Principles by Albert Paul Malvino Basic Electronics by Bernard Grob Grob basic electronics by Bernard Grob Getting Started in Electronics by Forrest Mims

Free Basic Electronics PDF Notes, Books and Helping Material to Download

Basic Electronics Solid State by B. L. Theraja PDF Book

DOWNLOAD Electronic Principles by Albert Paul Malvino PDF Book

DOWNLOAD Getting Started in Electronics by Forrest Mims PDF Book

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Basics of Electronics by ALL ABOUT ELECTRONICS Electronics - Basic Electronics by Dr.Chitralekha Mahanta Electroincs by Niket Shah Plus

Get Access to Basic Electronics Courses and Books exclusive on  Amazon,  Khan Academy, Scribd,   Coursea, Bightthink, EDX and  BrightStorm

Check out more on Amazon for Basic Electronics Books Check out on Khan Academy for Basic Electronics Helping Material Check out on COURSEA for Basic Electronics Course Check out on Bright Storm for Basic Electronics Tutorials Check out on EDX for Basic Electronics Courses Check out on Big Think for Basic Electronics Content Get more Details about  Bachelor's Degree Courses Here. These Course contents belong to HEC outline for this specific Subject. If you have any further inquiries, Please Contact US for details via mail. All the data is extracted from HEC official website. The basic purpose for this to find all course subjects data on one page. Read the full article

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A People-Following Mobile Robot Using Kinect and a Laser Scanner- Juniper Publishers

Abstract

This research proposes a people-following mobile robot system that is equipped with Kinect RGB-D camera and a laser scanner, in which the Kinect’s skeleton tracking function helps, identify people in the depth image. First, the system selects a person who raises his two hands as the target to follow. Second, the system identifies the target to follow from the person’s location and color characteristics of clothes. When an occlusion occurs, the system uses the information from the laser scanner to guide the motion of the mobile robot and tries to re-recognize the target to follow at the same time. The people-following mobile robot accomplishes a human detection and follows only the target even if more than two people are located around the target person. The research conducts several experiments and shows the effectiveness of the proposed system to identify and follow a human in an indoor environment.

Keywords:   Mobile robot; People-following; Kinect camera; Laser scanner; Human skeleton detection; Gesture recognition

Introduction

The ability to detect human motion, gestures, and behavior is an important task for service robots [1]. A robot that can carry luggage and follow a customer can be very helpful in many situations. Such a service robot should be able to interact with people and co-exist with people in a crowded environment designed basically for humans. Equipped with cameras, a robot can obtain images of the environment where it is situated through visual sensors and with the ability of visual perception can recognize objects and determine their locations. However, using only a 2D image is very difficult to identify or track the target in a 3D world. Kinect is a RGB-D camera combining a RGB image and a 3D depth image that can recognize the movement of a human. Kinect can extract the 3D positions of a human body’s joints, which can then be further processed to recognize human gestures. Kinect has been applied in various application fields such as health care, sport training, gaming, security, 3D construction, human motion recognition and many others. For instance, Kinect technology has been found to be very useful in various healthcare related services, such as physical therapy exercises, sport rehabilitation games, motor skill training, monitoring patient activities, medical operation room assistance, and other clinical areas [2].

Kinect (Kinect for Windows SDK V2.0) is able to track the skeletons of multiple persons by using only their depth image, and so it can be very easy to create gesture-driven applications [3]. Kinect can track at most 25 joint points of a human body skeleton and up to 6 persons at the same time. With the availability of tracking a human body’s skeleton joints positions and orientations for each user, the task of feature extract becomes much easier. One only needs to determine which joints are the most important for each activity.

Gesture recognition can be broadly categorized into gesture detection, pose estimation and gesture classification. Hand gesture detection is even a critical factor in sign language understanding. Because a hand is a smaller part in the human body, so detection and classification of hand gestures may be even more complex. In general, to develop a useful Kinect application involving human motion recognition, the following steps are typically required:

o Real-time human skeleton tracking;

o Recognition of the semantics of the activity or gesture formed by the motion; and

o Actions triggered by the detection of the particular motion.

There are many more reports of useful applications of Kinect in mobile robot systems. A Kinect based people- following mobile robot system was designed with its mission to keep the person in the centre of depth images and in at a fixed distance away from the mobile robot [4]. An autonomous robot equipped with 3 Kinects was built to follow and track a person [5]. The system selected a person who raised a hand as the target to follow at the beginning. The system could then identify a person from the person's location and characteristics of clothes and re-recognize the target to follow when an occlusion occurred. A Kinect was installed in a mobile frame at a height of around 120cm [6]. The system utilized color, depth, and skeleton frames from Kinect to find and track people for basic robotic movements like wander around and follow- me. Kinect was found useful in building an indoor map. For instances, Kinect and a laser range finder were used together to acquire environmental 2D map information [7]. In addition, 3D point cloud data from Kinect were transformed into an enhanced 2.5D and then down to a 2D grid map [8].

For the first step toward an autonomous service robot, we study a people-following mobile robot system, which is equipped with Kinect RGB-D camera and a laser scanner. Kinect is used to track human skeletons and to identify people from the depth image. The system selects a person who raises his two hands as the target to follow at the beginning. The system then identifies the target to follow from the person's location and RGB color characteristics of clothes. In the case of target occlusion, the system switches over to use the information from a laser scanner to plan the robot motion [9]. The robot is a two-wheel differential driven mobile robot controlled by a FPGA controller operating in a closed-loop speed PI control with a built-in encoder odometer to record its pose (position and orientation).

System Overview

The experimental people-following mobile robot system as shown in Figure 1 includes mainly a differential-drive mobile robot platform, a Kinect camera V2, a laser scanner SICK 200, a notebook computer, and a 24V lithium polymer battery. The mobile robot platform consists of two independent driving wheels and two free wheels. The actuator of the driving wheel is the dc motor with gear and encoder, which is in velocity PI control. The radius of driving wheel is r=75mm, and the distance of two driving wheels is 2L, where L=20mm. The wheel is actuated by a dc motor (motor maximum no-load speed 3000rpm) with a 17:1 gear reducer, and the motor encoder has a resolution of 68,650ppc. The motor speed control system is built on an Altera DE0-nano FPGA development board running at a system clock rate of 50Mhz. Motor speed PI control and series communication modules are implemented using Verilog HDL and synthesized by an Altera Quartus II EDA tool. The Kinect camera processing and connected curve generation programs are programmed in Visual C++ for PC.

Define to be the position of the middle of the two wheels in the world frame {W}. The origin of the robot base frame {B} is assigned to the middle of the two driving wheels, and is the yaw angle of the x-axis of the robot frame with respect to the x-axis of the world reference frame, as shown in Figure 2. Thus, is the pose (position and orientation) of the mobile robot in the world coordinate frame Figure 2. Coordinate frames of the mobile robot system: the world frame {W}, the robot base frame {B} with origin at the middle of the two driving wheels, and the Kinect coordinate frame {K}.

A Kinect V2 camera is installed at the upper middle of the free wheels of the mobile robot. The Kinect has two cameras, the left one is the RGB camera to obtain color images, and the middle one is the IR depth camera. The RGB color image has a resolution of 1920x1080 at 30 frames per second. The IR depth (D) image is 16-bit (in mm) at a resolution of 512x424, and the sensor range is between 0.5m and 8.0m at 30 frames per second. The depth of each pixels is computed based on the phase shift of the emitted modulated light and corresponding reflected light. The Kinect coordinate system {K} is centered on the Kinect's IR sensor as shown in Figure 2, in which the Y-axis points upward, the Z-axis points where the Kinect is pointing, and the X-axis is to the left (or cross-product of Y-axis and Z-axis). In this work, the Kinect is used mainly for human motion tracking and recognition as well as target person detection.

A laser scanner, SICK S200, is installed at the front end of the robot platform. Its main function here is to avoid obstacles such as doors, walls, and people. The principle of a laser scanner is based on time- of-flight. It can scan a range of 270 degrees in a resolution of 0.5 degrees and returns 16-bit distance values between 1.0cm and 800cm. For practical reasons, only 120 degrees of a scanned range are used here as shown in Figure 2. The laser range data’s updating time is 0.5 seconds.

Figure 3 shows the overall system block diagram of the people-following mobile robot control system. The system's operation is according to two external sensors (Kinect & laser scanner) and internal sensors (motor encoders). When the Kinect system is successful at detecting and tracking the target person, the mobile robot follows his steps; otherwise, the mobile robot is guided by the laser scanner to avoid local obstacles and tries to return to the state of tracking the target person. The mobile robot's pose trajectory history is recorded from motor encoder odometry.

Target person recognition and detection

Human motion tracking and recognition

One of the most important Kinect features is body tracking, as the Kinect can track a total of 25 skeletal joints per person. With Kinect for Windows SDK V2.0 one can extract the 3D positions of a human body's joints, which can then be further processed to recognize human gestures. In this work, we used the data of a body skeleton: joint rotations, positions and angles between joints for tracking and recognition of the target person to follow. The system only selects the person who raises his two hands as the target to follow. Here, we build a Kinect application system using only a single depth image to supports the following human motion tracking and recognition tasks:

Step 1: Record the sequence of hand-raising gestures (Figure 4) by using Kinect Visual Gesture Builder in Kinect Studio, which is used to identify the target to follow.

Step 2: Track human body skeletons up to 6 persons (called body frames) at the same time.

Step 3: Compare body gestures with the recorded target sequence and return a confidence value between 0 and 1. A confidence value of 0.95 indicates that a target person is successfully identified. A RGB model image is saved for target person detection later.

Target person detection

Target person detection is based on a comparison of color characteristics of his clothes in a body ROI (Region-of-interest) as shown in Figure 5. The body ROI of size 250x250 is formed from 4 human body joints in a detected human skeleton: spine base, shoulder right, shoulder left and spine shoulder. First, the RGB image, 0 ≤ R,G,B ≤ 255 , is transformed to the HSV image, 0 ≤ H ≤ 180 , 0 ≤ S ≤ 255 , and 0 ≤ V ≤ 255 . To compare two histograms, the histogram I from the input image and the histogram M of the model image, a metric of intersection d (I, M) is used to express how well both histogram match, whereby

When, d(I,M) ≥ 0.25 , it indicates that the target person is detected successfully. In summary, the program flowchart of human motion detection and target person detection is shown in Figure 6.

People Following Motion Planning

Mobile robot motion planning by tracking target person

Let v and ω be the instantaneous linear velocity command of the origin and angular velocity command of the robot base frame, respectively. Let (xc, xc, zc) be the detected neck joint point of the target person in the Kinect coordinate frame {K}. Define to be the angle of the target person with respect to the robot base frame. The mobile robot motion command ( v and ω ) is planned according to target tracking position (xc,xc,zc) . The linear velocity command v is a nonlinear function consisting of linear segments, dead-zones and saturations as below,

Where, parameters zmax = 300 cm, zmln = 150 cm, z1 = 30 cm, z0 = 45 cm, vmax = 27.5 cm/sec, and vmln = 20.6 cm/sec. Similarly, the angular velocity command ω is planned as below,

Mobile robot motion planning by laser scanner

The above target tracking planning strategy will fail whenever the vision system fails to update the new location of the target person. In such a case, the laser scanner is used to resolve the difficult situation. The range data s (in cm) of the laser range scanner in a range of 120 degrees as shown in Figure 2 are rewritten as

Where, α = 0.5 (j — 271) degrees, 151 ≤ j ≤ 391 and safety threshold smln = 70 cm. The value of n(α) = 1 denotes that the line of sight at an angle of α relative to the x-axis of the robot's base frame is free of any obstacle; otherwise, n(α) = 0 denotes that there is an obstacle in this direction angle. Let θ*  be the previous target tracking angle (relative to the x-axis of the world frame) just before a failed detection of a new target object occurs, and θ is the current mobile robot's orientation angle.

The mobile robot now plans to move forward, if n(α) = 1 , for -45° <α< 45° , and cos(θ-θ')> 0 ; otherwise, the robot rotates in place counter clockwise (or clockwise) if there is more free range in the left-side than the right-side (or the right- side than the left side). The above procedure is repeated until the target object is verified and detected again. Figure 7 shows the program flowchart of guidance by a laser scanner. Because the robot always maintains a minimum safety distance of 70 cm in its front end and its only mission is to follow the target person, it therefore seldom needs to consider the problem of obstacle avoidance when the target object is in front of it.

Experimental Results

During the experiments, the maximum robot's speed is set to 25.5cm/sec and the target's proximity distance to 30 cm for the safety reason. In the first people-following experiment, there are two persons around the target person. First, a person raises his two hands to be assigned as the target to follow. The mobile robot then identifies and tracks the target to follow from the target person's location and color characteristics of his clothes. The people-following mobile robot accomplishes a human detection and follows only the target of following even if more than two people are located around the target person. Figure 8 shows multi-shots of the first people-following mobile robot experiment. Multi-shots of the first people-following mobile robot experiment; the target person identification is performed right before t = 0 sec.; and tracking the target person starts right after.

In the second people-following mobile robot experiment, there is one person walking through the space between the mobile robot and the target person during the experiment. The mobile robot accomplishes the target person identification and detection and successfully follows only the target person even if a person is walking across between the mobile robot and the target person. Figure 9 shows multi-shots of the second mobile robot experiment. At time t = 21sec. a person appears in the front of the robot and an occlusion occurs, the system re-recognizes the target person after the breaking person who appeared walks away from the robot.

In the third example, the mobile robot accomplishes the task of following the target person to walk through a hallway and through doors inside an office building. Figure 10,11 show multi-shots and the mobile robot trajectory of the third people-following experiment, respectively. Whenever the target person walks inside a door, an occlusion easily occurs. The system always re-recognizes the target person after the robot passes through the door by using the information from the laser scanner. In summary, the experimental robot system recognizes the target to follow successfully on more than 95% of the trials and the target person recognition time is less than 0.1 seconds.   

Conclusion

This paper has proposed a people-following mobile robot system based on a Kinect sensor and a laser scanner. The robot is able to follow a target person if that person is identified through Kinect. When the target person disappears, the robot uses the range information obtained from a laser scanner to plan its motion and to re-recognizes the target person at the same time. The experimental results show that the people-following mobile robot accomplishes the task of tracking only the target person to follow even if more than two people are located around the target person or the mobile robot. Furthermore, the mobile robot also accomplishes the task of following the target person to walk through a hallway and through doors inside an office building. In our experiments, the experimental robot system recognizes the target to follow successfully on more than 95% of the trials and the target person recognition time is less than 0.1 seconds. The main advantage of the proposed approach is that the system combines a Kinect camera and a laser scanner so that the system can look around the space and re-cognize the target when a target person is out of the sensing region of Kinect.   

Acknowledgement

This work is supported by a grant from Taiwan's Ministry of Science and Technology, MOST 106-2221-E-011-151.

For more open access journals please visit: Juniper publishers For more articles please click on: Robotics & Automation Engineering Journal

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Programming Assignment 1: An Introduction to Verilog Solution

Programming Assignment 1: An Introduction to Verilog Solution

Assignment

This assignment is meant to make sure that your development environment is working properly and to get you thinking about boolean logic, Verilog, and the process of digital logic design on an FPGA.

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