In the paper entitled Soft computing approach to safe navigation of autonomous planetary rovers by Tunstel, Seraji and Howard (2000) , the traction management system is described in Section 11.3.3. In it they describe how they trained a neural network to recognise soil types from images, and used that to estimate a traction coefficient which has a value of 0 to 1. This value is then fed into a fuzzy rule-based system to determine the speed of the vehicle.

Use a diagram to show:

• a.what shape membership functions are used;

• b.how the membership functions are drawn on the traction coefficient axis?

Question 9 (4 marks) You will be able to answer this question after you have studied Week 16. In the paper entitled 'Soft computing approach to safe navigation of autonomous planetary rovers' by Tunstel, Seraji and Howard (2000), the traction management system is described in Section 11.3.3. In it they describe how they trained a neural network to recognise soil types from images, and used that to estimate a traction coefficient which has a value of 0 to 1. This value is then fed into a fuzzy rule-based system to determine the speed of the vehicle. Use a diagram to show: a. what shape membership functions are used; b. how the membership functions are drawn on the traction coefficient axis