Research

The Department of Computer Engineering presently focuses on the three cluster areas, namely; Digital Systems Design, Software Engineering, and Computer Networks. It aims to strengthen these areas and by developing researches for each in order to contribute to the growth of Precision Farming in the Visayas and Mindanao. We believe that with the use of ICT, the growth of our agricultural economy can be sustained.

• “Study on the Development of Multi-Robot Systems for Farm Operations” by Joe Mari Maja, PhD
• “Development of an Obstacle Detection System Using Ultrasonic Proximity Sensors” by Van Patiluna and Joe Mari Maja, PhD

Research and Publications

Researches:

1.) Title  Author/s 2.) Title  Author/s

: “Study on the Development of Multi-Robot  Systems for Farm Operations”  : Maja, JM  : “Development of an Obstacle Detection System  Using Ultrasonic Proximity Sensors”  : Patiluna, V., and Maja, JM.

Publications:

1.) Title      Author/s      Publisher      Date Published

: “Visual Navigation Using Segmentation to     Localize Obstacle-Free Path” : Maja, JM.; Wang, ZD.; Takahashi, T.; and    Nakano, E. : The Society of Instrument and Control Engineers    (SICE) 184th Research Meeting, Yamagata    University, Japan : November 11, 1999

      Abstract:
Segmentation in general aims to produce a high correlation between the entities of the real world and the specific regions being segregated. An algorithm that can segment the background and object can be used as an obstacle-avoidance module. This can be used by limiting the working area of the robot to the segmented background area. This type of segmentation does not constitute the general definition but is used to meet the objective of isolating a path.
This paper describes an obstacle-avoidance algorithm that uses segmentation for visual navigation. The segmentation algorithm describes and attempts to build regions in the image by localizing the path from other entities. In most of the indoor images sampled, a relationship between foreground-background (figure-ground) exists, in which a single threshold is used to detect most of the object boundaries.
Multilevel thresholding is generally less reliable than single thresholding because of the difficulty in establishing which threshold level isolates regions of interest. The best threshold value referred to in this paper does mean that most of the ground plane was segmented as ground since there are no accepted criteria for defining a correct segmentation.

2.) Title      Author/s      Publisher      Date Published      Abstract

: “Segmentation as Visual Module for     Navigation” : Maja, JM.; Wang, ZD.; Takahashi, T.; and    Nakano, E. : 5th Robotics Symposia, Japan : March 2000 : (in Japanese Language format)

3.) Title      Author/s      Publisher      Date Published

: “Real-Time Obstacle Avoidance Algorithm     for Visual Navigation” : Maja, JM.;Wang, ZD.; Takahashi, T.; and    Nakano, E. : Proceedings of International Conference on    Intelligent Robots and Systems (IROS) 2000,    Vol. 1, pp. 925-930, Japan : November 2000

      Abstract:
A real-time obstacle-avoidance algorithm is presented for autonomous mobile robots equipped with a CCD as its only sensing modality. The approach uses segmentation technique to segregate ground from other fixtures. It uses a simple computation for the threshold value. The processing speed of the algorithm is fast enough that it can avoid some active obstacle. The algorithm was tested in various indoor lighting conditions is remarked robust. Results of the different thresholding techniques are also presented in conjunction with computation of the threshold value.

4.) Title      Author/s      Publisher      Date Published

: “Obstacle-Free Path Localization with     Wavelet Transform” : Maja, JM.; Shoji; M., Takahashi, T.; and    Nakano, E. : The Society of Instrument and Control Engineers    (SICE) 195th Research Meeting, Hachi no He    Technical University, Japan : July 2001

      Abstract:
Building a robust platform for navigation has long been a very interesting topic. The quest for a robust algorithm using non-visual sensors is still in its infancy. This is due to the different constraints being used on the different algorithm. The authors use a simple segmentation technique to isolate the ground from other fixtures. The said algorithm process raw data very fast since it involves a simple computation. But due to its simplicity, it exhibits some failure modes. The µ – ks cannot isolate an area, which exhibits a very dark color on the floor. And if it intends to isolate the said area, the problem of getting a blank segmented regions, which is unsafe for robot navigation, is produced.
The quest of finding a solution to these failure modes leads to Wavelet transform that promises good results depending on the basis used. Wavelet transform is a mathematical tool for decomposing functions. Due to its decomposition property, it leads us to think that this will somehow decompose the floor from other fixtures which is our main concern.

5.) Title      Author/s      Publisher      Date Published

: “Vision-based Map Building for Indoor     Environment(Part I)” : Maja, JM.; Shoji, M.; Takahashi, T.; and    Nakano, E. : The 6th World Multi-Conference on Systems,    Cybernetics and Informatics (SCI) 2002,    Orlando, Florida, USA : July 2002

      Abstract:
This paper introduces a feasible approach of map building for autonomous robot using only vision as its sensing modality. It uses segmentation technique to create the local map and uses its local map to build the global map. The global map is grid-based and is updated with the superimposed local map. The grid under the superimposed local map will then be updated accordingly, e.g., either obstacle or free space. The map building scheme has been implemented on a robot based on personal robots Cye. Also shown are sample images that demonstrate the output of the proposed map building.

6.) Title      Author/s      Publisher      Date Published

: “Motion Control of a Three-Wheeled Omni-     Directional Mobile Robot” : Maja, JM., Atillo, C.; Gicum, M.; and    Navarrete, J. : The 8th World Multi-Conference on Systems,    Cybernetics and Informatics (SCI) 2004,    Orlando, Florida, USA : July 2004

      Abstract:
This paper describes the software and hardware design used for controlling the motion of a three-wheeled omni-directional mobile robot. The project is designed and implemented by a group of graduating college students. The hardware design used is patterned after the Palm Pilot Robot Kit, but major differences in speed control for the motors used and the manner of robot control is applied. The design uses easy-to-find parts commonly available in the market. Motion control of the robot is achieved by using Pulse Width Modulation (PWM) to vary the speed of each drive motor. The robot travels a holonomic, characteristically a curved path, which is largely attributed to the different velocities of each wheel. A desired path can therefore be accomplished by varying and controlling the speed of each wheel. The mobile robot is designed to be expandable for use by future design groups and may also serve as reference for further studies of robotic applications.

7.) Title      Author/s      Publisher      Date Published

: “PICEm: Tools for Building Computational     Devices” : Patiluna, V., Bersonda, B., Palima, J.,    and Maja, JM. : International Conference on Engineering    Education(ICEE), Philippines : July 2004

      Abstract:
To improve the quality of the Computer Engineering graduates, the Department formed a team to develop an educational tool. It aims to enhance the knowledge of the students in embedded systems by creating a modular development board composed of two major parts: the main board and the expansion modules. The main board has sockets for the microcontroller and decoder. A set of headers/connectors forms an expansion slot for the device module. Each module can be attached separately or altogether via another expansion board. The modules include switches, LEDs, LCD, numeric keypad with encoder and stepper motor driver. The main board can be used as a control unit for a robot and autonomous systems. The board is designed to be cost effective. Minimal number of components which are locally available are used. The board may be used as a tool for undergraduate students of the USC Computer Engineering program.

8.) Title      Author/s      Publisher      Date Published

: “ODV for Indoor Environment: Tool for     Minimizing Non-Holonomic Constraint for     Outdoor Vehicle” : Patiluna, V. and Maja, JM. : Automation Technology for Off-Road Equipment    2004, American Society of Agricultural    Engineers, Kyoto, Japan : October 2004

      Abstract:
The aim of the study is to bring an ideal omni-directional vehicle to outdoor surfaces, such as gravel and grass and gather data on its performance. The information acquired is compared to previously gathered data in the indoor setting. Data from both testing environments are also be compared. The study formulates an equation based on that of the indoor set-up and the deviations of the performance of the outdoor set-up.
The researchers found out that the path of the omni-directional vehicle on an indoor setting has a correlation to the path of the outdoor setting. Using the Pearson Product Moment equation, the paths show strong linear correlation.

9.) Title      Author      Publisher     Date Published

: “The Computer Engineering Program of the    University of San Carlos in the Light of    Industry Needs: Basis for Improvement” : Gohetia, C. : International Conference on Engineering    Education(ICEE), Philippines : July 2004

      Abstract:
This study was conducted to evaluate the relevance of the USC Computer Engineering program in the light of the needs of industry and to determine the quality of performance of its graduates in selected companies in Cebu City. It uses the descriptive survey method and the questionnaire as the main instrument in obtaining information. The respondents of the study were selected managers and engineers who are alumni of the Department and are currently employed at Lear Corp., NEC Software Technologies, Lexmark, and Adtex Systems.

10.) Title       Author/s       Publisher       Date Published

: “Energy Assessment of the USC Main     Building” : Balquin, A., et al. : USC : March 1997

       Abstract:
Energy crisis is one of the major problems of our country today. Our government has been trying to solve their crisis by looking for ways to generate more energy. However, the rate of demand increases more rapidly than the rate of energy supply. Thus, generation of more energy alone is not a sufficient way of solving the energy crisis. The best solution is to generate more energy and to optimize its usage to decrease the energy demand.
While the government looks for ways and means to generate more energy, the researchers of this study are looking for ways to optimize its use thereby minimizing energy consumption.
In this context, the researchers decided to undertake an energy audit in their own institution, particularly the USC Main Building. The study aims to find energy management opportunities that can be applied to alleviate the wasteful use of energy and to optimize it use. It is believed that with the result of this study, the USC community will be able to contribute its share in solving the energy crisis of our country.

11.) Title       Author/s       Publisher       Date Published

: “A Proposed Design of An On-Line DECS     Document Filing Paradigm Part I     (Digitizing of Data)” : Balquin, A. : USC : March 1997

       Abstract:
Most Philippine offices transmit large volume of documents. However, as this grows dynamically each year, the method of organizing and storing them remains conventional. Documents are still filed manually or placed in archives for safekeeping. Conventional method of document storage and retrieval through folders and cabinets is inadequate to cope with the information requirements of large agencies. Thus, there is a need for a more efficient document filing, faster retrieval systems, compact storage, internetworking and backing procedures. The project examines this kind of problem specifically in the Department of Education, Culture, and Sports Regional Office (DECS RO) VII. It aims to digitize documents in terms of its attributes, content, and size. This study is Part I of DECS Document Filing Paradigm. The idea is to make the information in DECS ready for manipulation by placing them in databases. The project proposes a database system using MS Access software in terms of its data entries, format, and size. Part II of DECS Document Filing Paradigm is a project done in parallel with this study by another Master in Engineering student. The second study focuses on the digital retrieval of the database documents in Part I. The two projects are in line with the government’s vision to have a total computerization among its offices in the near future.

12.) Title       Author/s       Publisher              Date Published

: “The Proposed Design of An On-Line DECS     Document Filing Paradigm Part II” : Ferolin, R. : USC : March 1997

       Abstract:
Document filing is a daily routine in all offices. Most government offices in the country handle very large amount of documents and it is alarming to observe that most still rely on conventional manual methods. Manual accessing and storage of document is so slow that it affects these government agencies in their ability to carry out decisions and in achieving their goals. This project examines ways to improve document filing systems in government offices. The project aims to develop a computer filing system for DECS RO VII.
It is the sequel to another project done by a colleague. In the first project DECS RO VII’s daily communication is examined to identify common attributes that may be used as search keys to efficiently file these communications electronically. In this study, an interactive graphical user interface (GUI) search mechanism is designed to enable user to extract desired records with ease. This interactive graphical user interface provides an efficient way of accessing documents. Different reports that maybe produced by underlying database are proposed. Furthermore, this study looks at the hardware, firmware, and infrastructure requirements to enable the internetworking of DECS RO VII.

13.) Title       Author/s       Publisher       Date Published

: “Windows-Based Audible Screen-Reading     Computer Program” : Bandalan, C. : USC   : March 2000

       Abstract:
This project aims to verbalize the name or descriptions found in the Windows environment and also the keys being pressed on the keyboard to aid the visually-impaired users of the computer through hearing. The focus is on developing Visual C++ software that will do the task of obtaining the information and passing it to the text-to-speech engine. This is achived through the Active Accessibility. Since the application that supports Active Accessibility exposes the information of its object, the necessary information such as the name and description of the object shall have to be passed to the text-to-speech engine. This engine is responsible for vocalizing the name or description.
The “speaker” program could verbalize almost all the menu items and icons. But there are fields that are not exposed and could not be identified. These include color ID, word art styles, thesaurus, field shading, auto layout styles, 3D styles, and other fields that are in text. To know the description of an object, Ctrl+shift+F10 is activated. For the name it is Ctrl+shift+F9. Though not exposed, the client area could be accessed by mapping keyboard functions. It needs an activation key combination of Ctrl+shift+F7 in reading lines within the MSWord or Notepad client area. And for accessing each cell in MSExcel, the Ctrl+shift+F8 combination is used. The arrow keys are used in accessing the lines or cells. Thus, in pressing the arrow the name need not be spoken.

14.) Title       Author/s       Publisher       Date Published

: “Study on the Development of Multi-Robot     Systems for Farm Operations (Part 1)” : Maja, JM.; Bulanon, D.; and Patiluna, V. : Hokkaido Branch of the Japanese Society of    Agricultural Machinery Hokkaido University,    Graduate School of Agriculture Sapporo, Japan : March 2006

       Abstract:
The main objective of this research is to develop a control system for multiple autonomous mobile robot performing farm operations. To achieve this, it is necessary to pinpoint the different technologies that will comprise the whole systems. In this work, a conceptual robot and its kinematic model is presented. We derive a feedback controller for a point-to-point motion task and present a feasible system where we can implement the different inherent capabilities of the mobile robot. The whole system consists of a central controller and the number of robots in the field. It is called semi-centralized as the output of processes that is global in nature will be processed in the central controller, while processes for each of the robot can be done within the robot itself. A short discussion is presented as part of the conclusion.