Fuzzy Logic : Vacumm Cleanner

Bt		d_wpt
d_obs	a_wpt_obs	Near	Midway	Far
Near	Small	High	Moderate	Low
Near	Moderate	Moderate	Low	Very Low
Near	Big	Low	Very Low	Very Very Low
Midway	Small	Very High	High	Moderate
Midway	Moderate	High	Moderate	Low
Midway	Big	Moderate	Low	Very Low
Far	Small	Very Very High	Very High	High
Far	Moderate	Very High	High	Moderate
Far	Big	High	Moderate	Low

Bwd		d_wpt
d_obs	a_wpt_obs	Near	Midway	Far
Near	Small	High	Moderate	Low
Near	Moderate	Very High	High	Moderate
Near	Big	Very Very High	Very High	High
Midway	Small	Moderate	Low	Very Low
Midway	Moderate	High	Moderate	Low
Midway	Big	Very High	High	Moderate
Far	Small	Low	Very Low	Very Very Low
Far	Moderate	Moderate	Low	Very Low
Far	Big	High	Moderate	Low

Bw		d_obs
a_obs	a_wpt_obs	Near	Midway	Far
Small	Small	Low	Very Low	Very Very Low
Small	Moderate	Low	Low	Very Low
Small	Big	Moderate	Low	Low
Moderate	Small	Low	Very Low	Very Very Low
Moderate	Moderate	Moderate	Low	Very Low
Moderate	Big	Very High	Very High	Moderate
Big	Small	High	Moderate	Very Low
Big	Moderate	High	Moderate	Low
Big	Big	Very Very High	Very Very High	Moderate

Bo	d_obs
a_obs	Near	Midway	Far
Small	Moderate	Low	Very Low
Moderate	High	Moderate	Low
Big	Very High	High	Moderate

$\beta_{t}$

$\beta_{o}$

$\beta_{w}$

$\beta_{wd}$