A Focusing Inspection Strategy for Mobile Novelty Detection

Al-Hafiz Sha'abani, Mohd Nurul; Fahmi Miskon, Muhammad; Sakidin, Hamzah; Hafiz Taib, Mohd
May 2014
Australian Journal of Basic & Applied Sciences;May2014, Vol. 8 Issue 7, p168
Academic Journal
This paper presents a new approach of mobile robot monitoring strategy for novelty detection. Recently, most of monitoring by a mobile robot used a fixed inspection interval. Inspection interval that is too small will consume a lot of time and energy but if the interval is too big, novelty could be missed, hence lower the true positive detection. Furthermore, low reliability of sensing device such as sonar sensor can lose some of the true positive detection due to its limitation (e.g. firing angle). Hence, this paper proposed a Focusing Inspection Strategy (FIS). FIS is a multi resolution monitoring strategy, works by changing the frequency of measurement when required, depending on the detection of anomaly. The purpose is to gain more evidence of a novelty presence by increasing the true positive detection. FIS performance is validated using experimentation of the inspection of novel objects with different widths. A mobile robot equipped with an array of sonar sensors was used as an inspection agent. Two FIS models were evaluated; step resolution (FS) and linear resolution (FL). The result shows that FIS can increase the number of true positive detection up to 80% when compared to a fixed resolution inspection, improve the accuracy of novelty positioning estimation about 8.8% and 10.9% for FS and FL, and at the same time maintained a low false positive rate at lower than 0.1.


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