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Serving Humanity Through Intelligent Robotic Systems
3rd INTERNATIONAL CONFERENCE ON MECHATRONICS
Organized by :
Faculty of EngineeringInternational Islamic University Malaysia
Co-Organizers:
Conference Programme&
Book of Abstracts
18-20 December 2008INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA
KUALA LUMPUR, MALAYSIA
Sponsors:
Table of Contents
Message from IIUM Rector 2 Message from Conference Chairman Message from MARA Director General
3 4
Organizing Committee 5 International Advisory Board 6 Reviewers 7 Opening Ceremony 8 Banquet Dinner Sessions’ Venues
9 10
Programme and Schedule 11 Keynote Speakers 13 Conference Abstracts 19 Malaysia-Truly Asia 36 International Islamic University Malaysia 37 Faculty of Engineering, IIUM 38 Acknowledgment 39 Sponsors 40
3rd International Conference on Mechatronics 2008 (ICOM'08) 1
MESSAGE FROM IIUM RECTOR
Prof. Dato’ Dr. Syed Arabi Idid
Rector, International Islamic University Malaysia
Assalaamu’alaikum Warahmatullaahi Wabarakaatuh It gives me great pleasure to observe that the Faculty of Engineering IIUM is organizing the 3rd International Conference on Mechatronics, 2008, (ICOM '08) in conjunction with the 25th anniversary of the International Islamic University Malaysia as well as the 10th International Robot Olympiad (IRO). The theme of this conference "Serving Humanity Through Intelligent Robotic Systems" is very appropriate as there are myriads of challenges facing all nations in managing natural resources, disaster, economic development and environmental pollution. Nowadays applications of robots and allied autonomous systems are not only limited to various industries but are also playing significant role in robot assisted microsurgery and other robotic health support systems. Furthermore, it is expected that in the near future robots will be used extensively in disaster management and rescue missions. As the vicegerent of God, we are required to acquire and utilize knowledge and God-given resources in a very responsible manner. The integrated nature of mechatronics engineering when fully harnessed can propel a nation to achieve accelerated development as well as to properly manage and safeguard the environment, properties and lives. It is hoped that this conference will provide a platform to discuss various technologies that can provide solutions to many challenges facing humankind. I would like to extend my hearty congratulations to the organizers, sponsors and participants of this conference and I wish all the participants a successful conference and an enjoyable stay in Malaysia. Wassalam
3rd International Conference on Mechatronics 2008 (ICOM'08) 2
MESSAGE FROM CONFERENCE CHAIRMAN
Prof. Dr. Ahmad Faris Ismail
Chairman of ICOM’08 Dean of Kulliyah of Engineering
International Islamic University Malaysia
Assalaamu’alaikum Warahmatullaahi Wabarakaatuh The Faculty of Engineering at the International Islamic University Malaysia (IIUM) is delighted to organize the 3rd International Conference on Mechatronics (ICOM '08) with the theme "Serving Humanity Through Intelligent Robotic Systems". We feel very proud and honored that the International Robotic Olympiad Committee is co-organizing this auspicious event in conjunction with the 10th International Robotic Olympiad 2008 (IRO 2008), which is taking place at the Cultural Activity Center side by side. Furthermore, this conference is also one of the activities earmarked for the celebration of the 25th anniversary of this university. On behalf of the organizing committee, I would like to thank all the participants for their timely responses to the call for papers. It is noteworthy to point out that ICOM’08 has been able to draw quite a significant number of technical papers within a very short notice. It is hoped that participants will use the opportunity in this conference to interact and exchange ideas to enhance research and development. I would like to take this opportunity to express my deepest gratitude to the International Advisory Board, sponsors and the organizing committee for their commitment and supports which have enabled us to have a memorable and successful conference. I am also grateful to all the reviewers, without whose efforts such a high standard for the conference proceedings would not have been attained. I would like to extend my words of appreciation to the Advanced Engineering and Innovation Centre at IIUM for their valuable contributions and support. Finally I would like to thank everyone who has contributed to make this conference successful. Wassalam
3rd International Conference on Mechatronics 2008 (ICOM'08) 3
MESSAGE FROM MARA DIRECTOR GENERAL
Datuk Nam Marthinin
Director General, Majlis Amanah Rakyat Malaysia
Assalaamu’alaikum Warahmatullaahi Wabarakaatuh It is a pleasure to pen down a few words for the opening of International Robot Olympiad 2008 (IRO 2008) that is being held in conjunction with the International Conference in Mechatronics 2008 (ICOM '08). I like to congratulate the organizing committees, for their hard work and meticulous planning in realizing both events. I hope that collaboration between International Islamic University (IIUM) and MARA can be enhanced further through similar programmes. In accordance with the theme IRO 2008 ‘Robot Helping People Getting to Work or Play’ and ICOM '08 ‘Serving Humanity through Intelligent Robotic Systems’, I, on behalf of MARA hope that the successful collaboration in setting up games will serve as a catalyst to spark future scientists from all the countries involved as we continue to make rapid strides to improve engineering education. Thus in doing so we are equipping the future engineers with the capability to face myriads of challenges facing all nations including managing natural resources, disaster, economic development and environmental pollution. In our search for economic and education growth, integration and co-operative networking amongst participants especially the young people will serve as a basis for mastering the current phenomenon of innovation and invention in the engineering environment as together they share a vision, understanding and passion in the engineering field. Again I praise the organizers for being the productive partnership and hope that more projects such as this will be spearheaded by both organizations in the years to come. Wassalam
3rd International Conference on Mechatronics 2008 (ICOM'08) 4
ORGANIZING COMMITTEE
Ahmad Faris Ismail - Conference Chairman Momoh-Jimoh E.Salami - Co-Chairman Md. Raisuddin Khan - Secretary Rini Akmeliawati - Assistant Secretary Syamsul Bahrin - Assistant Secretary Fadzilah Zainudin - Assistant Secretary Nafisah Abdul Kadir - Treasurer Technical Wahyudi Martono - Chairman A. H. M. Zahirul Alam - Co-Chairman
Committee Members Ahmed A. I. S. Ashour Mirghani I Ahmed Erry Y. T. Adesta Amir Akramin Shafie Md. Mozasser Rahman Suleyman Aremu Muyibi Hamzah Mohd Salleh A. K. M. Nurul Amin Shahjahan Mridha Khalid Al Khateeb Othman O. Khalifa Waleed Fekry Faris Md. Mahbubur Rashid Raed Kafafy Waqar Asrar M. Azram Zuraida Ahmad Jamal I. Daoud
Logistic, Usher and Parking Adibah Amir (Head) Kamsiah Mohamed Anas Shamsudin Wardah Mohd. Nor Zuraida Aman Nor Rasid Mohd. Hairi Mohd. Rasit Syazwani Mahmoodin Mariya Mat Nawi Firdauz Hakem Marof Nurazani Md Aris Foziah Baharom Mohd. Rosmaidi Yusof Sharifah Junita Syed Idrus Mohd Faisal Mohd Rom Zahir Hussain Muhammad Muda Registration
Riza Muhida (Head) Rodziah Mohd Yusoff Abd. Aziz Ibrahim Sharifah Junita Syed Idrus Noraida Md. Amin Suhairi Mat Jebah Nurazani Md Aris Azweeda Dahalan@Ghazali Mohd Yazid Ahmad Mohd Fahmi Alias Shahlan Dalil Nasrul Faizin Ab. Rashid Audio Visual
Athaur Rahman (Head) Azman Bahaudin Zuhairi Arifin Abdul Hakim Ahmad Nasarudin M Sulaiman Mohd. Khairul Anwar Ab.Wahab
Opening and Closing Ceremony Md. Raisuddin Khan (Head) Mohd. Hazlan Ibrahim Rohamah Hashim Nafisah Abd Kadir (Opening) Zulkifli Zainal Abidin Khairul Azami Sidek (MC) Md. Shukur Ahmad (Gimmick) Roslina Mahmud Nahrul K A. Md. Rashid
Publication and Printing Publicity and Website Souvenirs Rini Akmeliawati (Head) Riza Muhida (Head) Mirghani Ishag Ahmed (Head) Syamsul Bahrin A. H. M. Zahirul Alam Syamsul Bahrin Mahmud Iwan Solihin Md. Mahbubur Rashid Hanan Mokhtar Andika Aji Wijaya Sharifah Junita Syed Idrus Kamsiah Mohamed Zulkifli Zainal Abidin Rodziah bt. Mohd. Yusoff
Food Finance Sponsorships Sany Izan Ihsan (Head) Nafisah Abdul Kadir (Head) Amir Akramin Shafie (Head) Hazrani Hassan Basri Sharifah Hussain Rozlizar Mat Ali Azlina Hashim Nor Aida Abd Razak Waleed Fekry Faris Salawati Hj. Said Amirah Hasanain Sharifah Junita bt. Syed Idrus Aisha Hassan Hashim Mahadi
Transportation Invitation
Rozlizar Mat Ali (Head) Nafisah Abdul Kadir (Head) Shahlan Dalil Sharifah Hussain
3rd International Conference on Mechatronics 2008 (ICOM'08) 5
INTERNATIONAL ADVISORY BOARD
Alexander Subic, Australia Fakhruldin Mohd. Hashim, Malaysia
Gourab Sen Gupta, New Zealand Jacky Baltes, Canada
Jun Jo, Australia Krzysztof Kozlowski, Poland
Madan M. Gupta, Canada Malcolm Good, Australia
Marcelo H. Ang Jr, Singapore Marzuki Khalid, Malaysia Mohamed A. Latif, Qatar
Mohamed Abdur-Rashid, New Zealand Mohamed Kamel, Canada
Mohamed Mansour, Switzerland Nobuyuki Iwatsuki, Japan
Okyay Kaynak, Turkey Ramachandran Nagarajan, Malaysia Shamsuddin Mohd. Amin, Malaysia
Taketoshi Kawabe, Japan Tengku Mohd. Azman Shariffadeen, Malaysia
3rd International Conference on Mechatronics 2008 (ICOM'08) 6
ICOM ’08 REVIEWERS
A.H.M. Zahirul Alam Ahmad Mujahid Ahmad Zaidi
Ahmed Aly Ibrahim Shaaban Ashour Amir Akramin Shafie
Anton Satria Prabuwono Ari Legowo
Hanafiah Yussof Joga Setiawan
Khairul Salleh Mohamed Sahari M. Konneh
Md. Mahbubur Rashid Md. Mozasser Rahman Md. Raisuddin Khan Momoh J.E. Salami
Othman Khalifa Raed Kafafy
Rini Akmeliawati Riza Muhida Sany Ihsan
Sigit Puspito Wigati Jarot Sreekumar Muthuswamy
Tedy Surya Gunawan Wahyudi Martono
Waleed Fekry Faris
3rd International Conference on Mechatronics 2008 (ICOM'08) 7
Opening Ceremony ICOM’08 and IRO 2008
Date: 18 Dec 2008 Venue : CAC, IIUM Campus Kuala Lumpur
8:45 a.m. : Arrival of Guests
9:00 a.m. : Arrival of the Hon. Rector, IIUM
9:15 a.m. : Recitation of Al-Quran
9:25 a.m. : Welcoming remark by Chairman of ICOM’08
9:35 a.m. : Welcoming remark by Director General of MARA
9:45 a.m. : Welcoming remark by President of IROC
9:55 a.m. : Opening Speech by the Hon. Rector, IIUM
10:05 a.m. : Presentation of Certificates to Sponsors
10:15 a.m. : Refreshment
3rd International Conference on Mechatronics 2008 (ICOM'08) 8
Banquet Dinner*
Date: 19 December 2008 Venue : Kelab Darul Ehsan (Pool Site)
7:00 p.m. : Arrival of Guests
7:15 p.m. : Welcoming Remarks by Master of Ceremony
: Recitation of Du’a
: Dinner
10:00 p.m. : End of Programme
* Buses will be provided from conference venue to KDE
3rd International Conference on Mechatronics 2008 (ICOM'08) 9
ICOM’08 VENUE
Cultural Activity Center Building - IIUM
Legend:
1. Registration Counter (RC)
2. Conference Room (CR)
3. Seminar Room 1,2,3 (SR1,SR2,SR3)
4. Refreshment Area (RA)
5. Exhibition Stands (ES)
6. Organizing Committee Room (OCR)
7. Toilet (TL)
8. Engineering Blocks (ENG)
Main Hall
Main Entrance
OCR RC
SR3 SR1
SR2
CR
CR
RA
TL TL TL
Garden
ES ES
ENG
3rd International Conference on Mechatronics 2008 (ICOM'08) 10
ICOM’08 PROGRAMME
Day 1: Thursday, 18 December 2008
08.00 - 09.00 Registration
09.00 - 10.15 Opening Ceremony
10.15 - 11.00 Tea Break
11.00 - 11.50 Keynote Speaker 1, Prof. Dr. Okyay Kaynak “Recent Advances and Future Directions in Mechatronic Systems” Venue: Conference Room Chairperson: Prof. Dr. Momoh J E Salami
Parallel Technical Sessions I 12.00 - 13.00
Session IA Mechatronics System 1
Venue: Conference Room
Session IB Robotics 1
Venue: Seminar Room 1
Session IC Machine Vision 1
Venue: Seminar Room 3
13.00 - 14.00 Lunch
14.00 - 14.50 Keynote Speaker 2, Prof. Dr. Mohamed B. Trabia “Design and Fuzzy Logic Control of a Smart Fin” Venue: Conference Room Chairperson: Prof. Dr. Suleyman A Muyibi
Parallel Technical Sessions II 14.50 - 15.50
Session IIA Robotics 2
Venue: Conference Room
Session IIB Vehicle Dynamics &
Control 1 Venue: Seminar Room 1
Session IIC Sensor & Measurement 1 Venue: Seminar Room 3
15.50 - 16.10 Tea Break
Parallel Technical Sessions III 16.10 - 17.10
Session IIIA Intelligent Control
Venue: Conference Room
Session IIIB Machine Vision 2
Venue: Seminar Room 1
Session IIIC Smart Sensor & Actuator Venue: Seminar Room 3
Day 2, Friday 19th December 2008
09.00 - 09.50 Keynote Speaker 3, Prof. Dr. Jacky Baltes “10 Years of Robotic Competitions, with a Look to the Future” Venue: Conference Room Chairperson: Dr. Roslizar Mat Ali
09.50 - 10.10 Tea Break
Parallel Technical Sessions IV 10.10 - 11.10
Session IVA Inspection, Diagnosis and
Prevention Venue: Conference Room
Session IVB Control System
Venue: Seminar Room 1
Session IVC Vehicle Dynamics &
Control 2 Venue: Seminar Room 3
Parallel Technical Sessions V 11.20 - 12.20
Session VA Robotics 3
Venue: Conference Room
Session VB Mechatronics & Robotics
in Education Venue: Seminar Room 1
Session VC Unmanned Vehicle
Venue: Seminar Room 3
12.30 - 13.30 Lunch & Friday Prayer
13.30 - 14.00 Talk: I-Math Sdn. Bhd.
Venue: Conference Room
14.00 - 14.30 Talk: Solution 4U Sdn. Bhd. Venue: Conference Room
3rd International Conference on Mechatronics 2008 (ICOM'08) 11
14.30 - 15.20 Keynote Speaker 4, Prof. Dr. Shamsuddin Mohd Amin “Biologically Inspired Robotics and Multi Robots” Venue: Conference Room Chairperson: Dr. Amir A Shafie
Parallel Technical Sessions VI 15.20 - 16.40
Session VIA Intelligent System
Venue: Conference Room
Session VIB Diagnostic & Prevention Venue: Seminar Room 1
Session VIC Sensor & Measurement 2 Venue: Seminar Room 3
16.40 - 17.00 Tea Break
19.00 - 21.00 Conference Dinner
Day 3, Saturday 20th December 2008
09.00 - 09.50 Keynote Speaker 5, Prof. Dr. Kim Jong Hwan “Computational Intelligence in Cyber-Physical Robot System” Venue: Conference Room Chairperson: Dr. Md. Raisuddin Khan
09.50 - 10.40 Keynote Speaker 6, Prof. Dr. Zahari Taha “Challenges in the Development of an Autonomous Helicopter” Venue: Conference Room Chairperson: Prof. Dr. Ashraf Ali Omar
10.40 - 11.00 Tea Break
11.00 - 11.30 NI (National Instruments) Talk, by James Lai “NI LabVIEW Graphical System Design for Mechatronics” Venue: Conference Room
Parallel Technical Sessions VII 11.40 - 12.40
Session VIIA Robotics 4
Venue: Conference Room
Session VIIB Mechatronics System 2 Venue: Seminar Room 1
Session VIIC Sensor & Measurement 3 Venue: Seminar Room 3
12.40 - 14.00 Lunch
Parallel Technical Sessions VIII 14.00 - 15.20
Session VIIIA Others
Venue: Conference Room
Session VIIIB Speech and Image
Processing Venue: Seminar Room 1
Session VIIIC Mechatronics System 3 Venue: Seminar Room 3
15.20 - 15.40 Tea Break
3rd International Conference on Mechatronics 2008 (ICOM'08) 12
ICOM ’08 KEYNOTE SPEAKER 1
Prof. Dr. Mustafe Okyay Kaynak
Department of Electrical and Electronic Engineering Bogazici University, Bebek, 80815 Istanbul
TURKEY
Biography: Okyay Kaynak received the B.Sc. degree with first class honors and Ph.D. degrees in electronic and electrical engineering from the University of Birmingham, UK, in 1969 and 1972 respectively. From 1972 to 1979, he held various positions within the industry that included 3.5 years in Saudi Arabia, working as a project engineer. In 1979, he joined the Department of Electrical and Electronics Engineering, Bogazici University, Istanbul, Turkey, where he is presently a Full Professor. He has served as the Chairman of the Computer Engineering and the Electrical and Electronic Engineering Departments and as the Director of Biomedical Engineering Institute at this university. Currently, he is the UNESCO Chair on Mechatronics and the Director of Mechatronics Research and Application Centre. He has hold long-term (near to or more than a year) Visiting Professor/Scholar positions at various institutions in Japan, Germany, U.S. and Singapore. He has authored three books and edited five and authored or coauthored more than 200 papers that have appeared in various journals and conference proceedings. Dr. Kaynak is a fellow of IEEE. He has served as an Associate Editor of the IEEE Transactions on Neural Networks and as the Editor-in-Chief of IEEE Transactions on Industrial Informatics. Currently he is an Associate Editor of the IEEE Transactions on Industrial Electronics, IEEE Sensors Journal, IEEE/ASME Trans. on Mechatronics and the Area Editor (Robotics and Mechatronics) of the Springer journal; Soft Computing. Additionally he is on the Editorial or Advisory Boards of a number of scholarly journals. Dr. Kaynak is active in internationally organizations, has served on many committees of IEEE and was the president of IEEE Industrial Electronics Society during 2002-2003.
“Recent Advances and Future Directions in Mechatronic Systems”
Abstract: The development of mechatronics has gone through three stages. The first stage corresponds to the years around the introduction of the word. During this stage, technologies used in mechatronic systems developed rather independently of each other and individually. With the start of the eighties, a synergistic integration of different technologies started taking place, the notable example being in optoelectronics (i.e. an integration of optics and electronics). The concept of hardware/software co-design also started in these years. The third and the last stage can also be considered as the start of the mechatronics age and starts with the early nineties. The most notable aspect of the third stage is the increased use information technology and computational intelligence in mechatronic products and systems. It is now possible to have man–made systems that exhibit an ability to reason, learn from experience and make rational decisions without human intervention. It is due to this development that we can now talk about Machine Intelligence Quotient (MIQ). In this context, mechatronics is closely related to semiotics. After a consideration of the above stated developments, the lecture considers the status of mechatronics in the information age and a discussion is given on how the boundaries that separate it from other technologies are eroding. The challenges that the engineers of the 21st century face are discussed and it is argued that different educational philosophies need to be adopted. Finally the state-of-art reached in mechatronics in the form of intelligent systems is overviewed with examples from different industries and a perspective on the future is given.
3rd International Conference on Mechatronics 2008 (ICOM'08) 13
ICOM ’08 KEYNOTE SPEAKER 2
Mohamed B. Trabia, Ph.D., ASME Fellow
Academic Affairs Fellow and Professor of Mechanical Engineering Office of the Vice Provost for Academic Affairs
University of Nevada, Las Vegas USA
Biography:
Mohamed B. Trabia received the B.S. and M.S. degrees in mechanical engineering from Alexandria University, Alexandria, Egypt, in 1980 and 1983 respectively and Ph.D. degree in mechanical engineering from Arizona State University in 1987. Since 1987, he has been with the Department of Mechanical Engineering at the University of Nevada, Las Vegas. He is a Professor of Mechanical Engineering at the University of Nevada, Las Vegas. He was the Chairman of this department from 2002-2008. Additionally, he currently serves as Academic Affairs Fellow at the University of Nevada, Las Vegas. His current research interests include modeling and fuzzy logic control of flexible structure systems, overhead cranes and piezoelectric smart fins, modeling of biologically-inspired swimming robots, shock mitigation of electronic components within projectiles and military vehicles, and optimization algorithms. Dr. Trabia is a fellow of the ASME. He recently served as a member of the organizing committee of the 2007 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC 2007).
"Design and Fuzzy Logic Control of a Smart Fin"
Abstract: Surface-mounted or bonded piezoelectric actuators are used for the shape control of intelligent structures has gained widespread acceptance. The applications of piezoelectric actuators increased due to the introduction of a low-cost, flexible, planar composite piezoelectric actuator. This actuator has been used in various applications including control of the shape of plates and beams. Piezoelectric actuators were also used to control various types of aircraft structural members such as wings and fins, or rotor blades. These actuators offer various advantages including integration of the actuators into the structural members itself, thus saving the space required for servomotors, force transmission devices, or hydraulic systems. Several researchers proposed various fuzzy logic controllers for smart actuators but most of the fuzzy logic controllers proposed in these publications are valid only for specific system parameters and/or motion variables. Recently, fuzzy controllers that have variable ranges based on the inverse dynamics of the controlled systems were proposed for motion and swing control of overhead cranes and flexible manipulator. This presentation summarizes research performed at the University of Nevada, Las Vegas. This research is funded by the US Army Research Laboratory, “Control Algorithms for Smart Fin,” 2003-08. Total funding is $360,000. The research objectives are to
• Develop a general framework for creating fuzzy logic controllers for smart fins. • Propose fuzzy rules and formulas for spacing the fuzzy variables of the proposed controller. • Present a novel method for calculating the ranges of the variables of the controller based on the
inverse dynamics of the smart fin and the parameters of its desired motion. • Explore a method for the design of a fuzzy logic controller for smart fin to control the pitch and
yaw attitudes of a subsonic projectile during flight.
3rd International Conference on Mechatronics 2008 (ICOM'08) 14
ICOM ’08 KEYNOTE SPEAKER 3
Prof. Dr. Jacky Baltes
Office E2-402 Engineering Information Technology Complex (EITC) Department of Computer Science
University of Manitoba, Winnipeg, Manitoba CANADA
Biography:
Jacky Baltes is an Associate Professor in the Department of Computer Science at the University of Manitoba in Winnipeg, Canada. In 1996, Dr. Baltes received his Ph.D. in Artificial Intelligence from the University of Calgary, Canada, in the area of planning and problem solving. Dr. Baltes worked for the Department of Computer Science at the University of Auckland from 1996 to 2002. While at the University of Auckland, he started work on using robotics to ground his research in Artificial Intelligence and Computer Vision. In 2002, Dr. Baltes moved to the University of Manitoba. Dr. Baltes has competed for 10 years with his students at major international robotic competitions. Over the years, his teams have won 1st, 2nd, and 3rd places in several events. Since 2002, Dr. Baltes has focused on humanoid robotics. He is the Chair of the FIRA HuroCup competition (an octathlon for small humanoid robots including robot-dash, marathon, penalty-kick, weight lifting, lift and carry, basket ball, obstacle run, and climbing wall). Dr. Baltes is also a member of the organizing committee for the humanoid league at the RoboCup competition.
“10 Years of Robotic Competitions, with a Look to the Future”
Abstract: In recent years, international robotic soccer competitions such as FIRA WorldCup and the RoboCup competition have greatly gained in popularity. They provide a challenge problem for many areas of mechanical engineering, electrical enginering, and computer science in a fun and motivating format. They require practical solutions to problems in computer vision, control, navigation in dynamic environments, agent architectures, and multi-agent systems. The talk will focus on the methods that robotic soccer teams have developed to solve these kinds of problems. Various developments for both global vision as well as local vision based approaches will be discussed. Recent advances in the vision processing for small humanoid robots will be discussed. Open problems and current approaches to solving these problems will be highlighted. The talk will also discuss how the FIRA HuroCup competition (an octathlon of robot-dash, marathon, penalty kick, lift and carry, basket-ball, obstacle run, weight-lifting, and a climbing wall) attempts to maintain relevance for researchers by providing a continuously evolving set of benchmark problem for small humanoid robots.
3rd International Conference on Mechatronics 2008 (ICOM'08) 15
ICOM’08 KEYNOTE SPEAKER 4
Prof. Dr. Shamsudin H.M. Amin
Centre for Artificial Intelligence & Robotics, Universiti Teknologi Malaysia
MALAYSIA
Biography: Shamsudin H.M. Amin is a Professor of Mechatronics and Robotics Engineering in Universiti Teknologi Malaysia (UTM). He is attached to the Centre of Artificial Intelligence and Robotics (CAIRO) as well as at the Department of Mechatronics and Robotics Engineering, Faculty of Electrical Engineering, UTM. He has served in UTM since 1980 in various positions. He obtained his Bachelor of Engineering in Control Systems in 1980 from the University of Sheffield, United Kingdom. He later obtained his MSc. and Ph.D from the same University. He has served as an active member of IEEE Malaysia, and was chairman for the year 2001-2002. He is a member of the Asian Control Professors Association since 1996. He is the Convenor for the Robotics Round Table, a forum for 45 researchers in robotics field in Malaysia (looking into medical robotics, agriculture robots, robots in manufacturing industry, humanoids, robots in construction industry, vision based robotics). He has also served as a member of International Program Committee in numerous international conferences. He is the Chief Editor of Jurnal Teknologi D: Electronics, Control, Telecommunications and Information Technology, national journal published by UTM Publisher. He is also an associate editor for Polytechnica, a journal published in Budapest Hungary. In 2004 hereceived UTM’s excellent service award, and in 2007 received award for journal article publication. From 2001-2005, he served as a member of the Prioritised Research Technical Committee for IRPA, a research funding body at Malaysian Ministry of Science, Technology and Innovation. He is a steering committee member of the International Conference on Mechatronics Technology and founding member of the Asian Mechatronics Association.
“Biologically Inspired Robotics and Multi Robots” .
Abstract: In this presentation, we report on the work carried out at the Centre for Artificial Intelligence and Robotics (CAIRO), Universiti Teknologi Malaysia, in the area of biologically inspired robotics and multi-robotic. Initial work emphasised on developing intelligent mobile robots that can interact with the environment, in particular the autonomous navigation in environment with obstacles. Biologically inspired robots such as snakes, quadrupeds, hexapods, turtles, fish, insects, were developed, displaying some of the life-like capabilities of their living counterparts. Apart from locomotion capabilities, some of the robots displayed the intelligent interaction with the unknown environment and unstructured spaces e.g. rooms and spaces with doors. Experiments will be presented in the form short video clips, capturing the interaction with the environment as well capabilities to autonomously balance for stable gaiting.
3rd International Conference on Mechatronics 2008 (ICOM'08) 16
ICOM’08 KEYNOTE SPEAKER 5
Prof. Dr. Kim Jong Hwan IEEE Fellow, FIRA President, IROC President
Robot Intelligence Technology Laboratory, Dept. of EECS, Korea Advanced Institute of Science and Technology (KAIST)
KOREA
Biography: Jong-Hwan Kim received his B.S., M.S. and Ph.D. degrees in Electronics Engineering from Seoul National University, Korea, in 1981, 1983 and 1987, respectively. He then joined the Department of Electrical Engineering and Computer Science, KAIST, Korea in 1988, and is currently a full professor. Dr. Kim has authored 5 books and 2 edited books, 2 journal special issues and around 300 book chapters and refereed papers in technical journals and conference proceedings and his current h-index is 25 along with over 2,000 number of citations. Dr. Kim was an advisory professor for the weekly television drama, ‘KAIST’ of SBS, which was aired over one year starting in Jan. 1999. His activities have been introduced as news items and articles in world media such as CNN, BBC, The Times, etc. and as documentaries four times in Korea television broadcasting companies including KBS, MBC, etc. (http://rit.kaist.ac.kr/home/jhkim/Media). Dr. Kim currently serves as an Associate Editor of the IEEE Transactions on Evolutionary Computation, the IEEE Computational Intelligence Magazine and the International Journal of Social Robotics. He was one of the co-founders of the International Conference on Simulated Evolution and Learning (SEAL) in 1996. He has been on the program committees and advisory boards of more than 100 international conferences and co-chaired several international conferences. His name was included in the Barons 500 Leaders for the New Century in 2000 as the Father of Robot Football. Dr. Kim is the Founder of FIRA (The Federation of International Robosoccer Association) and IROC (The International Robot Olympiad Committee). He is currently serving FIRA and IROC as President. Dr. Kim was the recipient of the science and technology award from the President of Republic of Korea in 1997 and has been elevated to 2009 IEEE Fellow.
“Computational Intelligence in Cyber-Physical Robot System”
Abstract: Human beings will be living in a ubiquitous world in which all IT devices are fully networked so that they can offer us desired services at any place and anytime. This shift has hastened the ubiquitous revolution, which has further manifested itself in the new multidisciplinary research area, ubiquitous robotics. It initiates the third generation of robotics following the first generation of the industrial robot and the second generation of the personal robot. Mythology introduced Genie, which upon springing from a lamp, served Aladdin. The ubiquitous era brings us to the threshold of the realization of this dream, through ubiquitous robotics. Moreover, the robots shall have their own genome in which specific personality is encoded. This concept leads to the study of genetic robotics. Cyber-physical robot system combines these new concepts of next generation robotics for the convergence of computational and physical systems. This talk introduces the new concepts of ubiquitous robot, genetic robot and cyber-physical robot system along with its recent progress and development. Ubiquitous robot is composed of the three forms of robots: software robot, embedded robot and mobile robot to represent an amalgamation of the tripartite personification of entities of perception, thinking and action. Genetic robot has its own genetic codes to represent a specific personality. Cyber-physical robot system is to conjoin and coordinate the software agent and physical robot including SW and HW resources. Special emphasis in this talk is placed on the usage of computational intelligence technologies for the cyber-physical robot system to realize cognitive intelligence, social intelligence, behavioral intelligence, ambient intelligence and genetic intelligence. This system will provide us with seamless, calm, and context-aware services in a networked environment.
3rd International Conference on Mechatronics 2008 (ICOM'08) 17
ICOM’08 KEYNOTE SPEAKER 6
Prof. Dr. Zahari Taha
Director, Centre for Product Design and Manufacturing Faculty of Engineering, Universiti Malaya, Kuala Lumpur
MALAYSIA
Biography: Prof. Zahari Taha was born in Kuala Lumpur. He graduated with a BSc in Aeronautical Engineering with Honours from University of Bath, United Kingdom. He joined the Dept of Mechanical Engineering, University of Malaya in 1983 as a tutor. He obtained his PhD in Dynamics and Control of Robots from the University of Wales Institute of Science and Technology in 1987 and returned to join UM as a lecturer. From 1995 to 1998, he completed his postdoctoral at the University of Wales Institute College Cardiff in the area of engineering design and ergonomics. He is a corporate member of the Institution of Engineering Designers United Kingdom and a Chartered Engineer registered with the Engineering Council, United Kingdom. He is also a graduate of the Diploma in Islamic Studies from International Islamic University Kuala Lumpur. Prof. Zahari was awarded the Hitachi Fellowship in 1992 and also the Young Malaysian Scientist Award by the Ministry of Science and Technology in 1997. He was promoted to associate professor in 1992 and to a full professor in the year 2000. He was the Dean of the Faculty of Engineering from April 2001 to April 2004. He was again appointed as the Dean from October 2006 until October 2007. He also founded the Center for Product Design and Manufacture of which he is currently the Director. In 2008 he was made a Fellow of the Academy of Sciences Malaysia.
“Challenges in the Development of an Autonomous Helicopter”
Abstract: Model scale helicopters are increasingly popular platforms for unmanned aerial vehicles (UAV). The ability of a helicopter to take off and land vertically, to perform hover flight as well as cruise flight and their agility and controllability, make them ideal vehicles for a range of application which can take place in a variety of environments. The agile maneuverability of a model scale helicopter can be useful for unmanned surveillance in hard to reach or inaccessible environment such as a city and mountain valley. Unmanned surveillance helicopter offers a lot of benefits in search and rescue operation, remote inspection, aerial mapping and offer an alternative option for saving human pilot from dangerous flight conditions. Recent progress in supporting technologies has enabled the development of semi to fully autonomous unmanned aerial vehicle (UAV). This includes the availability of compact, lightweight, affordable motion detecting sensors essential to the flight control system and compact lightweight low-cost computing power for autonomous flight control. The common availability of Global Positioning Satellite Navigation Systems has also a direct positive impact to the navigation system development for UAVs. The viability of a small scale helicopter as a multi-purpose research vehicle has attracted great interest in recent years. In this keynote the various challenges in the development of an autonomous helicopter are presented. These challenges include the processes in developing a model of the helicopter and its appropriate controller, the corresponding Hardware in the Loop (HIL) system, Communication system and navigation planning systems.
3rd International Conference on Mechatronics 2008 (ICOM'08) 18
ICOM ’08 CONFERENCE ABSTRACTS
3rd International Conference on Mechatronics 2008 (ICOM'08) 19
Par
alle
l Tec
hnic
al S
essi
ons
I, T
hurs
day,
18
Dec
embe
r 2
00
8: 1
2.0
0 –
13
.00
Time
IA: M
echa
tron
ics
Syst
em 1
C
hair
pers
on: D
r. M
d A
taur
Rah
man
Ve
nue:
Con
fere
nce
Roo
m
IB: R
obot
ics
1
Cha
irpe
rson
: Dr.
Waf
a B
atay
neh
Venu
e: S
emin
ar R
oom
1
IC: M
achi
ne V
isio
n 1
C
hair
pers
on: D
r. O
thm
an K
halif
a
Ve
nue:
Sem
inar
Roo
m 3
12.00 -12.20
Opt
imal
Ene
rgy
Man
agem
ent
of P
lug-
In H
ybri
d El
ectr
ic
Vehi
cle
Salis
a Ab
dul R
ahm
an1,
2 , N
ong
Zhan
g1, J
iang
uo Z
hu1
1 Uni
vers
ity o
f Tec
hnol
ogy
Sydn
ey,
AUST
RAL
IA
2 Uni
vers
iti M
alay
sia
Tere
ngga
nu,
MAL
AYSI
A Th
ere
is a
gre
at p
oten
tial
for
sign
ifica
nt i
mpr
ovem
ent
to
be m
ade
in e
nerg
y ef
ficie
ncy
and
redu
ctio
n in
em
issi
ons,
fu
el
use,
w
eigh
t an
d co
st
of
vehi
cles
th
roug
h im
plem
entin
g in
nova
tive
tech
nolo
gies
. Man
y au
tom
aker
s ha
ve b
een
mak
ing
grea
t ef
fort
s to
dev
elop
an
alte
rnat
ive
vehi
cle
that
can
off
er t
he b
est
solu
tion
in r
educ
ing
the
effe
cts
of
glob
al
war
min
g an
d oi
l de
plet
ion.
S
uch
a ve
hicl
e w
ill
win
qui
ck a
ccep
tanc
e in
th
e m
arke
tpla
ce
beca
use
of t
he c
urre
nt h
igh
fuel
cos
t. R
ecen
tly,
the
plug
-in
hyb
rid
elec
tric
veh
icle
(P
HEV
) ha
s be
en i
dent
ified
as
one
of t
he m
ost
viab
le t
echn
olog
ies
to a
chie
ve t
hese
go
als
by i
mpl
emen
ting
an o
ptim
al e
nerg
y m
anag
emen
t sy
stem
. Thi
s pa
per
pres
ents
our
rec
ent
rese
arch
wor
k on
th
e en
ergy
man
agem
ent
syst
em f
or a
spe
cific
PH
EV. T
he
syst
em c
onfig
urat
ion,
ana
lysi
s, m
odel
, co
ntro
l st
rate
gy,
and
sim
ulat
ion
resu
lts
are
pres
ente
d in
de
tail.
R
ecom
men
datio
ns o
n th
e di
rect
ions
and
are
as i
n w
hich
th
e fu
rthe
r re
sear
ch a
re a
lso
be in
clud
ed.
Des
ign
and
Impl
emen
tatio
n of
H
uman
-like
B
iped
W
alki
ng M
echa
nism
W
afa
M. B
atay
neh1
, Om
ar A
l-Ara
idah
1 , C
hris
toph
er A
. M
atts
on2
and
Amir
Ism
ail-Y
ahay
a2
1 Jor
dan
Univ
ersi
ty o
f Sci
ence
and
Tec
hnol
ogy,
JOR
DAN
2 R
enss
elae
r Pol
ytec
hnic
Inst
itute
, USA
Th
e hu
man
bod
y w
as t
he f
irst
inst
rum
ent
used
to
acco
mpl
ish
vari
ous
task
s in
clud
ing
tran
spor
tatio
n or
di
spla
cem
ent.
In
the
begi
nnin
g,
the
body
qu
ickl
y be
cam
e th
e pr
ime
mea
ns o
f ac
com
plis
hing
wor
k. L
egs
and
the
cont
rol t
here
of a
re t
he s
ingl
e m
ost
impo
rtan
t el
emen
t of
acc
ompl
ishi
ng h
uman
phy
sica
l w
ork.
Thi
s pa
per
focu
ses
on t
he m
echa
nica
l re
prod
uctio
n of
the
hu
man
wal
king
app
arat
us.
It p
ropo
ses
a cl
osed
loo
p m
echa
nica
l lin
kage
, nam
ely
Wat
t I s
ix b
ar li
nkag
e th
at
typi
fies
the
mov
emen
t of
bip
ed h
uman
wal
king
. Th
e de
sign
pro
cess
inc
lude
s m
any
obje
ctiv
es t
hat
shou
ld
be
achi
eved
, su
ch
as
min
imiz
ing
the
num
ber
of
actu
ator
s, b
y m
inim
izin
g th
e nu
mbe
r of
deg
rees
of
free
dom
. It
in
clud
es
som
e co
nstr
aint
s th
at
will
be
ta
ken
in
cons
ider
atio
n in
th
e ki
nem
atic
s sy
nthe
sis
proc
ess.
Mor
eove
r, t
he a
rtic
le s
how
s ph
otog
raph
s of
a
prot
otyp
e bu
ilt
and
test
ed
as
veri
ficat
ion
for
the
synt
hesi
s m
etho
d.
Rob
ust
Met
hod
for
Mov
ing
Obj
ects
Seg
men
tatio
n in
A
utom
ated
Sur
veill
ance
Sys
tem
R
azal
i M.T
1 an
d Ad
znan
B.J
2 1 U
nive
rsity
Tun
Hus
sein
Onn
Mal
aysi
a, M
ALAY
SIA
2 Uni
vers
ity P
utra
Mal
aysi
a, M
ALAY
SIA
Mov
ing
obje
cts
segm
enta
tion
is
the
first
an
d im
port
ant
step
in
an a
utom
ated
sur
veill
ance
sys
tem
. Fa
ilure
in
th
is
part
w
ill
caus
e th
e sy
stem
to
m
alfu
nctio
n an
d w
orst
, it
can
cont
ribu
te m
ajor
fai
lure
in
rec
ogni
tion
or h
ighe
r le
vel
anal
ysis
. R
ealiz
e th
e im
port
ant
of
this
pa
rt,
this
pa
per
focu
sing
on
a
met
hod
to
segm
ent
mul
ti m
ovin
g ob
ject
s w
ith
an
abili
ty t
o ad
apt
chan
ging
in
the
envi
ronm
ent,
hand
le
shad
ows
and
less
pro
cess
ing
time.
Fir
st,
the
mot
ion
and
no m
otio
n ar
ea w
ere
segm
ente
d by
usi
ng f
ram
e di
ffer
enci
ng m
etho
d. T
hen,
info
rmat
ion
from
thi
s st
ep
will
be
us
e to
up
date
th
e ba
ckgr
ound
im
age
sele
ctiv
ely.
C
ombi
natio
ns
from
th
ese
met
hods
pr
oduc
e a
pow
erfu
l sy
stem
to
se
gmen
t m
ovin
g ob
ject
s, a
nd h
andl
e ne
w o
bjec
ts t
hat
intr
oduc
e or
re
mov
e fr
om
the
back
grou
nd
imag
e.
Fina
lly,
the
mov
ing
obje
cts
silh
ouet
te w
ere
prun
e ou
t by
usi
ng
colo
r di
stan
ce m
easu
re te
chni
que.
12.20 -
Dev
elop
men
t of
Sm
art
Mai
lbox
Thi R
ein
Myo
, R. T
hiya
gara
jan,
P. S
upra
man
i, J.
Raj
agop
al,
P. R
amas
amy
Univ
ersi
ty C
olle
ge S
eday
a In
tern
atio
nal,
MAL
AYSI
A Mai
l, or
pos
t, is
a m
etho
d fo
r tr
ansm
ittin
g in
form
atio
n an
d ta
ngib
le
obje
cts,
w
here
in
wri
tten
do
cum
ents
, ty
pica
lly e
nclo
sed
in e
nvel
opes
, and
als
o sm
all p
acka
ges,
ar
e de
liver
ed
to
dest
inat
ions
ar
ound
th
e w
orld
vi
a m
ailb
oxes
. H
ere
mai
lbox
ref
ers
to l
ette
r bo
x w
hich
is
a pr
ivat
e bo
x fo
r re
ceiv
ing
inco
min
g m
ail.
Con
vent
iona
l m
ailb
oxes
are
nor
mal
ly a
ttac
hed
sole
ly t
o th
e ho
use
or
Con
cept
ual
Des
ign
of
Mob
ile
Rob
ot
for
Pep
per
Pla
ntat
ion
S. M
oham
adda
n, E
. Jun
aidi
, M.S
. Osm
an, M
. Saw
awi a
nd
A. G
otte
Un
iver
sity
Mal
aysi
a Sa
raw
ak,
MAL
AYSI
A Pep
per
com
mon
ly g
row
s on
hill
y ar
ea. T
he lo
catio
n of
th
e pe
pper
pla
ntat
ion
caus
e di
ffic
ultie
s fo
r ha
rves
ting
the
pepp
er b
erri
es.
Ther
efor
e, a
n ef
fect
ive
met
hod
is
need
ed i
n or
der
to i
ncre
ase
the
pepp
er v
olum
e an
d re
duce
ris
ks o
f in
juri
es d
urin
g ha
rves
ting
the
pepp
er.
Dev
elop
men
t of
mob
ile r
obot
as
a pe
pper
har
vest
er is
on
e of
the
sol
utio
ns to
this
pro
blem
. Th
e ax
iom
atic
A R
evie
w o
f Pat
h D
etec
tion
in In
telli
gent
Vid
eo
Sur
veill
ance
Im
ran
Moe
z Kh
an1 ,
Yuso
f Zaw
Zaw
1 , O
thm
an O
. Kha
lifa1
an
d La
i Wen
g Ki
n2
1 Int
erna
tiona
l Isl
amic
Uni
vers
ity M
alay
sia,
MAL
AYSI
A 2 M
IMO
S Be
rhad
, MAL
AYSI
A In
telli
gent
vid
eo s
urve
illan
ce i
s us
ed t
o de
scri
be t
he
mon
itori
ng
of
hum
an
activ
ities
. M
ost
surv
eilla
nce
syst
ems
toda
y pr
ovid
e on
ly a
pas
sive
for
m o
f si
te
mon
itori
ng.
Exte
nsiv
e vi
deo
reco
rds
may
be
kept
to
help
fin
d th
e in
stig
ator
of
crim
inal
act
iviti
es a
fter
the
cr
ime
has
been
com
mitt
ed b
ut p
reve
ntiv
e m
easu
res
usua
lly r
equi
re h
uman
invo
lvem
ent.
In a
dditi
on t
o th
is,
20
12.40
grou
ped
in o
ne p
lace
for
apar
tmen
t hou
ses
with
no
safe
ty
and
arri
val
repo
rt f
eatu
res
whi
ch r
esul
ts i
n lo
sing
let
ters
an
d de
layi
ng
in
nece
ssar
y pr
oces
s op
erat
ion.
Th
e pr
opos
ed
smar
t m
ailb
ox
used
se
nsor
s an
d co
mm
unic
atio
n te
chno
logy
par
ticul
arly
wir
eles
s sy
stem
to
ale
rt i
nsta
ntly
the
mai
lbox
use
rs f
or a
rriv
ing
lett
ers
by
disp
layi
ng n
umbe
r of
lett
ers
arri
ved.
desi
gn c
once
pt h
ad b
een
appl
ied
in t
his
stud
y in
ord
er
to h
ave
the
conc
eptu
al d
esig
n of
the
mob
ile r
obot
. The
fu
nctio
nal
requ
irem
ents
, de
sign
pa
ram
eter
s an
d lim
itatio
ns
of
the
mob
ile
robo
t de
sign
ca
n be
ev
alua
ted
in d
etai
l us
ing
the
desi
gn a
ppro
ach.
The
m
obile
rob
ot i
s th
en d
esig
ned
by u
sing
the
com
pute
r ai
ded
desi
gn s
oftw
are.
ther
e is
a n
eed
for
larg
e am
ount
s of
dat
a st
orag
e to
ke
ep u
p to
sev
eral
ter
abyt
es o
f vi
deo
stre
ams
that
m
ay b
e ne
eded
for
lat
er a
naly
sis.
Int
ellig
ent
vide
o su
rvei
llanc
e ai
ms
to r
educ
e or
ev
en e
limin
ate
the
need
fo
r hu
man
su
perv
isio
n of
vi
deo
feed
s,
and
cont
inuo
us
reco
rdin
g.
Hav
ing
such
a
syst
em
will
pr
ovid
e nu
mer
ous
othe
r fa
cilit
ies
and
serv
ices
to
op
erat
ors
and
emer
genc
y te
ams,
by
co
nduc
ting
beha
vior
al
anal
ysis
on
in
com
ing
vide
o fe
eds
and
dete
ctin
g un
usua
l or
susp
icio
us b
ehav
ior.
12.40 - 13.00
Des
ign
And
D
evel
opm
ent
of
An
Aut
omat
ic
Car
D
oor
Ope
ning
and
Loc
king
Sys
tem
M
d. A
taur
Rah
man
, A.K
.M M
ohiu
ddin
, Irw
an, A
zoa
and
Adly
In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a, M
ALAY
SIA
The
aim
of
this
pap
er is
to
pres
ent
an A
utom
atic
Car
Doo
r O
peni
ng-C
losi
ng (
AD
OC
) sy
stem
foc
us o
n gi
ving
a f
aste
r,
safe
r an
d m
ore
relia
ble
lock
ing
mec
hani
sm f
or t
he u
ser.
Th
e de
sign
pr
oces
s in
clud
es
inte
grat
ion
of
logi
c ga
te
oper
atio
ns i
nto
the
circ
uit
diag
ram
of
the
syst
em a
nd a
pe
rfec
t m
echa
nism
th
at
used
fo
r op
enin
g-lo
ckin
g op
erat
ion
of t
he d
oor.
The
syst
em u
sed
a D
C m
otor
to
oper
ate
the
mec
hani
sm
for
a sh
ort
peri
od
of
time.
El
ectr
omag
netic
sol
enoi
d sw
itche
s ar
e us
ed t
o co
ntro
l the
ci
rcui
t of
the
AD
OC
. Th
e sy
stem
s re
act-b
ased
-on
sens
or
mec
hani
sm t
o in
crea
se t
he s
yste
m s
afet
y as
pect
and
de
term
ines
th
e op
erat
ion
of
the
syst
em.
The
AD
OC
sy
stem
giv
es t
he o
ptim
um o
utpu
t w
ith a
n op
erat
ing
time
5.0
2 s
at
norm
al lo
ad.
An
Inte
llige
nt
Bas
ed
App
roac
h fo
r M
obile
R
obot
N
avig
atio
n in
Dyn
amic
Env
iron
men
t M
oham
mad
AL-
Rou
san,
Moh
amm
ad Ja
rada
t, an
d
Lara
Moh
amm
ad Q
uada
n Jo
rdan
Uni
vers
ity o
f Sci
ence
& T
echn
olog
y, JO
RD
AN
In t
his
pape
r a
new
app
roac
h fo
r so
lvin
g th
e pr
oble
m
of m
obile
rob
ot p
ath
plan
ning
in a
n un
know
n dy
nam
ic
envi
ronm
ent
is
deve
lope
d ba
sed
on
Q-le
arni
ng.
Q-
lear
ning
alg
orith
ms
have
bee
n us
ed w
idel
y fo
r so
lvin
g re
al w
orld
pro
blem
s, e
spec
ially
in
robo
tics
beca
use
it ha
s be
en p
rove
d to
giv
e re
liabl
e an
d ef
ficie
nt s
olut
ions
du
e to
its
sim
ple
and
wel
l dev
elop
ed t
heor
y. H
owev
er,
mos
t th
e re
sear
cher
s w
ho t
ried
to
use
Q-le
arni
ng f
or
solv
ing
the
mob
ile r
obot
nav
igat
ion
prob
lem
dea
lt w
ith
stat
ic e
nvir
onm
ents
. The
y av
oide
d us
ing
it fo
r dy
nam
ic
envi
ronm
ent
beca
use
it is
a m
ore
com
plex
pro
blem
th
at h
as i
nfin
ite n
umbe
r of
sta
tes.
In
this
pap
er w
e ap
plie
d th
e Q
-lear
ning
by
limiti
ng t
he n
umbe
r of
sta
tes
base
d on
a
new
de
finiti
on
for
thes
e st
ates
. Th
e co
nduc
ted
expe
rimen
tal s
imul
atio
n sc
enar
ios
indi
cate
th
e st
reng
th o
f th
e ne
w p
ropo
sed
appr
oach
for
mob
ile
robo
t nav
igat
ion
in d
ynam
ic e
nvir
onm
ent.
An
On-
Line
Par
ticle
Cha
ract
eris
atio
n D
evic
e
M. F
. Muh
amad
Sai
d1 a
nd A
. Aro
ussi
2 1,
2Un
iver
sity
of L
eice
ster
, UK
1 U
nive
rsiti
Tek
nolo
gi M
alay
sia,
MAL
AYSI
A O
n-lin
e pa
rtic
le m
easu
rem
ent
is d
esira
ble
in m
any
indu
stri
es.
The
part
icle
si
ze
and
dist
ribu
tion
are
amon
g th
e m
ost
impo
rtan
t pa
ram
eter
s re
quiri
ng
char
acte
risa
tion.
Th
is
pape
r de
scri
bes
a di
gita
l im
agin
g ba
sed,
on
-line
pa
rtic
le
char
acte
risa
tion
devi
ce t
hat
mea
sure
par
ticle
siz
e an
d di
strib
utio
n in
m
ultip
hase
flu
id f
low
s. T
he a
rchi
tect
ure
and
prin
cipl
e of
ope
ratio
n of
the
dev
ice
as w
ell
as b
ench
mar
king
re
sults
are
des
crib
ed.
The
pape
r de
scri
bes
both
the
ha
rdw
are
as w
ell
as t
he s
oftw
are
com
pone
nts
of t
he
inst
rum
ent.
The
benc
h m
arki
ng r
esul
ts c
onfir
m t
he
inte
grity
and
acc
urac
y of
this
nov
el d
evic
e.
21
Par
alle
l Tec
hnic
al S
essi
ons
II, T
hurs
day,
18
Dec
embe
r 2
00
8: 1
4.5
0–
15
.50
Time
IIA: R
obot
ics
2
Cha
irpe
rson
: Dr.
M M
ahbu
bur
Ras
hid
Venu
e: C
onfe
renc
e R
oom
IIB: V
ehic
le D
ynam
ics
& C
ontr
ol 1
C
hair
pers
on: D
r. W
alee
d Fe
kri F
aris
Ve
nue:
Sem
inar
Roo
m 1
IIC: S
enso
r &
Mea
sure
men
t 1
C
hair
pers
on: D
r. M
.I. Ib
rahi
my
Venu
e: S
emin
ar R
oom
3
14.50 - 15.10
Dev
elop
men
t of
R
obot
ic
Sna
ke
Mod
el
for
Sm
ooth
er
Mov
emen
t in
Var
iabl
e Te
rrai
ns
Gilb
ert T
hio,
Ara
vind
C.V
, Raj
part
hiba
n, A
runa
chal
am
Univ
ersi
ty C
olle
ge S
eday
a In
tern
atio
nal,
MAL
AYSI
A Th
e de
sign
and
dev
elop
men
t of
adv
ance
d ro
botic
sna
ke
is p
rese
nted
. Th
e fo
cus
of t
his
expe
rim
enta
l pr
otot
ype
is
to
enta
il a
sequ
entia
l st
ruct
ure,
co
nstr
uctio
n pr
oces
s,
elec
tron
ic
prog
ram
min
g an
d un
ders
tand
ing
of
an
amph
ibio
nic
desi
gn.
The
desi
gn
is
base
d on
th
e pe
riph
eral
int
erfa
ce c
ontr
olle
r pr
ogra
mm
ing
and
ther
eby
man
ipul
atin
g th
e be
havi
or
of
the
snak
e.
Set
s of
se
rvom
otor
s ar
e us
ed a
s th
e m
uscl
es o
f th
e sn
ake
to d
o a
few
bas
ic m
ovem
ent
and
obst
acle
avo
idan
ce.
An
in-
circ
uit-p
rogr
amm
er s
yste
m i
s al
so b
uild
in
to g
ive
the
user
an
easy
ac
cess
to
repr
ogra
m t
he s
nake
’s b
rain
. The
so
ftw
are
and
the
hard
war
e de
sign
asp
ects
are
pre
sent
ed.
The
prot
otyp
e is
de
velo
ped
indi
geno
usly
an
d its
ex
peri
men
tal
valid
atio
n re
flect
s le
ss t
han
1 s
econ
d fo
r th
e sn
ake
to r
espo
nd t
o th
e ob
stac
le a
head
of
it. T
he
snak
e m
odel
is
capa
ble
of d
etec
ting
the
obst
acle
fro
m a
di
stan
ce o
f 0.2
met
ers.
Sem
i-Act
ive
Susp
ensi
on S
yste
m fo
r O
ff-R
oad
Vehi
cle
Zohi
r Ben
Lahc
ene,
Wal
eed
F Fa
ris, M
D R
aisu
ddin
Kha
n,
S.I.
Ihsa
n In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a (II
UM),
MAL
AYSI
A Ve
hicl
es
hand
ling
and
ride
co
mfo
rt
are
esse
ntia
l su
bjec
t be
caus
e th
ese
vehi
cles
ope
rate
at
diff
eren
t en
viro
nmen
ts.
This
pap
er d
eals
with
dyn
amic
s an
d co
ntro
l po
licie
s an
alys
is
of
sem
i-act
ive
susp
ensi
on
syst
ems
for
off-r
oad
vehi
cles
. Th
ree
conf
igur
atio
ns o
f th
ese
vehi
cles
; 2
-axl
e, 3
-xle
and
4-a
xles
hav
e be
en
stud
ied
and
thei
r pe
rfor
man
ces
are
com
pare
d. T
he
appl
icat
ion
of s
ever
al c
ontr
ol p
olic
ies
of s
emi-a
ctiv
e su
spen
sion
sys
tem
, nam
ely
skyh
ook;
gro
und-
hook
and
hy
brid
co
ntro
ls
have
be
en
anal
yzed
an
d co
mpa
red
with
pas
sive
sys
tem
s. T
he r
esul
ts s
how
tha
t th
e hy
brid
co
ntro
l po
licy
yiel
ds b
ette
r co
mfo
rt t
han
a pa
ssiv
e su
spen
sion
, w
ithou
t re
duci
ng t
he r
oad-
hold
ing
qual
ity
or in
crea
sing
the
sus
pens
ion
disp
lace
men
t. Th
e hy
brid
co
ntro
l pol
icy
is a
lso
show
n to
be
a be
tter
com
prom
ise
betw
een
com
fort
, ro
ad-h
oldi
ng
and
susp
ensi
on
disp
lace
men
t th
an
othe
rs.
Mor
eove
r,
the
resu
lt
show
ed t
hat
ther
e is
a s
igni
fican
t im
prov
emen
t to
be
gain
ed b
y us
ing
4-a
xle
over
the
3-a
xles
and
2-a
xle.
A H
igh
Line
arity
CM
OS
RF
Am
plifi
er f
or P
ower
Con
trol
M
odul
e in
RFI
D R
eade
r M
. J. U
ddin
1 , M
.A. H
asan
1 , M
. I. I
brah
imy1
, A. N
. Nor
din1
, M
. A. M
. Ali2
and
M. B
. I. R
eaz1
1 I
nter
natio
nal I
slam
ic U
nive
rsity
Mal
aysi
a, M
ALAY
SIA
2 Uni
vers
iti K
eban
gsaa
n M
alay
sia,
MAL
AYSI
A R
adio
fr
eque
ncy
iden
tific
atio
n (R
FID
) is
th
e la
test
te
chno
logy
fo
r au
tom
atic
id
enti
ficat
ion.
A
hi
gh
linea
rity
CM
OS
RF
(rad
io f
requ
ency
) po
wer
am
plifi
er,
whi
ch h
as t
he a
dvan
tage
of
bein
g lo
w-c
ost
and
easi
ly
inte
grat
ed
on
chip
ha
s be
com
e th
e te
chno
logy
of
ch
oice
for
RFI
D r
eade
rs.
This
wor
k de
mon
stra
tes
a 3
.3V
sing
le v
olta
ge s
elf-b
iase
d 2
.4G
Hz–
2.5
GH
z hi
gh
linea
rity
RF
pow
er a
mpl
ifier
for
RFI
D a
pplic
atio
ns. T
he
prop
osed
am
plifi
er
achi
eved
8
1.1
dB
ga
in,
outp
ut
pow
er a
t P
1dB
-4.0
dBm
, 1
-dB
gai
n co
mpr
essi
on p
ower
w
ith 1
0.0
% p
ower
eff
icie
ncy
(PE)
and
17
.4%
pow
er-
adde
d ef
ficie
ncy
(PA
E). I
n ad
ditio
n, h
igh
linea
rity
with
1
.6dB
c fo
r IM
3,
-6.6
33
dBm
and
-2
.88
7 d
Bm
thi
rd
orde
r in
terc
ept
poin
t IIP
3 a
nd O
IP3
at
freq
uenc
y of
2
.45
GH
z is
ach
ieve
d. T
he A
djac
ent
Cha
nnel
Pow
er
Rat
io (
AC
PR
) ha
s be
en a
chie
ved
-7.2
6dB
c fo
r in
put
port
and
-1
.0dB
c fo
r ou
tput
por
t. Th
e am
plifi
er a
lso
exhi
bits
ver
y go
od i
sola
tion
of 2
.85
dB,
the
inse
rtio
n lo
ss o
f 0
.8dB
and
ret
urn
loss
of
9.9
4dB
. Si
mul
atio
ns
wer
e co
nduc
ted
usin
g M
ento
r G
raph
ic s
oftw
are
tool
s.
15.10 -
Rem
ote
Ope
rate
d R
obot
Usi
ng I2
C P
rogr
amm
ing
Pro
toco
l
Ahm
ad F
arha
n H
asbi
, Noo
r Haz
rin H
any
Moh
amad
Han
if Un
iver
siti
Tekn
olog
i Pet
rona
s, M
ALAY
SIA
This
pro
ject
stu
dies
the
app
licat
ion
of I
nter
-In
tegr
ated
C
ircui
t (I2
C)
com
mun
icat
ion
bus
in a
rem
ote-
oper
ated
ro
bot.
The
I2C
com
mun
icat
ion
bus
and
its p
rogr
amm
ing
prot
ocol
are
use
d as
a c
omm
unic
atio
n m
ediu
m b
etw
een
mic
ro-c
ontr
olle
rs o
f di
ffer
ent
devi
ces.
The
res
ults
pro
ve
the
capa
bilit
y of
the
I2
C c
omm
unic
atio
n bu
s to
allo
w
com
mun
icat
ion
betw
een
devi
ces
in a
cos
t-eff
ectiv
e w
ay
Mod
elin
g an
d Va
lidat
ion
of
Vehi
cle
Dyn
amic
P
erfo
rman
ce in
Lon
gitu
dina
l Dir
ectio
n Ah
mad
, F. ,
Hud
ha, K
. , R
ivai
, A.
and
Zaka
ria, M
.M.N
Un
iver
siti
Tekn
ikal
Mal
aysi
a M
elak
a (U
TeM
), M
ALAY
SIA
This
pa
per
prov
ides
a
deta
iled
deri
vati
on
of
a fu
ll ve
hicl
e m
odel
, ver
ifica
tion
of
the
mod
el a
nd v
alid
atio
n of
a p
asse
nger
veh
icle
mod
el.
The
dyna
mic
s of
a 1
4
degr
ees
of f
reed
om v
ehic
le m
odel
are
der
ived
and
in
tegr
ated
wit
h an
ana
lytic
al t
ire
dyna
mic
s na
mel
y C
alsp
an t
ire
mod
el.
The
mod
el i
s us
ed t
o de
term
ine
vehi
cle
tran
slat
iona
l mot
ions
, as
wel
l as
roll,
pitc
h, a
nd
Freq
uenc
y Tu
ning
of B
imor
ph C
ircu
lar
Pla
te
S. N
oh a
nd M
.M. A
bdal
la
Del
ft U
nive
rsity
of T
echn
olog
y, N
ETH
ERLA
ND
S Th
e pr
esen
t st
udy
deal
s w
ith
freq
uenc
y tu
ning
of
ci
rcul
ar p
iezo
cera
mic
bim
orph
thin
pla
te. T
he a
im is
to
stud
y th
e ef
fect
of
ca
paci
tive
shun
t ci
rcui
t to
th
e re
sona
nt f
requ
ency
. Th
e ci
rcul
ar p
late
is
mod
eled
by
usin
g C
lass
ical
Pla
te T
heor
y. T
he a
naly
tica
l st
udy
is
done
for
thr
ee b
ound
ary
cond
ition
s na
mel
y, c
lam
ped,
si
mpl
y su
ppor
t and
free
edg
e bo
unda
ry. T
he f
irst
fiv
e
22
15.30
with
out
com
prom
isin
g th
eir
perf
orm
ance
. It
is
al
so
prov
en t
hat
the
I2C
com
mun
icat
ion
bus
can
redu
ce t
he
com
plex
ity
of
elec
tron
ic
circ
uits
an
d ea
ses
syst
em
mod
ifica
tions
. Th
e re
mot
e-op
erat
ed r
obot
is
built
as
the
test
ing
plat
form
to
anal
yze
the
capa
bilit
y of
the
bus
to
cate
r th
e op
erat
ions
of d
iffer
ent
devi
ces.
vehi
cle
tran
slat
iona
l mot
ions
, as
wel
l as
roll,
pitc
h, a
nd
yaw
, ba
sed
on d
rive
r in
puts
at
the
stee
ring
whe
el,
acce
lera
tor
peda
l, br
ake
peda
l, an
d bu
mp
inpu
t fr
om
the
road
. In
thi
s st
udy
valid
atio
n of
veh
icle
mod
el i
s fo
cuse
s on
th
e lo
ngitu
dina
l di
rect
ion
with
P
roto
n Is
war
a A
erob
ack
as t
he e
xper
imen
tal
vehi
cle.
Sev
eral
tr
ansi
ent
hand
ling
perf
orm
ance
tes
ts w
as p
erfo
rmed
, in
clud
ing
sudd
en a
ccel
erat
ion
test
and
sud
den
brak
ing
test
at
co
nsta
nt
spee
d.
Com
paris
ons
of
the
expe
rim
ent
resu
lt an
d m
odel
res
pons
e w
ith s
udde
n br
akin
g im
pose
d m
otio
n ar
e m
ade.
So
me
of
the
quan
titie
s ill
ustr
ated
in
clud
e lo
ngitu
dina
l sl
ip,
long
itudi
nal a
ccel
erat
ion
and
pitc
h ra
te.
reso
nant
fr
eque
ncie
s ar
e pr
esen
ted
for
open
an
d re
sona
nt
freq
uenc
ies
are
pres
ente
d fo
r op
en
and
clos
e ci
rcui
t. Th
e ca
paci
tive
shun
t ci
rcui
t is
sho
wn
to
have
ef
fect
to
th
e re
sona
nt
freq
uenc
ies
whi
ch
boun
ded
by t
he fr
eque
ncie
s of
ope
n an
d cl
ose
circ
uit.
15.30 - 15.50
Des
ign
and
Impl
emen
tatio
n of
Fuz
zy C
ontr
ol f
or T
wo
Link
Fl
exib
le M
anip
ulat
or
Wal
eed
F. F
aris
, Wah
yudi
Mar
tono
and
Om
ar H
. J. H
ajja
j In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a (II
UM),
MAL
AYSI
A Th
e in
crea
se
dem
and
on
robo
tic
appl
icat
ions
ha
s m
agni
fied
and
high
light
ed t
he i
mpo
rtan
ce o
f st
udyi
ng
diff
eren
t as
pect
s co
ncer
ning
rob
ots.
A r
ecen
t tr
end
is t
o us
e fle
xibl
e m
anip
ulat
or i
n or
der
to r
educ
e w
eigh
t an
d in
crea
se t
he p
aylo
ad c
arry
ing
capa
city
at
the
sam
e tim
e.
The
stud
ied
man
ipul
ator
is
a
sing
le
flexi
ble
link
man
ipul
ator
im
plem
ente
d an
d co
ntro
lled
by F
eliu
et
al.
An
inte
llige
nt c
ontr
olle
r is
des
igne
d ba
sed
on f
uzzy
log
ic
cont
rol t
echn
ique
to
redu
ce t
he r
esul
ting
vibr
atio
n at
the
tip
of
the
link.
Sim
ulat
ions
and
exp
erim
enta
l st
udie
s w
ill
be
cond
ucte
d to
ev
alua
te
the
effe
ctiv
enes
s of
th
e pr
opos
ed c
ontr
olle
r.
Pne
umat
ical
ly
Act
uate
d A
ctiv
e Su
spen
sion
S
yste
m
usin
g M
ulti-
orde
r P
ropo
rtio
nal-I
nteg
ral C
ontr
ol
Fitr
ian
Imad
uddi
n1, K
hisb
ulla
h H
udha
2 , Ub
aidi
llah3
and
H
isha
mud
din
Jam
alud
din4
1,
2,3 U
nive
rsiti
Tek
nika
l Mal
aysi
a M
elak
a, M
ALAY
SIA
4 Uni
vers
iti T
ekno
logi
Mal
aysi
a (U
TM),
MAL
AYSI
A Th
is p
aper
pre
sent
s a
mul
ti-or
der
Pro
port
iona
l-Int
egra
l (P
I) co
ntro
l fo
r a
pneu
mat
ical
ly
actu
ated
ac
tive
susp
ensi
on s
yste
m.
The
cont
rolle
r co
nsis
ts o
f th
e tw
o co
ntro
ller
loop
s na
mel
y in
ner
loop
con
trol
ler
for
forc
e tr
acki
ng c
ontr
ol o
f th
e pn
eum
atic
act
uato
r an
d ou
ter
loop
con
trol
ler
to r
ejec
t th
e ef
fect
s of
roa
d in
duce
d di
stur
banc
es.
The
oute
r lo
op c
ontr
olle
r ut
ilize
d m
ulti-
orde
r P
I co
ntro
l. W
here
as,
conv
entio
nal
Pro
port
iona
l-In
tegr
al (
PI)
cont
rol i
s us
ed in
the
inne
r lo
op c
ontr
olle
r to
tra
ck t
he p
neum
atic
act
uato
r in
suc
h a
way
tha
t th
e op
timum
tar
get
forc
e pr
oduc
ed b
y th
e m
ulti-
orde
r P
I co
ntro
ller.
Per
form
ance
of
the
prop
osed
con
trol
ler
is
com
pare
d w
ith t
he z
ero-
orde
r, f
irst
-ord
er a
nd s
econ
d-or
der
PI
cont
rolle
r as
w
ell
as
the
exis
ting
pass
ive
susp
ensi
on s
yste
m.
Sim
ulat
ion
stud
ies
are
perf
orm
ed
on a
qua
rter
car
mod
el i
n tim
e do
mai
n si
mul
atio
n.
From
the
sim
ulat
ion
resu
lts,
it ca
n be
rep
orte
d th
at
the
prop
osed
co
ntro
l sc
hem
e is
ab
le
to
prov
ide
sign
ifica
nt im
prov
emen
t co
mpa
red
to it
s co
unte
rpar
ts.
The
prop
osed
sc
hem
e is
al
so
easy
to
re
aliz
e in
pr
actic
e du
e to
its
sim
ple
stru
ctur
e.
Aut
omat
ed W
eigh
t M
easu
rem
ent
Syst
em B
ased
on
S
eria
l Com
mun
icat
ion
Anto
n Sa
tria
Pra
buw
ono,
Hab
ibul
lah
Akba
r Te
chni
cal U
nive
rsity
of M
alay
sia
Mel
aka
(UTe
M),
MAL
AYSI
A Aut
omat
ed
wei
ght
mea
sure
men
t (A
WM
) sy
stem
is
on
e of
the
mos
t im
port
ant
aspe
cts
in c
omm
erci
al
oper
atio
ns.
Mos
t of
ex
istin
g w
eigh
t m
easu
rem
ent
devi
ce i
s a
stan
d-al
one
type
whi
ch i
s un
conn
ecte
d w
ith c
ompu
ter
syst
em s
uch
as lo
ad c
ell d
igita
l dis
play
an
d di
gita
l w
eigh
ing
indi
cato
r. In
th
is
pape
r,
we
pres
ent
our
rese
arch
in
th
e de
velo
pmen
t of
au
tom
ated
w
eigh
t m
easu
rem
ent
syst
em
base
d on
se
rial
com
mun
icat
ion.
The
har
dwar
e co
nsis
ts o
f lo
ad
cell
sens
or,
inst
rum
enta
tion
ampl
ifier
, an
alog
to
di
gita
l co
nver
ter
(AD
C),
mic
roco
ntro
ller
and
pers
onal
co
mpu
ter.
Onc
e th
e lo
ad is
ove
r th
e se
nsor
, the
out
put
will
be
am
plifi
ed
by
inst
rum
enta
tion
ampl
ifier
an
d co
nver
ted
from
ana
log
sign
al i
nto
digi
tal
sign
al.
The
digi
tized
si
gnal
th
en
tran
sfer
red
into
co
mpu
ter
by
mic
roco
ntro
ller.
The
soft
war
e fr
amew
orks
con
sist
of
data
base
and
GU
I w
hich
are
dev
elop
ed u
nder
SQ
L se
rver
20
05
and
vis
ual C
++
20
05
. We
had
test
ed o
ur
syst
em t
o pe
rfor
m f
ruit
mea
sure
men
t to
inte
grat
e th
e w
eigh
t m
easu
rem
ent
and
the
paym
ent
syst
em.
The
resu
lts
show
its
pos
sibi
lity
to b
e us
ed i
n or
der
to
redu
ce
the
oper
atio
nal
cost
of
us
ing
the
exis
ting
devi
ces
whi
ch is
unc
onne
cted
to
the
cash
ier.
23
Par
alle
l Tec
hnic
al S
essi
ons
III,
Thur
sday
, 18
Dec
embe
r 2
00
8: 1
6.1
0-1
7.1
0
Time
IIIA
: Int
ellig
ent
Con
trol
C
hair
pers
on: D
r. H
anaf
y M
Om
ar
Venu
e: C
onfe
renc
e R
oom
IIIB
: Mac
hine
Vis
ion
2
Cha
irpe
rson
: Dr.
M.M
. Rat
nam
Ve
nue:
Sem
inar
Roo
m 1
IIIC
: Sm
art
Sen
sor
& A
ctua
tor
Cha
irpe
rson
: Dr.
Moz
asse
r R
ahm
an
Venu
e: S
emin
ar R
oom
3
16.10 - 16.30
Mul
ti-O
bjec
tives
Ev
olut
iona
ry
Alg
orith
m
for
Des
igni
ng
Fuzz
y-B
ased
Mis
sile
Gui
danc
e La
ws
Han
afy
M. O
mar
and
M. A
. Abi
do
King
Fah
d Un
iver
sity
of P
etro
leum
and
Min
eral
s, S
AUD
I AR
ABIA
In
thi
s pa
per,
a S
tren
gth
Par
eto
Evol
utio
nary
Alg
orith
m
(SP
EA) b
ased
app
roac
h is
pro
pose
d fo
r de
sign
ing
a m
ulti-
stag
es f
uzzy
-bas
ed g
uida
nce
law
(M
SFG
L) w
hich
con
sist
s of
thr
ee f
uzzy
con
trol
lers
. E
ach
of t
hese
con
trol
lers
is
activ
ated
in
a re
gion
of
the
inte
rcep
tion.
The
dis
trib
utio
n of
the
mem
bers
hip
func
tions
and
the
rul
es a
re o
btai
ned
by
solv
ing
a no
nlin
ear
cons
trai
ned
mul
tiobj
ecti
ve
optim
izat
ion
prob
lem
w
here
fin
al
time,
en
ergy
co
nsum
ptio
n,
and
mis
s di
stan
ce
are
trea
ted
as
com
petin
g ob
ject
ives
. A h
iera
rchi
cal c
lust
erin
g te
chni
que
is i
mpl
emen
ted
to p
rovi
de t
he d
ecis
ion
mak
er w
ith a
re
pres
enta
tive
and
man
agea
ble
Par
eto-
optim
al
set
with
out
dest
royi
ng
the
char
acte
rist
ics
of
the
trad
e-of
f fr
ont.
Mor
eove
r, a
fuz
zy-b
ased
mec
hani
sm is
em
ploy
ed t
o ex
trac
t th
e be
st c
ompr
omis
e so
lutio
n ov
er t
he t
rade
-off
cu
rve.
The
sim
ulat
ion
resu
lts s
how
tha
t th
e pr
opos
ed
desi
gn
tech
niqu
e w
as
able
to
ge
nera
te
a m
issi
le
guid
ance
law
whi
ch h
as b
ette
r pe
rfor
man
ce t
han
the
clas
sica
l pro
port
iona
l gui
danc
e la
w.
Aut
ofoc
us
Sys
tem
U
sing
Im
age
Feed
back
fr
om
Vari
able
Foc
al F
luid
Len
s S.
J. A
bdul
lah,
M. M
. Rat
nam
and
Z. S
amad
Un
iver
isti
Sain
s M
alay
sia,
MAL
AYSI
A A
flu
id l
ens
syst
em t
hat
uses
im
age
feed
back
fo
r fo
cusi
ng
has
been
de
sign
ed
and
deve
lope
d.
A
soft
war
e al
gorit
hm
was
de
vise
d to
ac
hiev
e du
al-
dire
ctio
n fo
cus
sear
ch
for
rand
om
bina
ry
targ
ets
with
in 8
00
mm
dis
tanc
e ra
nge.
The
sys
tem
com
pris
es
two
step
per
mot
ors
– o
ne f
or m
ovin
g th
e ta
rget
usi
ng
a gu
ide
rail
and
the
othe
r fo
r ac
tuat
ing
the
syri
nge-
driv
en p
umpi
ng m
echa
nism
tha
t in
ject
s or
with
draw
s flu
id i
nto
(or
out)
of
the
fluid
len
s ch
ambe
r. Th
e le
ns
was
mad
e of
pol
ydim
ethy
lsilo
xane
(P
DM
S)
poly
mer
w
hich
has
hig
h op
tical
tra
nsm
ittan
ce. A
flu
id c
ham
ber
of 1
5 m
m d
iam
eter
and
3 m
m d
epth
con
tain
s th
e le
ns’
fluid
. D
istil
led
wat
er (
n =
1.3
33
) is
use
d as
the
ac
tuat
ing
fluid
. A m
onoc
hrom
e in
dust
rial
CC
D c
amer
a w
as d
irec
tly a
ttac
hed
to t
he f
luid
lens
by
an e
xten
sion
tu
be,
25
mm
in
leng
th,
to c
aptu
re l
ive
imag
es o
f a
bina
ry t
arge
t us
ing
a 2
mm
ape
rtur
e at
the
bac
k of
the
flu
id l
ens.
Slo
pe w
idth
of
pixe
ls i
nten
sity
pro
file
alon
g a
hori
zont
al l
ine
acro
ss t
he b
inar
y ta
rget
is c
hose
n as
th
e fo
cus
mea
sure
cri
teri
on.
Impr
ovin
g W
ideb
and
Pie
zoel
ectr
ic
Bim
orph
B
ende
r P
ower
Out
put f
or W
irel
ess
Sen
sor
App
licat
ion
Khai
rul A
dly
Abd
Wah
ib a
nd H
anim
Sal
leh
Univ
ersi
ti Te
naga
Nas
iona
l, M
ALAY
SIA
Rec
ently
, th
e ne
ed f
or c
ontin
uous
sup
ply
of p
ower
to
pow
er u
p w
irel
ess
sens
or i
s in
dem
and,
due
to
the
grow
th o
f w
irel
ess
devi
ces
for
cond
ition
mon
itorin
g,
sens
ing
and
trac
king
. Th
e w
irel
ess
sens
or
devi
ce
whi
ch u
ses
batt
ery
is n
ot f
avor
able
due
to
the
larg
e in
crea
se i
n th
e nu
mbe
r of
wir
eles
s no
des
and
plac
ed
in t
he d
iffic
ult
area
to
acce
ss. T
hus,
it is
adv
anta
geou
s fo
r a
devi
ce t
o be
cap
able
of
extr
actin
g en
ergy
fro
m
the
envi
ronm
ent,
mak
ing
it se
lf-po
wer
ed,
self-
sust
aini
ng a
nd l
ower
ing
over
all
cost
of
the
wir
eles
s ne
twor
k. T
his
pape
r fo
cuse
s on
the
im
prov
ing
the
wid
eban
d vi
brat
ion
base
d ge
nera
tor
pow
er
outp
ut.
The
gene
rato
r us
es t
he p
iezo
elec
tric
bim
orph
ben
der
mat
eria
ls (
PZT
pol
ing
in s
erie
s) t
o tr
ansf
orm
am
bien
t vi
brat
ions
int
o el
ectr
ical
ene
rgy.
The
fre
quen
cy r
ange
of
the
pow
er g
ener
ator
s ar
e d
esig
ned
with
in 5
0 H
z –
1
50
Hz.
Eff
ects
of
mul
tiple
rec
tang
ular
and
tri
angu
lar
shap
e of
PZT
bim
orph
be
nder
on
pow
er g
ener
atio
n ca
pabi
litie
s ar
e in
vest
igat
ed.
16.30 -
Ant
i-Sw
ing
Con
trol
Str
ateg
y fo
r A
utom
atic
3 D
.O.F
Cra
ne
Syst
em U
sing
Fuz
zy L
ogic
Con
trol
ler
R. R
usle
e, J.
Jala
ni, J
. Abd
ulla
h Un
iver
sity
of T
un H
usse
in O
nn M
alay
sia,
MAL
AYSI
A Th
e 3
Deg
ree-
of-F
reed
om (
DO
F) c
rane
rep
rese
nts
one
of
the
mos
t w
idel
y de
ploy
ed
real
-wor
ld
plat
form
s in
th
e w
orld
tod
ay t
hat
uses
lev
ers
and/
or p
ulle
ys f
or g
ripp
ing,
lif
ting
and
mov
ing
load
s ho
rizo
ntal
ly,
as w
ell
as l
ower
ing
and
rele
ase
the
grip
per
back
. Hen
ce t
he s
yste
m p
rodu
ces
swin
g an
gle
whi
ch n
eed
to b
e co
ntro
lled
so t
hat
the
payl
oad
will
be
tran
sfer
red
quic
kly,
eff
ectiv
ely
and
safe
ly.
Aut
omat
ed 3
D O
bjec
t S
urfa
ce M
odel
Rec
onst
ruct
ion
of
Man
ufac
turi
ng
Par
ts
by
Usi
ng
Mul
tiple
R
ange
Im
ages
S.
C. N
g, N
. Ism
ail,
J. M
. Yus
of, M
. S. M
. Kas
sim
and
K.
A. R
ahm
an
Univ
ersi
ti Pu
tra
Mal
aysi
a, M
ALAY
SIA
In
Flex
ible
M
anuf
actu
ring
C
ells
(F
MC
) w
here
m
ass
prod
uctio
n of
hig
hly
cust
omiz
ed p
rodu
ct i
s re
quir
ed,
reco
nstr
uctio
n of
3D
obj
ect
mod
el c
an r
educ
e th
e co
st
and
time
to
desi
gn
and
rede
sign
va
rious
ty
pes
of
man
ufac
turin
g pa
rts.
In
the
curr
ent
stud
y, s
oftw
are
to
auto
mat
e th
e 3
D
surf
ace
mod
el
reco
nstr
uctio
n pr
oces
s of
man
ufac
turin
g pa
rts
was
dev
elop
ed. T
he
Coo
pera
tive
Rob
ot
and
Use
r Fr
iend
ly
Rob
ot-N
ew
Cha
lleng
e in
Rob
otic
s
Md.
Moz
asse
r Rah
man
and
Md.
Rai
sudd
in K
han
Inte
rnat
iona
l Isl
amic
Uni
vers
ity M
alay
sia,
MAL
AYSI
A In t
he n
ear
futu
re m
any
aspe
ct o
f ou
r lif
e w
ill b
e en
com
pass
ed b
y ta
sks
perf
orm
ing
in c
oope
ratio
n w
ith
robo
t. Th
e ap
plic
atio
n of
rob
ot i
n ho
me
auto
mat
ion,
ag
ricul
ture
pro
duct
ion
and
med
ical
ope
ratio
ns e
tc w
ill
indi
spen
sabl
e. A
s a
resu
lt r
obot
nee
ds t
o be
mad
e hu
man
-frie
ndly
and
to
exec
ute
task
s in
coo
pera
tion
with
hum
an. R
esea
rche
rs p
ropo
sed
man
y ne
w fi
eld
of
24
16.50
Pre
sent
ly,
the
exis
ting
3 D
OF
syst
ems
used
con
vent
iona
l LQ
R
cont
rolle
r to
co
ntro
l po
sitio
n an
d sw
ing
angl
e.
Ther
efor
e,
the
Fuzz
y Lo
gic
Con
trol
(F
LC)
whi
ch
has
sim
pler
and
pra
ctic
al d
esig
n ap
proa
ch i
s re
plac
ed t
o th
e sy
stem
su
ch
that
th
e m
athe
mat
ical
ca
lcul
atio
n is
di
sreg
ard
for
redu
cing
tim
e co
nsum
ing.
Th
e FL
C
perf
orm
ance
s ar
e co
mpa
red
with
LQ
R
cont
rolle
r vi
a si
mul
atio
n. T
he s
imul
atio
n re
sult
show
ed t
hat
FLC
has
pr
oduc
ed g
ood
resu
lt fo
r an
ti-sw
ing
cont
rolle
r.
3D
sur
face
mod
el o
f an
obj
ect
desc
ribed
in
this
stu
dy
is r
econ
stru
cted
by
usin
g m
ultip
le r
ange
im
ages
. In
th
is m
etho
d, a
las
er m
odul
e sp
read
s th
e la
ser
beam
on
to t
he o
bjec
t. A
CC
D c
amer
a is
use
d ca
ptur
e th
e 2
D
imag
e of
the
ref
lect
ed s
trip
es.
Bas
ed o
n th
e pr
inci
ple
of
tria
ngul
atio
n,
the
dept
h pr
ofile
of
th
e ob
ject
is
co
mpu
ted.
Thi
s pr
oces
s ite
rate
s un
til t
he i
mag
es o
f th
e w
hole
obj
ect
are
obta
ined
. Th
e de
nse
rang
e da
ta
whi
ch i
s in
the
for
m o
f 3
D p
oint
clo
ud,
p(x,
y,
z) a
re
then
con
vert
ed i
nto
tria
ngul
ar m
esh
that
rep
rese
nts
the
obje
ct s
urfa
ce s
hape
. The
reg
iste
red
set
of s
urfa
ce
mea
sure
men
ts is
com
bine
d to
for
m a
sin
gle
3D
mod
el
of
the
obje
ct.
The
syst
em
was
te
sted
on
m
anuf
actu
ring
part
s an
d pe
rfor
med
wel
l on
the
obje
ct
with
low
cur
vatu
re.
rese
arch
in
Rob
otic
s. C
oope
rativ
e ro
boti
cs a
nd U
ser
frie
ndly
ro
botic
s ar
e tw
o ne
w
area
of
ro
botic
s re
sear
ch.
Som
e re
sear
cher
is
tryi
ng t
o m
ake
hum
an
like
robo
t. R
obot
s th
at
will
be
im
itate
hu
man
ch
arac
teri
stic
s in
m
ovem
ent,
lear
ning
et
c.
Oth
er
rese
arch
ers
tryi
ng t
o de
velo
p ro
bots
w
hich
w
ill b
e en
tert
ain
hum
an.
Ano
ther
gr
oup
tryi
ng
to
deve
lop
robo
ts a
nd/o
r co
ntro
l sy
stem
or
robo
ts t
hose
will
be
wor
k co
oper
ativ
ely.
In
thi
s pa
per
it is
tri
ed t
o ga
ther
in
form
atio
n re
gard
ing
thes
e tw
o fie
lds
in b
rief
.
16.50 - 17.10
Neu
ral-t
uned
P
ID
Con
trol
fo
r P
oint
-to-p
oint
(P
TP)
Pos
ition
ing
Syst
em
usin
g Ex
tend
ed
Min
imal
R
esou
rce
Allo
catio
n A
lgor
ithm
(EM
RA
N)
Wal
i Ahm
ad @
Myo
Min
Htu
t and
Wah
yudi
In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a, M
ALAY
SIA
Mot
ion
cont
rol
syst
ems
play
an
im
port
ant
role
in
in
dust
rial
en
gine
erin
g ap
plic
atio
ns.
Unt
il kn
ow,
PID
(p
ropo
rtio
nal-i
nteg
ral-d
eriv
ativ
e) c
ontr
olle
rs a
re s
till
the
mos
t po
pula
r co
ntro
ller
used
in in
dust
rial
con
trol
sys
tem
s in
clud
ing
mot
ion
cont
rol
syst
ems
due
to t
heir
sim
plic
ity
and
also
sat
isfa
ctor
y pe
rfor
man
ces.
How
ever
, si
nce
the
PID
con
trol
ler
is d
evel
oped
bas
ed o
n th
e lin
ear
cont
rol
theo
ry,
the
cont
rolle
r gi
ves
inco
nsis
tent
per
form
ance
for
di
ffer
ent
cond
ition
due
to
syst
em n
onlin
eari
ties.
In
orde
r to
ove
rcom
e th
is p
robl
em,
Neu
ral-t
uned
PID
con
trol
is
prop
osed
. B
y us
ing
EMR
AN
(Ex
tend
ed M
inim
al R
esou
rce
Allo
catio
n A
lgor
ithm
) to
tra
in t
he R
adia
l B
asis
Fun
cito
n (R
BF)
Net
wor
k, t
he P
ID c
ontr
olle
r ca
n le
arn,
ada
pt a
nd
chan
ge i
ts p
aram
eter
s ba
sed
on t
he c
ondi
tion
of t
he
cont
rolle
d-ob
ject
in
real
-tim
e.
The
expe
rim
enta
l re
sults
sh
ow t
hat
the
prop
osed
sys
tem
is
bett
er t
han
clas
sica
l P
ID
cont
rolle
r in
te
rms
of
not
only
po
sitio
ning
pe
rfor
man
ce b
ut a
lso
robu
stne
ss to
iner
tia v
aria
tions
.
Red
uctio
n of
M
otio
n A
rtifa
ct
in
Por
tabl
e P
ulse
O
xim
etry
H
. Mal
ek, O
thm
an O
. Kha
lifa
and
I. M
uham
mad
In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a, M
ALAY
SIA
Pul
se O
xim
etry
, an
opt
oele
ctro
nic
devi
ce c
apab
le o
f m
easu
ring
hear
t ra
te
and
bloo
d ox
ygen
sa
tura
tion
(S
pO2
), ha
s be
en s
how
n to
be
a va
luab
le d
evic
e fo
r m
onito
ring
patie
nts
in c
ritic
al c
ondi
tions
. In
ord
er t
o in
corp
orat
e th
e te
chni
que
into
a
wea
rabl
e de
vice
w
hich
ca
n be
us
ed
in
ambu
lato
ry
sett
ings
, th
e in
fluen
ce o
f m
otio
n ar
tifac
ts o
n th
e es
timat
ed S
pO2
m
ust
be r
educ
ed.
This
pap
er i
nves
tiga
tes
the
use
of
port
able
wea
rabl
e m
edic
al d
evic
es t
hat
capa
ble
of
cont
inuo
usly
mon
itori
ng a
n in
divi
dual
's v
ital
sign
s in
re
al t
ime.
A r
evie
w o
f th
e te
chni
ques
com
mon
ly u
sed
for
atte
nuat
ing
mot
ion
artif
acts
in
puls
e ox
imet
ry i
s pr
esen
ted.
P
ropo
sed
desi
gn
is
intr
oduc
ed
that
ac
quir
es
phot
ople
thys
mog
raph
ic
(PP
G)
sign
als
cont
inuo
usly
, w
ithou
t re
stri
ctin
g th
e w
eare
r m
otio
n. A
co
mpa
rison
of
tech
niqu
es c
urre
ntly
use
d in
thi
s fie
ld is
pr
esen
ted.
Mod
elin
g of
A
P
iezo
elec
tric
ally
A
ctua
ted
Smar
t P
roje
ctile
Fin
Hys
tere
sis
Venk
at M
udup
u, M
oham
ed B
. Tra
bia,
Woo
soon
Yim
, and
M
oham
mad
Y. S
aade
h Un
iver
sity
of N
evad
a La
s Ve
gas,
USA
Th
is p
aper
inv
estig
ates
inc
orpo
ratin
g hy
ster
esis
int
o m
odel
ing
of a
sm
art
proj
ectil
e fin
, w
hich
is
activ
ated
us
ing
a pi
ezoe
lect
ric
bim
orph
th
at
is
com
plet
ely
encl
osed
with
in t
he f
in. O
rigi
nally
, a l
inea
r m
odel
was
fo
rmul
ated
to
desc
ribe
the
syst
em u
sing
the
fin
ite
elem
ent
appr
oach
. Thi
s m
odel
was
use
d w
ith a
dapt
ive
and
fuzz
y lo
gic
trac
king
co
ntro
l sc
hem
es.
Seve
ral
mod
ifica
tions
are
inc
lude
d to
mak
e th
e m
odel
mor
e ac
cura
te in
clud
ing,
a p
ropo
rtio
nal d
ampi
ng m
atrix
and
B
ouc-
Wen
hy
ster
esis
m
odel
. B
ouc-
Wen
m
odel
is
co
mbi
ned
with
tw
o ba
ckla
sh o
pera
tors
to
mod
el t
he
obse
rved
sa
tura
tion
and
nons
ymm
etry
of
th
e re
spon
se.
Hyb
rid
Fuzz
y Si
mpl
ex
Gen
etic
A
lgor
ithm
(H
FSG
A)
is
used
to
id
entif
y th
e op
timal
se
t of
pa
ram
eter
s fo
r th
e B
ouc-
Wen
m
odel
, ba
ckla
sh
oper
ator
s, a
nd d
ampi
ng m
atri
x co
nsta
nts.
The
res
ults
sh
ow t
hat
prop
osed
met
hod
can
pred
ict
the
hyst
eres
is
of th
e sm
art f
in–
actu
ator
sys
tem
.
25
Par
alle
l Tec
hnic
al S
essi
ons
IV, F
rida
y, 1
9 D
ecem
ber
20
08
: 10
.10
- 1
1.1
0
Time
IVA
: Ins
pect
ion,
Dia
gnos
is a
nd P
reve
ntio
n C
hair
pers
on: D
r. D
ino
Isa
Venu
e: C
onfe
renc
e R
oom
IVB
: Con
trol
Sys
tem
C
hair
pers
on: D
r. L
uigi
del
Re
Venu
e: S
emin
ar R
oom
1
IVC
: Veh
icle
Dyn
amic
s &
Con
trol
2
Cha
irpe
rson
: Dr.
Wah
yudi
Ve
nue:
Sem
inar
Roo
m 3
10.10 - 10.30
Def
ect
Det
ecti
on i
n P
ipel
ines
usi
ng U
ltras
onic
Sen
sors
an
d S
VM
Din
o Is
a an
d R
ajpr
asad
Raj
kum
ar
Univ
ersi
ty o
f Not
tingh
am M
alay
sia,
MAL
AYSI
A Ultr
ason
ic s
enso
rs s
igna
ls,
used
for
def
ect
dete
ctio
n in
pi
pelin
es,
are
time
seri
es s
igna
ls w
hich
lea
ds t
o hi
gh
dim
ensi
onal
ity
and
com
puta
tion
whe
n us
ed
for
clas
sific
atio
n ta
sks.
Prin
cipl
e co
mpo
nent
ana
lysi
s (P
CA
) is
inc
orpo
rate
d w
ith S
VM i
n th
is p
aper
to
enha
nce
its
perf
orm
ance
for
tim
e se
ries
sig
nals
. P
CA
dec
ompo
ses
the
data
inpu
t in
to c
ompo
nent
s ra
ngin
g fr
om t
he m
ost
to
leas
t va
rianc
es.
Two
met
hods
will
be
used
to
redu
ce t
he
com
pone
nts
by
sele
ctiv
ely
rem
ovin
g on
ly
spec
ific
com
pone
nts.
D
efec
ts
are
sim
ulat
ed
in
one
pipe
an
d co
mpa
red
to a
nor
mal
pip
e in
a b
inar
y cl
assi
ficat
ion
prob
lem
. Th
e re
sult
s sh
ow t
hat
both
met
hods
inc
reas
e th
e cl
assi
ficat
ion
accu
racy
whi
le o
ne o
f th
e m
etho
ds d
oes
this
with
a v
ery
smal
l di
men
sion
of
inpu
t. Th
is r
educ
tion
in d
imen
sion
will
gre
atly
red
uce
com
puta
tion
time
and
mac
hine
com
plex
ity.
MIM
O A
nti-W
indu
p C
ompe
nsat
or f
or M
agni
tude
, R
ate
Sat
urat
ed A
ctua
tors
Incl
udin
g D
ead
Tim
e M
artin
Bru
ckne
r, En
gelb
ert G
ruen
bach
er, L
uigi
del
Re
Joha
nnes
Kep
ler U
nive
rsity
, AUS
TRIA
In t
his
pape
r w
e di
scus
s th
e ap
plic
atio
n of
a H
∞-
cont
rolle
r w
ith
inte
gral
act
ion
in c
ombi
natio
n w
ith a
m
odel
ba
sed
anti-
win
dup-
com
pens
ator
(A
WC
). Th
e A
WC
is
adde
d to
ens
ure
loca
l st
abili
ty a
nd t
ries
to
min
imiz
e th
e de
crea
se in
per
form
ance
in t
he p
rese
nce
of
actu
ator
sa
tura
tion.
Si
mul
atio
n te
sts
on
a m
agni
tude
and
rat
e sa
tura
ted
com
bust
ion
engi
ne t
est-
benc
h in
clud
ing
dead
-tim
e sh
owed
tha
t th
e tu
ning
of
an
anti-
win
dup
com
pens
ator
ca
n im
prov
e th
e pe
rfor
man
ce i
f th
e sy
stem
get
s sa
tura
ted.
The
refo
re
an e
xist
ing
anti-
win
dup
stru
ctur
e fo
r ra
te s
atur
atio
n is
ex
tend
ed t
o a
com
bina
tion
of m
agni
tude
and
rat
e sa
tura
tion.
Th
e pr
oble
m
of
dire
ctio
nalit
y in
M
IMO
(m
ulti-
inpu
tmul
ti-ou
tput
) sy
stem
s an
d th
e in
fluen
ce o
f th
e an
ti-w
indu
p co
mpe
nsat
or o
n it
is p
rese
nted
on
a te
st b
ench
sim
ulat
ion
exam
ple.
Impr
ovin
g th
e Ve
hicl
e La
tera
l D
ynam
ics
Per
form
ance
w
ith P
neum
atic
ally
Act
uate
d A
ctiv
e S
tabi
lize
Bod
y Zu
lkiff
li Ab
d. K
adir,
Khi
sbul
lah
Hud
ha, M
ohd.
Zak
aria
M
oham
mad
Nas
ir an
d M
d. R
adza
i Sai
d
Univ
ersi
ti Te
knik
al M
alay
sia
Mel
aka,
MAL
AYSI
A Th
is p
aper
pre
sent
s a
pneu
mat
ical
ly a
ctua
ted
activ
e st
abili
ze
body
(A
SB
) su
spen
sion
sy
stem
to
re
duce
un
wan
ted
vehi
cle
mot
ions
dur
ing
doub
le l
ane
chan
ge
man
euve
r su
ch
as
body
ro
ll an
gle,
bo
dy
roll
rate
, ve
rtic
al a
ccel
erat
ion
of t
he b
ody
and
body
hea
ve. T
he
cont
rolle
r st
ruct
ure
for
the
ASB
sys
tem
is P
ID c
ontr
ol.
The
driv
er
stee
ring
in
put
is
obta
ined
fr
om
a w
ell-
know
n ve
hicl
e dy
nam
ics
soft
war
e na
mel
y C
arsi
med
. Th
e re
sults
of
th
e st
udy
show
s th
at
the
cont
rol
stru
ctur
e is
abl
e to
sig
nific
antly
impr
ove
the
dyna
mic
s pe
rfor
man
ce o
f th
e ve
hicl
e du
ring
doub
le la
ne c
hang
e m
aneu
vers
com
pare
d to
the
pas
sive
veh
icle
sys
tem
.
10.30 -
Con
ditio
n M
onito
ring
of
R
otat
ing
Mac
hine
ry
usin
g A
cous
tic E
mis
sion
Tec
hniq
ues
M. A
. A. E
lmal
eeh,
N. S
aad
, M. A
wan
Un
iver
siti
Tekn
olog
i Pet
rona
s, M
ALAY
SIA
Con
ditio
n m
onito
ring
(C
M)
is t
he p
roce
ss o
f m
onito
ring
a
para
met
er
of
cond
ition
in
m
achi
nery
, su
ch
that
a
sign
ifica
nt c
hang
e is
ind
icat
ive
of a
dev
elop
ing
failu
re.
It
is
of
grea
t pr
actic
al
sign
ifica
nce
in
man
ufac
turin
g in
dust
ry s
ince
it
prov
ides
upd
ated
inf
orm
atio
n re
gard
ing
mac
hine
st
atus
on
-line
. B
eari
ngs
repr
esen
t th
e m
ost
impo
rtan
t pa
rt i
n ro
tatin
g m
achi
nery
. M
ajor
pro
blem
s in
th
e m
achi
nery
are
due
to
bear
ing
faul
ts.
It i
s th
eref
ore
nece
ssar
ily t
o m
onito
r an
d di
agno
se t
he b
earin
g he
alth
co
nditi
on
in
orde
r to
av
oid
seri
ous
prob
lem
s in
th
e m
achi
nery
. Thi
s pa
per
disc
usse
s th
e co
ncep
t of a
cous
tic
Hyb
rid I
nput
Sha
ping
and
LQ
R C
ontr
ol S
chem
es O
f A
G
antr
y C
rane
Sys
tem
M.A
. Ahm
ad a
nd A
.N.K
. Nas
ir Un
iver
siti
Mal
aysi
a Pa
hang
, MAL
AYSI
A Th
is
pape
r pr
esen
ts
inve
stig
atio
ns
into
th
e de
velo
pmen
t of
hy
brid
co
ntro
l sc
hem
es
for
inpu
t tr
acki
ng a
nd a
nti-s
way
ing
cont
rol
of a
gan
try
cran
e sy
stem
. A
non
linea
r ov
erhe
ad g
antr
y cr
ane
syst
em i
s co
nsid
ered
and
the
dyn
amic
mod
el o
f th
e sy
stem
is
deri
ved
usin
g th
e Eu
ler-L
agra
nge
form
ulat
ion.
To
stud
y th
e ef
fect
iven
ess
of t
he c
ontr
olle
rs,
initi
ally
a L
inea
r Q
uadr
atic
Reg
ulat
or (L
QR
) con
trol
is d
evel
oped
for
cart
po
sitio
n co
ntro
l of
gant
ry c
rane
. Thi
s is
the
n ex
tend
ed
to i
ncor
pora
te i
nput
sha
per
cont
rol
sche
mes
for
ant
i-sw
ayin
g co
ntro
l of t
he s
yste
m. T
he p
osit
ive
inpu
t
Neu
ral
Net
wor
k C
ontr
olle
d of
an
A
ctiv
e En
gine
M
ount
ing
Sys
tem
usi
ng a
Non
linea
r El
ectr
omag
netic
A
ctua
tor
Fadl
y J.D
., W
ahyu
di M
. an
d W
alee
d F.
Far
is
Inte
rnat
iona
l Isl
amic
Uni
vers
ity M
alay
sia,
MAL
AYSI
A In
thi
s pa
per
a tw
o de
gree
of
free
dom
act
ive
engi
ne
mou
ntin
g sy
stem
co
ntro
lled
usin
g an
ex
tend
ed
min
imal
re
sour
ce
allo
catio
n ne
twor
k (E
MR
AN
) w
as
cons
ider
ed
whe
re
the
dyna
mic
s of
th
e no
nlin
ear
elec
trom
agne
tic a
ctua
tor
was
incl
uded
in t
he s
yste
m.
The
elec
trom
agne
tic
actu
ator
was
pla
ced
in p
aral
lel
with
th
e pa
ssiv
e is
olat
ors
to
redu
ce
the
vibr
atio
n in
duce
d by
th
e en
gine
to
th
e ch
assi
s.
Sin
ce
the
elec
trom
agne
tic a
ctua
tor
had
a no
nlin
ear
dyna
mic
s,
thus
neu
ral n
etw
ork
wou
ld b
e on
e th
e be
st c
andi
date
to
con
trol
the
sys
tem
. By
trai
ning
the
neu
ral n
etw
ork
26
10.50
emis
sion
(A
E) m
onito
ring
tec
hniq
ues
for
dete
ctio
n an
d di
agno
sis
of
bear
ing
dete
riora
tion
and
faul
ts.
The
acqu
ired
AE
sign
als
are
proc
esse
d an
d an
alyz
ed u
sing
La
bVIE
W
and
MA
TLA
B
to
dete
ct
bear
ing
prob
lem
s at
in
cipi
ent
stag
es.
shap
ers
with
the
der
ivat
ive
effe
cts
are
desi
gned
bas
ed
on t
he p
rope
rtie
s of
the
sys
tem
. S
imul
atio
n re
sults
of
the
resp
onse
of
the
man
ipul
ator
with
the
con
trol
lers
ar
e pr
esen
ted
in t
ime
and
freq
uenc
y do
mai
ns.
The
perf
orm
ance
s of
th
e hy
brid
co
ntro
l sc
hem
es
are
exam
ined
in t
erm
s of
leve
l of
inpu
t tr
acki
ng c
apab
ility
, sw
ing
angl
e re
duct
ion
and
time
resp
onse
sp
ecifi
catio
ns
in
com
pari
son
to
the
LQR
co
ntro
l. Fi
nally
, a
com
para
tive
asse
ssm
ent
of
the
cont
rol
tech
niqu
es is
pre
sent
ed a
nd d
iscu
ssed
.
cont
rolle
r on
line
EMR
AN
had
the
abi
lity
to g
row
, pru
ne
the
num
ber
of h
idde
n ne
uron
s. I
n th
is r
esea
rch
the
EMR
AN
neu
ral c
ontr
olle
r no
t on
ly s
how
ed t
he a
bilit
y to
co
ntro
l th
e no
nlin
ear
elec
trom
agne
tic
actu
ator
bu
t al
so a
ble
to r
educ
e th
e vi
brat
ion
atte
nuat
ed b
y th
e en
gine
to th
e ch
assi
s.
10.50 - 11.10
Dev
elop
men
t of
an
Inte
llige
nt A
lgor
ithm
for
IC
Mar
king
In
spec
tion
Yass
er H
. and
M. J
. E. S
alam
i In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a, M
ALAY
SIA
The
pape
r pr
opos
es
an
inte
llige
nt
algo
rith
m
for
insp
ectin
g IC
mar
king
. A
TSS
OP
-DG
G I
C p
acka
ge f
rom
Te
xas
Inst
rum
ents
is
used
. Th
e al
gori
thm
is
divi
ded
into
tw
o st
ages
, In
spec
tion
and
veri
ficat
ion.
The
fir
st s
tage
us
es f
uzzy
log
ic t
o de
tect
glo
bal
mar
king
def
ects
. Th
is
dete
ctio
n is
ba
sed
on
area
, of
fset
an
d or
ient
atio
n pa
ram
eter
s an
alys
is
over
al
l m
arki
ng
sym
bols
. Th
e se
cond
st
age
is
a ve
rific
atio
n st
age
in
whi
ch
ever
y ch
arac
ter
(or
sym
bol)
is v
erifi
ed i
ndiv
idua
lly.
To p
erfo
rm
verif
icat
ion,
a f
uzzy
sys
tem
is t
rain
ed v
ia a
n A
NFI
S e
ngin
e th
en
used
fo
r ve
rific
atio
n.
The
perf
orm
ance
of
th
e pr
opos
ed a
lgor
ithm
in
term
s of
its
abi
lity
to c
orre
ctly
cl
assi
fy m
arki
ng d
efec
ts is
foun
d to
be
satis
fact
ory
as it
is
high
ly r
elia
ble,
gre
atly
red
uces
the
eff
ect
of n
oise
and
its
depe
nden
cy
on
hum
an
inpu
t or
in
volv
emen
t du
ring
m
arki
ng in
spec
tion.
Pos
ition
Con
trol
for
Lin
ear
Ser
vo S
yste
m v
ia N
omin
al
Cha
ract
eris
tic T
raje
ctor
y C
ontr
olle
r (N
CTF
) N
oor H
isha
m Ja
lani
, Jam
alud
in Ja
lani
, Jiw
a Ab
dulla
h Un
iver
siti
Tun
Hus
sein
Onn
(UTH
M),
MAL
AYSI
A Th
is
pape
r pr
esen
ts
a po
sitio
n tr
acki
ng
cont
rol
stra
tegy
tha
t m
eets
the
pos
ition
tra
ckin
g pe
rfor
man
ce.
A p
ract
ical
con
trol
ler
is p
ropo
sed
know
n as
a N
omin
al
Cha
ract
eris
tic T
raje
ctor
y Fo
llow
ing
(NC
TF)
to c
ontr
ol
the
posi
tion
of
the
cart
. Th
e ef
fect
iven
ess
of
the
prop
osed
NC
TF c
ontr
olle
r is
eva
luat
ed a
nd c
ompa
red
with
P
ropo
rtio
nal-V
eloc
ity
(PV)
co
ntro
ller
thro
ugh
sim
ulat
ion.
Expe
rim
enta
l Ev
alua
tion
of
Mul
ti-or
der
Pro
port
iona
l-In
tegr
al
Con
trol
fo
r P
neum
atic
ally
A
ctua
ted
Act
ive
Sus
pens
ion
Syst
em
Fitr
ian
Imad
uddi
n, K
hisb
ulla
h H
udha
, Uba
idill
ah a
nd
His
ham
uddi
n Ja
mal
uddi
n Un
iver
siti
Tekn
ikal
Mal
aysi
a M
elak
a (U
TeM
), M
ALAY
SIA
An
expe
rim
enta
l st
udy
of
mul
ti-or
der
Pro
port
iona
l-In
tegr
al
(PI)
cont
rol
for
a pn
eum
atic
ally
ac
tuat
ed
activ
e su
spen
sion
sys
tem
is
pres
ente
d in
thi
s pa
per.
Th
e tw
o co
ntro
ller
loop
s na
mel
y ou
ter
loop
con
trol
ler
and
inne
r lo
op c
ontr
olle
r ar
e us
ed i
n th
is s
tudy
. Th
e ou
ter
loop
co
ntro
ller
reje
cts
the
effe
cts
of
road
in
duce
d di
stur
banc
es
by
calc
ulat
ing
the
optim
um
forc
e to
red
uce
the
unw
ante
d bo
dy m
otio
n w
hile
the
in
ner
loop
con
trol
ler
trac
ks t
he f
orce
pro
duce
d by
the
pn
eum
atic
act
uato
r in
suc
h a
way
tha
t th
e op
timum
ta
rget
for
ce p
rodu
ced
by t
he o
uter
loop
con
trol
ler.
The
ou
ter
loop
co
ntro
ller
utili
zed
mul
ti-or
der
PI
cont
rol
whi
le t
he i
nner
loo
p co
ntro
ller
utili
zed
the
5/3
way
so
leno
id
valv
e w
ith
ordi
nary
on
-off
co
ntro
l. Ex
peri
men
tal
wor
ks a
re p
erfo
rmed
on
a qu
arte
r ca
r te
st
rig
in
thre
e di
ffer
ent
freq
uenc
ies.
Fr
om
the
expe
rim
enta
l re
sults
, it
can
be
repo
rted
th
at
the
prop
osed
con
trol
sch
eme
is a
ble
to p
rovi
de s
igni
fican
t im
prov
emen
t com
pare
d to
the
pass
ive
syst
em.
27
Par
alle
l Tec
hnic
al S
essi
ons
V, F
rida
y, 1
9 D
ecem
ber
20
08
: 11
.20
–1
2.2
0
Time
VA: R
obot
ics
3
Cha
irpe
rson
: Dr.
Riz
a M
uhid
a Ve
nue:
Con
fere
nce
Roo
m
VB: M
echa
tron
ics
& R
obot
ics
in E
duca
tion
C
hair
pers
on: D
r. F
arag
K O
mar
Ve
nue:
Sem
inar
Roo
m 1
VC: U
nman
ned
Vehi
cle
Cha
irpe
rson
: Dr.
Md
Idre
s Ve
nue:
Sem
inar
Roo
m 3
11.20 - 11.40
Dev
elop
men
t of
an
11
-DO
Fs M
ulti-
Fing
ered
Hum
anoi
d R
obot
A
rm
Equi
pped
w
ith
Opt
ical
Th
ree-
Axi
s Ta
ctile
Se
nsor
H
anaf
iah
Yuss
of1 ,
Jiro
Wad
a2, M
asah
iro O
hka2
1 U
nive
rsiti
Tek
nolo
gi M
ARA,
MAL
AYSI
A 2 N
agoy
a Un
iver
sity
, JAP
AN
This
pap
er p
rese
nts
deve
lopm
ent
of a
n 1
1-d
ofs
mul
ti-fin
gere
d hu
man
oid
robo
t ar
m
equi
pped
w
ith
optic
al
thre
e-ax
is t
actil
e se
nsor
at
finge
rtip
s. T
he a
rm is
spe
cial
ly
desi
gned
to
fit t
he s
ize
of p
revi
ousl
y de
velo
ped
hum
anoi
d ro
bot
Bon
ten-
Mar
u II.
The
mai
n pu
rpos
e of
dev
elop
ing
this
rob
ot a
rm s
yste
m i
s to
eva
luat
e pe
rfor
man
ce o
f ob
ject
man
ipul
atio
n by
rob
otic
fin
gers
and
tac
tile
sens
or
syst
ems
so t
hat
thes
e sy
stem
s ca
n be
app
ly i
n th
e re
al
hum
anoi
d ro
bot
arm
s sa
fely
. To
enha
nce
perf
orm
ance
of
tact
ile s
ensa
tion,
we
deve
lope
d a
nove
l opt
ical
thr
ee-a
xis
tact
ile s
enso
r to
mou
nt o
n fin
gert
ips
of t
he r
obot
fin
gers
. Th
is t
actil
e se
nsor
can
mea
sure
nor
mal
and
she
arin
g fo
rces
sim
ulta
neou
sly.
We
pres
ent
hard
war
e st
ruct
ure,
co
ntro
l sy
stem
st
ruct
ure
and
loca
lizat
ion
of
tact
ile
info
rmat
ion.
The
Impa
ct o
f R
OB
OC
ON
Par
ticip
atio
n in
Enh
anci
ng
the
Rob
otic
Lea
rnin
g Ex
peri
ence
of U
MP
Stu
dent
N.H
. Noo
rdin
, N. M
d. S
aad,
M.F
. Aba
s Un
iver
siti
Mal
aysi
a Pa
hang
, MAL
AYSI
A Pro
ject
bas
ed l
earn
ing
(PB
L) m
etho
d ha
s be
en w
idel
y us
ed
in
unde
rgra
duat
e en
gine
erin
g cu
rric
ulum
no
wad
ays.
Par
ticip
atin
g in
RO
BO
CO
N c
ompe
titio
n is
an
othe
r w
ay o
f in
volv
ing
stud
ents
int
o P
BL
activ
ities
th
ough
‘le
arni
ng
by
doin
g’
conc
ept.
This
pa
per
pres
ents
th
e im
pact
of
R
OB
OC
ON
in
st
imul
atin
g st
uden
t’s i
nter
est
in r
obot
ics
educ
atio
n. T
hrou
ghou
t th
e pr
epar
atio
n to
RO
BO
CO
N’0
8 t
ourn
amen
t, no
t on
ly
the
part
icip
atin
g st
uden
ts d
evel
op t
heir
prog
ram
min
g an
d ro
botic
s sy
stem
kno
wle
dge,
the
y al
so le
arn
abou
t tim
e m
anag
emen
t an
d ot
her
soft
ski
lls s
uch
as t
eam
w
orki
ng,
com
mun
icat
ion
skill
s an
d ev
alua
tion
syst
ems.
Th
e ca
pabi
litie
s of
ha
ndlin
g el
ectr
onic
s pr
ojec
t ar
e al
so s
how
n th
roug
h th
eir
unde
rgra
duat
e fin
al y
ear
proj
ects
.
Mod
el B
ased
Red
uced
Com
plex
ity C
ontr
ol o
f a
Smal
l U
AV
P. O
rtne
r, P.
Sch
erz,
E. G
ruen
bach
er, L
. del
Re
Joha
nnes
Kep
ler U
nive
rsity
, AUS
TRIA
In t
his
pape
r w
e st
udy
the
prob
lem
of
auto
pilo
t de
sign
fo
r a
smal
l U
nman
ned
Aer
ial
Vehi
cle
(UA
V).
To t
his
end
a 1
2th
ord
er n
onlin
ear
mod
el is
intr
oduc
ed a
nd a
st
rate
gy
for
way
poin
t tr
acki
ng
is
pres
ente
d.
Two
cont
rol
stra
tegi
es,
a dy
nam
ic i
nver
sion
app
roac
h an
d a
P
cont
rolle
r,
are
desi
gned
. W
aypo
int
trac
king
m
aneu
vers
in
late
ral
and
long
itudi
nal
dire
ctio
n ar
e co
mpa
red
usin
g th
e A
eros
onde
si
mul
atio
n m
odel
. U
nder
win
dy c
ondi
tions
the
tra
ckin
g re
sults
of
both
co
ntro
llers
loo
k si
mila
r w
hich
mak
es t
he P
con
trol
ler
mor
e at
trac
tive
due
to it
s si
mpl
icity
. The
P c
ontr
olle
r is
fin
ally
ext
ende
d to
con
trol
the
rea
l UA
V –
the
Mul
tiple
x Tw
inst
ar I
I. M
easu
rem
ents
sho
w t
hat
the
pres
ente
d an
d im
plem
ente
d co
ntro
l la
w
is
appr
opri
ate
for
smoo
th fl
ight
man
euve
rs.
11.40 -
Hum
anoi
d R
obot
Hea
d A.
A. S
hafie
, M.N
. Kas
yfi,
N. I
. Tau
fik Y
. In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a, M
ALAY
SIA
One
of
the
long
ter
m g
oals
of
the
auto
nom
ous
agen
t re
sear
ch g
roup
is
to d
evel
op a
“hu
man
oid
robo
t th
at i
s ab
le t
o su
ppor
t hu
man
in b
road
var
iety
of
task
s al
one
or
in c
orpo
ratio
n w
ith h
uman
s”.
The
deve
lopm
ent
of s
uch
robo
ts is
a c
halle
ngin
g ta
sk a
s it
is v
ery
diff
eren
t fr
om t
he
desi
gn o
f in
dust
rial r
obot
s du
e to
a t
otal
ly d
iffer
ent
targ
et
syst
em o
f re
quir
emen
ts. O
ne o
f th
e fu
ndam
enta
l asp
ects
of
com
plet
ing
the
broa
d va
riet
y of
tas
k is
the
abi
lity
to
exec
ute
hum
an t
o hu
man
like
coo
pera
tion
with
a v
arie
ty
of
way
s to
co
nvey
ex
pres
sion
s.
The
com
mun
icat
ion
requ
irem
ent
for
a hu
man
oid
lead
s to
com
plex
des
ign
proc
ess
and
a de
sign
whi
ch h
as to
be
spat
ially
inte
grat
ed
Cur
ricu
lum
Im
plem
enta
tion:
M
icro
cont
rolle
r fo
r M
echa
tron
ic &
Rob
otic
Ter
tiary
Stu
dent
s
A. Z
. Shu
kor,
M. H
. Jam
alud
din
Univ
ersi
ti Te
knik
al M
alay
sia
Mel
aka
(UTe
M),
MAL
AYSI
A Th
is p
aper
des
crib
es t
he c
urri
culu
m im
plem
enta
tion
in
the
form
of
1
4
wee
ks
prac
tical
ac
tiviti
es
for
Mec
hatr
onic
and
Rob
otic
Thi
rd y
ear
stud
ents
stu
dyin
g in
Uni
vers
iti
Tekn
ikal
Mal
aysi
a M
elak
a (U
TeM
) in
the
su
bjec
t: M
icro
cont
rolle
r Te
chno
logy
. It
hig
hlig
hts
the
intr
oduc
tion
of
soft
war
e an
d ha
rdw
are
activ
ities
re
late
d to
lear
ning
mic
roco
ntro
ller
tech
nolo
gy t
hrou
gh
the
appl
icat
ion
of m
obile
rob
ots.
The
fir
st 6
wee
ks
invo
lves
inte
nsiv
e la
bora
tory
ses
sion
s fo
r th
e st
uden
ts
whi
le
the
rest
is
pr
ojec
t ba
sed
wor
k,
nam
ely
inte
grat
ing
soft
war
e an
d ha
rdw
are
for
acco
mpl
ishi
ng
a co
mm
on g
oal,
the
mob
ile r
obot
. Thi
s m
obile
rob
ot
Dev
elop
men
t of
an
Ada
ptiv
e A
irfoi
l Con
trol
Sys
tem
for
U
nman
ned
Aer
ial V
ehic
le
E. J.
Abd
ulla
h, C
. Bil
and
S. W
atki
ns
Roy
al M
elbo
urne
Inst
itute
of T
echn
olog
y, A
USTR
ALIA
Th
e de
velo
pmen
t of
an
adap
tive
airf
oil
cam
ber
win
g ca
n po
tent
ially
im
prov
e fli
ght
perf
orm
ance
by
op
timiz
ing
the
max
imum
L/
D
ratio
th
roug
hout
al
l fli
ght
regi
mes
. Im
prov
ed f
light
per
form
ance
tra
nsla
tes
into
wei
ght
and
fuel
sav
ings
. R
ecen
t ad
vanc
emen
t of
sm
art
mat
eria
l m
akes
it
a su
itabl
e ca
ndid
ate
for
actu
ator
in
the
adap
tive
airf
oil
desi
gn a
s it
can
be
activ
ated
to
alte
r th
e sh
ape
of t
he a
irfo
il. S
elec
tion
of
skin
mat
eria
l is
als
o vi
tal
in p
rodu
cing
a w
ing
whi
ch
coul
d m
orph
sm
ooth
ly.
The
deve
lopm
ent
of
an
adap
tive
airf
oil
cont
rol
is a
n in
terd
isci
plin
ary
effo
rt
whi
ch n
ot o
nly
invo
lves
mat
eria
l, st
ruct
ure,
aer
o
28
12.00
as w
ell
as f
unct
iona
lly i
nteg
rate
d. T
his
lead
s to
com
plex
in
tric
ate
inte
ract
ions
be
twee
n sy
stem
el
emen
ts.
The
dem
ands
for
mob
ility
fur
ther
add
to
the
requ
irem
ent
of a
lig
htw
eigh
t de
sign
of a
hum
anoi
d ro
bot.
requ
ires
the
use
of
sens
ors
and
DC
m
otor
s as
ac
tuat
ors.
In
th
e en
d,
the
stud
ents
w
ill
lear
n an
d ap
prec
iate
the
mic
roco
ntro
ller
and
its a
pplic
atio
n in
ro
botic
s,
thus
‘s
eein
g th
e bi
gger
pi
ctur
e’
of
the
mic
roco
ntro
ller’
s bu
ilt
in
mod
ules
fo
r re
al
time
hard
war
e im
plem
enta
tion.
elas
ticity
, se
nsor
an
d co
ntro
l te
chno
logy
bu
t m
ore
impo
rtan
tly
aero
dyna
mic
. Th
is
pape
r pr
esen
ts
an
over
view
of
smar
t m
ater
ial
appl
icat
ion
for
adap
tive
airf
oil
cont
rol
and
flexi
ble
skin
for
var
iabl
e ca
mbe
r ai
rfoi
l. Th
e re
sults
of
an
in
vest
igat
ion
on
the
aero
dyna
mic
cha
ract
eris
tics
of v
aria
ble
cam
ber
airf
oil
whi
ch i
s es
sent
ial
in o
rder
to
fully
und
erst
and
the
bene
fits
that
it o
ffer
s, w
ill a
lso
be p
rese
nted
.
12.00 - 12.20
Dev
elop
men
t of
Mob
ile R
obot
for
Exp
lori
ng o
f D
isas
ter
Are
a R
iza
Muh
ida,
Suh
aim
i B M
ohd
Zaid
, Wah
yudi
, Rifk
i Muh
ida,
A
ri Le
gow
o , A
khm
ad U
nggu
l Pria
ntor
o In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a, M
ALAY
SIA
A m
obile
rob
ot f
or e
xplo
ring
dis
aste
r ar
ea i
n tr
opic
al
regi
on h
as b
een
deve
lope
d. It
has
cap
abili
ty t
o tr
avel
ove
r a
roug
h ir
regu
lar
terr
ain
wit
hin
disa
ster
are
a an
d ca
pabl
e of
per
form
ing
a ra
nge
of f
unct
ions
suc
h as
col
lect
ing
sam
ples
and
cap
turi
ng i
mag
es f
rom
the
dis
aste
r sc
ene.
Fu
rthe
rmor
e, t
he r
obot
is
equi
pped
with
sol
ar p
anel
for
ex
tend
ing
the
oper
atio
n ra
ther
th
an
rely
ing
on
rech
arge
able
ba
tter
y on
ly.
Con
stru
ctio
n of
th
e ro
bot
cons
ists
of
2 d
egre
es o
f fr
eedo
m (
DO
F) i
n ro
bot
arm
, in
clud
ing
grip
per,
wir
eles
s ca
mer
a, w
irele
ss R
F co
ntro
ller
and
elec
tric
al c
ontr
olle
r of
pho
tovo
ltaic
sys
tem
. The
rob
ot
can
be c
ontr
olle
d re
mot
ely
and
also
has
cap
abili
ty t
o se
nd
capt
ured
im
ages
w
irel
essl
y to
a
desi
gnat
ed
cont
rolle
r/se
rver
. The
tra
nsm
itted
live
imag
es c
an a
lso
be
used
to
mon
itor
robo
t m
ovem
ent
and
allo
w r
eal
time
inte
ract
ions
bet
wee
n th
e op
erat
or a
nd th
e ro
bot.
Mec
hatr
onic
s S
ylla
bus
Incl
usio
n in
th
e M
echa
nica
l En
gine
erin
g C
urri
culu
m a
t U
AE
Uni
vers
ity
Fara
g K.
Om
ar a
nd K
halif
a H
. Har
ib
Unite
d Ar
ab E
mira
tes
Univ
ersi
ty, U
AE
The
impo
rtan
ce o
f m
echa
tron
ics
know
ledg
e is
gai
ning
at
tent
ion
in
the
UA
E an
d th
e M
iddl
e Ea
st
regi
on.
How
ever
, th
e m
echa
tron
ics
title
and
spe
cial
izat
ion
is
not
attr
activ
e to
the
maj
ority
of
the
loca
l in
dust
rial
fir
ms
and
the
gene
ral
publ
ic.
The
clas
sica
l ti
tles
of
engi
neer
ing
degr
ees,
e.g
., m
echa
nica
l, el
ectr
ical
etc
., ar
e st
ill
dom
inat
ing
the
loca
l m
arke
t ye
t re
cent
re
view
s sh
ow
high
de
man
d on
m
echa
tron
ics
back
grou
nd
with
out
men
tioni
ng
the
mec
hatr
onic
s tit
le.
In r
espo
nse
to t
he l
ocal
ind
ustr
y de
man
ds,
the
mec
hani
cal
engi
neer
ing
depa
rtm
ent
at
the
UA
EU
com
men
ced
curr
icul
um e
nhan
cem
ent
by i
ntro
duci
ng
som
e to
pics
in
m
echa
tron
ics
and
mor
e ha
nds-
on
appl
icat
ions
. Th
is p
aper
pre
sent
s th
e de
tails
of
the
curr
icul
um e
nhan
cem
ent
mea
sure
s an
d de
mon
stra
tes
som
e m
easu
res
and
feed
back
s th
at s
how
the
deg
ree
of c
urri
culu
m i
mpr
ovem
ent.
The
pape
r di
scus
ses
in
deta
ils t
he c
urri
culu
m e
nhan
cem
ents
rel
ated
to
the
mec
hatr
onic
s sp
ecia
lizat
ion.
Des
ign
of a
n A
utop
ilot
for
an A
uton
omou
s U
nman
ned
Aer
ial V
ehic
le
M. I
dres
and
R. K
afaf
y In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a, M
ALAY
SIA
Unm
anne
d ae
rial v
ehic
le (
UA
V) h
as m
any
appl
icat
ions
su
ch a
s m
ilita
ry d
efen
se a
nd s
urve
illan
ce,
wea
ther
fo
reca
st, a
nd c
ivili
an s
earc
h an
d re
scue
. In
this
pap
er,
the
auto
pilo
t of
an
auto
nom
ous
UA
V is
des
igne
d us
ing
PID
con
trol
alg
orith
ms.
Fir
st,
the
dyna
mic
mod
el o
f th
e ai
rcra
ft
is
impl
emen
ted
usin
g si
x de
gree
-of-
free
dom
(6
-DO
F)
rigid
bo
dy
equa
tions
of
m
otio
ns
coup
led
with
an
aero
dyna
mic
mod
el,
thru
st m
odel
, at
mos
pher
ic
mod
el,
and
grav
ity
mod
el.
Then
, th
e au
topi
lot
is
desi
gned
us
ing
head
ing,
al
titud
e an
d sp
eed
as d
esir
ed in
puts
for
aut
onom
ous
mis
sion
. The
co
ntro
l su
rfac
e de
flect
ions
and
thr
ottle
set
ting
are
dete
rmin
ed
usin
g P
ID
cont
rol
algo
rith
ms.
Th
e pe
rfor
man
ce
of
the
auto
pilo
t is
ev
alua
ted
usin
g ty
pica
l inp
ut s
igna
ls in
alti
tude
, air
spee
d an
d he
adin
g.
29
Par
alle
l Tec
hnic
al S
essi
ons
VI,
Frid
ay, 1
9 D
ecem
ber
20
08
: 15
.20
–1
6.4
0
Time
VIA
: Int
ellig
ent
Sys
tem
C
hair
pers
on: D
r. M
d M
ahbu
bur
Ras
hid
Venu
e: C
onfe
renc
e R
oom
VIB
: Dia
gnos
tic
& P
reve
ntio
n C
hair
pers
on: D
r. R
ini A
kmel
iaw
ati
Venu
e: S
emin
ar R
oom
1
VIC
: Sen
sor
& M
easu
rem
ent
2
Cha
irpe
rson
: Dr.
Riz
a M
uhid
a Ve
nue:
Sem
inar
Roo
m 3
15.20 - 15.40
Des
ign
and
Dev
elop
men
t of
Aut
omat
ed D
iscr
ete
Sta
te
Con
trol
ler
Str
uctu
re
Bas
e on
Ev
olut
iona
ry
Alg
orith
m
Met
hod
K.H
. Cho
ng, S
.P. K
oh, S
.K. T
iong
and
Edw
in Y
.S. S
im
Univ
ersi
ti Te
naga
Nas
iona
l, M
ALAY
SIA
In t
his
pape
r, a
met
hod
for
auto
mat
ic o
ptim
izat
ion
of
disc
rete
st
ate
cont
rolle
r de
sign
m
etho
d is
in
trod
uced
. Th
is m
etho
d is
bas
ed o
n ra
ndom
ized
sea
rch
tech
niqu
es
mim
icki
ng t
he n
atur
al g
enet
ic e
volu
tion
. Th
e pr
opos
ed
met
hod
is
an
itera
tive
proc
edur
e th
at
cons
ists
of
a
cons
tant
-siz
e po
pula
tion
of
indi
vidu
als,
ea
ch
one
enco
ding
a p
ossi
ble
solu
tion
in a
giv
en p
robl
em s
pace
. Th
e st
ruct
ure
of
the
circ
uit
is
enco
ded
into
on
e-di
men
sion
al g
enot
ype
as r
epre
sent
ed b
y a
finite
str
ing
of
bits
. A
num
ber
of b
it st
ring
are
use
d to
rep
rese
nt t
he
wire
s co
nnec
tion
betw
een
the
leve
l an
d 7
ty
pes
of
poss
ible
log
ic g
ates
; XO
R,
XN
OR
, N
AN
D,
NO
R,
AN
D,
OR
an
d N
OT.
The
str
uctu
re o
f ga
tes
are
arra
nged
in a
m *
n
mat
rix
form
whe
re m
is t
he n
umbe
r of
inpu
t var
iabl
es.
Inve
stig
atio
ns o
f th
e C
ause
s of
Cha
tter
in
Com
pute
r A
ided
M
anuf
actu
ring
P
roce
ss
Dur
ing
End
Mill
ing
Ope
ratio
n M
d. A
naye
t U P
atw
ari,
A.K.
M. N
urul
Am
in, W
alee
d Fa
ris,
S.Al
am
Inte
rnat
iona
l Isl
amic
Uni
vers
ity M
alay
sia,
MAL
AYSI
A It
has
bee
n id
entif
ied
that
the
chi
p fo
rmat
ion
proc
ess
has
a di
scre
te n
atur
e, a
ssoc
iate
d w
ith t
he p
erio
dic
shea
ring
pr
oces
s of
th
e ch
ip
duri
ng
mac
hini
ng
of
Ti6
Al4
V.
Apa
rt
from
th
e pr
imar
y se
rrat
ed
teet
h,
a ty
pica
l in
stab
ility
of
peri
odic
nat
ure,
in
the
form
of
seco
ndar
y sa
w/s
erra
ted
teet
h, w
hich
app
ear
at t
he
free
edg
e of
the
chi
p, h
as b
een
iden
tifie
d. M
echa
nism
of
for
mat
ion
of t
hese
tee
th h
as b
een
stud
ied
and
the
freq
uenc
y of
the
ir f
orm
atio
n ha
s be
en d
eter
min
ed.
The
mos
t vi
brat
ing
com
pone
nts
duri
ng
com
pute
r ai
ded
mill
ing
mac
hine
ope
ratio
n ha
ve b
een
iden
tifie
d.
It h
as b
een
foun
d th
at c
hatt
er a
ppea
rs i
n th
e sy
stem
as
a r
eson
ance
dur
ing
cutt
ing
whe
n th
e ch
ip s
erra
tion
freq
uenc
y is
eq
ual
or
any
inte
ger
mul
tiple
of
th
e pr
omin
ent
natu
ral
freq
uenc
y of
th
e sy
stem
co
mpo
nent
s lik
e sp
indl
e, to
ol h
olde
r.
A
Des
ign
Met
hodo
logy
of
O
ptic
al
Trac
king
D
evic
e M
odul
e fo
r H
olon
omic
Mob
ile R
obot
App
licat
ion
M. M
ural
indr
an, R
azak
Moh
d Al
i Lee
, V. K
umar
hesh
an a
nd
Choo
Che
e W
ee
Univ
ersi
ti M
alay
sia
Saba
h, M
ALAY
SIA
It i
s ve
ry i
mpo
rtan
t to
est
ablis
h th
e po
siti
on o
f th
e ro
bot
at a
ny p
oint
of
mov
emen
t. G
loba
l P
ositi
onin
g S
yste
m (
GP
S)
on t
he o
ther
han
d is
not
sui
tabl
e fo
r in
door
na
viga
tion.
To
su
rmou
nt
this
pr
oble
m,
an
Opt
ical
Tr
acki
ng
Dev
ice
(OTD
) is
de
sign
ed
and
deve
lope
d. T
he o
ptic
al t
rack
ing
sens
or c
omm
unic
ates
w
ith a
bid
irec
tiona
l sy
nchr
onou
s se
rial
inp
ut/o
utpu
t pr
otoc
ol.
The
outp
ut o
f th
is d
evic
e is
a d
ata
in t
he
form
of
a
coor
dina
te
(x,y
) w
ith
refe
renc
e to
th
e pr
evio
us p
ositi
on o
f th
e de
vice
. Th
e de
vice
is
coup
led
with
a
PIC
16
F87
7A
m
icro
cont
rolle
r as
a
host
to
de
code
the
dat
a in
to a
bsol
ute
coor
dina
tes
and
feed
th
e da
ta t
o th
e ro
bot
cont
rolle
r un
it fo
r na
viga
tion.
A
test
gri
d w
as u
sed
to t
est
the
OTD
and
tw
o di
ffer
ent
type
s of
opt
ical
tra
ckin
g se
nsor
s w
ith 1
00
0 D
PI
and
30
0 D
PI
wer
e us
ed.
The
high
acc
urac
y of
the
OTD
en
able
s th
is d
evic
e to
ove
rcom
e na
viga
tion
limita
tion.
15.40 -
Inte
llige
nt K
eyst
roke
Pre
ssur
e-B
ased
Typ
ing
Bio
met
rics
A
uthe
ntic
atio
n S
yste
m
usin
g M
ulti
laye
r Fe
edfo
rwar
d N
etw
ork
A. S
ulon
g, W
ahyu
di a
nd M
.U. S
iddi
qi
Inte
rnat
iona
l Isl
amic
Uni
vers
ity M
alay
sia
(IIUM
), M
ALAY
SIA
In t
his
pape
r, t
he d
esig
n an
d de
velo
pmen
t of
key
stro
ke
pres
sure
-bas
ed
typi
ng
biom
etric
s fo
r in
divi
dual
us
er’s
ve
rific
atio
n w
hich
bas
ed o
n th
e an
alys
is o
f hab
itual
typ
ing
of in
divi
dual
s is
dis
cuss
ed. T
he c
ombi
natio
n of
max
imum
pr
essu
re
exer
ted
on
the
keyb
oard
an
d tim
e la
tenc
y be
twee
n ke
ystr
okes
is
used
as
feat
ures
to
crea
te t
ypin
g pa
tter
ns f
or in
divi
dual
use
rs s
o as
to
reco
gniz
e au
then
tic
user
s an
d to
rej
ect i
mpo
stor
s. M
ulti
laye
r fe
edfo
rwar
d
Educ
atio
nal
Pro
ject
on
a S
impl
e Vo
ice
Iden
tific
atio
n us
ing
Inte
llige
nt
Soun
d Im
plem
enta
tion
and
Ve
ctor
Q
uant
izat
ion
H. K
. Wid
hipu
tran
to1
and
R. A
kmel
iaw
ati2
1 M
onas
h Un
iver
sity
Mal
aysi
a, M
ALAY
SIA
2 Int
erna
tiona
l Isl
amic
Uni
vers
ity M
alay
sia,
MAL
AYSI
A Vo
ice
iden
tific
atio
n is
a t
ask
of i
dent
ifyin
g a
pers
on
base
d on
the
con
tent
of
info
rmat
ion
in o
ne’s
voi
ce
whi
ch
dist
ingu
ishe
s hi
s/he
rs
from
vo
ices
of
ot
her
peop
le. T
his
pape
r pr
esen
ts a
n ed
ucat
iona
l pr
ojec
t on
a
sim
ple
voic
e id
enti
ficat
ion,
whi
ch u
ses
two
feat
ures
: th
e fu
ndam
enta
l fre
quen
cy o
r pi
tch
and
the
voca
l tra
ct
info
rmat
ion
repr
esen
ted
by M
el-F
requ
ency
Cep
stru
m
Coe
ffic
ient
s (M
FCC
). Th
e es
timat
ion
fund
amen
tal
Gra
vim
etric
an
d P
WM
-bas
ed
Con
trol
fo
r Fl
uid
Dis
pens
ing
Sys
tem
Edw
in Y
. S. S
im, S
. P. K
oh, S
. K. T
iong
, E. C
. Yeo
h Un
iver
siti
Tena
ga N
asio
nal,
MAL
AYSI
A Aut
omat
ic
fluid
di
spen
sing
sy
stem
is
ty
pica
lly
inst
alle
d in
ind
ustr
ies
deal
ing
with
ing
redi
ents
mix
ing
to a
utom
atic
ally
dis
pens
e a
base
ran
ge o
f in
gred
ient
s to
a g
iven
for
mul
a. E
ach
ingr
edie
nt i
s ac
cura
tely
and
pr
ecis
ely
disp
ense
d ac
cord
ing
to t
he g
iven
for
mul
a,
read
y fo
r de
liver
y w
ithin
min
utes
. In
this
pap
er, a
new
di
spen
sing
app
roac
h us
ing
Pul
se W
idth
Mod
ulat
ion
cont
rol s
yste
m is
pre
sent
ed. I
n ad
ditio
n, v
ario
us
30
16.00
netw
ork
(MFN
), w
hich
is
on
e of
th
e ar
tific
ial
neur
al
netw
ork,
is
used
as
a pa
tter
n m
atch
ing
met
hod.
The
ef
fect
iven
ess
of t
he p
ropo
sed
syst
em is
eva
luat
ed b
ased
up
on F
alse
Rej
ect
Rat
e (F
RR
) an
d Fa
lse
Acc
ept
Rat
e (F
AR
). A
ser
ies
of e
xper
imen
t sh
ows
that
the
pro
pose
d sy
stem
is e
ffec
tive
for
biom
etric
-bas
ed s
ecur
ity s
yste
m.
freq
uenc
y is
pe
rfor
med
w
ith
Har
mon
ic
Pro
duct
S
pect
rum
(H
PS
) al
gori
thm
, w
hils
t M
FCC
is
calc
ulat
ed
usin
g D
iscr
ete
Cos
ine
Tran
sfor
m,
then
, is
m
odel
ed
with
Vec
tor
Qua
ntiz
atio
n to
com
pres
s th
e si
ze o
f da
ta
to b
e pr
oces
sed
and
to a
ssis
t id
enti
ficat
ion.
influ
entia
l pa
ram
eter
s ar
e pr
esen
ted
and
anal
yzed
to
show
en
d-re
sult
corr
elat
ions
. Ex
peri
men
tal
resu
lts
indi
cate
tha
t th
e pr
opos
ed s
yste
m w
ould
opt
imiz
e th
e ac
cura
cy a
nd p
roce
ssin
g sp
eed.
The
pro
pose
d sy
stem
w
ould
con
trib
ute
tow
ards
a p
rodu
ctiv
e an
d qu
ality
way
of
mat
eria
l han
dlin
g an
d pr
oces
sing
.
16.00 - 16.20
Per
form
ance
Eva
luat
ion
of t
he I
ntel
ligen
t D
rive
r M
odul
e fo
r S
tepp
er M
otor
Dri
ve
Raj
part
hiba
n Ku
mar
, Ara
vind
CV,
Muh
amm
ed S
hake
el
Univ
ersi
ty C
olle
ge S
eday
a In
tern
atio
nal,
MAL
AYSI
A Th
is p
aper
pre
sent
s th
e de
velo
pmen
t of
an
inte
llige
nt
mot
or
driv
er
Mod
ule
for
a st
eppe
r m
otor
dr
ive
is
pres
ente
d. P
ulse
Wid
th
Mod
ulat
ion
(PW
M)
is u
sed
to
achi
eve
a “s
oft
rota
tion”
the
reby
a g
radu
al m
ovem
ent
of
the
mot
or t
o de
sire
d an
gle
is a
chie
ved.
The
PW
M d
river
m
odul
e is
se
cond
ed
by
a m
icro
cont
rolle
r fo
r th
e op
erat
ion
of m
otor
in
prop
er r
otat
iona
l sp
eed
and
angl
e in
pro
per
inte
rval
s. T
he p
erfo
rman
ce e
valu
atio
n of
the
m
odul
e is
tes
ted
unde
r la
bora
tory
con
diti
ons
and
is f
ound
to
be
9
7%
cl
ose
to
the
requ
ired
sp
ecifi
catio
n.
The
accu
racy
ach
ieve
d to
be
foun
d to
var
y by
±0
.2°
per
ste
p.
On
Issu
e of
Ev
alua
ting
th
e R
elia
bilit
y of
M
icro
proc
esso
r B
ased
Mec
hatr
onic
Sys
tem
s A.
Ahm
ad
Sulta
n Q
aboo
s Un
iver
sity
, OM
AN
Mec
hatr
onic
sy
stem
s ar
e m
ore
freq
uent
ly
use
mic
ropr
oces
sor
base
d sy
stem
s ha
ving
co
nstit
uent
s su
ch
as
mic
ropr
oces
sors
, m
emor
ies,
A
DC
s,
DA
Cs,
se
nsor
s an
d m
any
mor
e IC
s al
ong
with
the
mec
hani
cal
and
elec
tron
ic p
arts
. Th
is p
aper
hig
hlig
hts
som
e th
e is
sues
of
re
liabi
lity
pred
ictio
n pr
oced
ures
fo
r th
e m
icro
proc
esso
r ba
sed
Mec
hatr
onic
sy
stem
s in
di
ffer
ent
envi
ronm
ents
an
d ap
plic
atio
ns.
The
proc
edur
e an
d di
scus
sion
is
base
d on
MIL
-HD
BK
-21
7
liter
atur
e.
The
pape
r al
so
prov
ides
ba
sics
of
th
e re
liabi
lity
and
its r
elat
ed is
sues
.
Com
para
tive
Eval
uatio
n of
Vir
tual
and
Phy
sica
l N
Ox
Sen
sors
for
Die
sel E
ngin
e C
ontr
ol
Mar
kus
Hirs
ch1
and
Luig
i del
Re2
1 L
CM L
inz
Cent
er o
f Mec
hatr
onic
s G
mbH
, AUS
TRIA
2 J
ohan
nes
Kepl
er U
nive
rsity
, AUS
TRIA
Fo
r cl
osed
-loop
con
trol
as
wel
l as
on-
boar
d-di
agno
sis
in c
ombu
stio
n en
gine
s, t
here
is in
crea
sing
inte
rest
for
on
line
emis
sion
mea
sure
men
t. Th
is p
aper
sho
ws
a co
mpa
rativ
e ev
alua
tion
of
on
line
nitr
ogen
ox
ides
(N
Ox)
se
nsor
s fo
r pr
oduc
tion
Die
sel
engi
nes.
Tw
o to
tally
diff
eren
t ty
pes
of s
enso
rs a
re c
ompa
red:
The
fir
st is
a p
hysi
cal s
olid
-sta
te s
enso
r an
d th
e se
cond
is
a vi
rtua
l se
nsor
whe
re N
Ox
valu
es a
re n
ot m
easu
red
but
calc
ulat
ed
by
a m
athe
mat
ical
m
odel
. S
peci
ficat
ions
of
th
e se
nsor
s ar
e pr
esen
ted,
ad
vant
ages
and
dis
adva
ntag
es a
re a
naly
zed.
16.20 - 16.40
Ana
lysi
s of
M
agne
torh
eolo
gica
l B
rake
Sy
stem
w
ith
a Fu
zzy
Logi
c C
ontr
olle
r M
.M.R
ashi
d1, M
omoh
J. E
. Sal
ami1
, M
.A.A
bd. R
ahim
2 an
d M
.A.H
ussa
in2
1 Int
erna
tiona
l Isl
amic
Uni
vers
ity M
alay
sia,
MAL
AYSI
A 2 U
nive
rsity
of M
alay
a, M
ALAY
SIA
The
conv
entio
nal b
rake
has
man
y pr
oble
ms
such
as
time
dela
y re
spon
se d
ue t
o pr
essu
re b
uild
-up,
bra
ke p
ad w
ear,
bu
lky
size
, and
low
bra
king
per
form
ance
in
a hi
gh s
peed
m
ode.
As
vehi
cle
spee
d in
crea
ses,
a m
ore
pow
erfu
l bra
ke
syst
em
is
requ
ired
to
en
sure
ve
hicl
e sa
fety
an
d its
re
liabi
lity.
In t
his
wor
k, a
con
tact
less
bra
ke s
yste
m u
sing
a
mag
neto
rheo
logi
cal
is
prop
osed
to
ov
erco
me
the
prob
lem
s.
The
mag
neto
rheo
logi
cal
fluid
fo
und
appl
icat
ions
fir
st o
f al
l in
bra
kes
and
dam
pers
. A
coi
l su
pplie
d w
ith p
ower
is
plac
ed o
n th
e m
ovin
g co
mpo
nent
of
th
e co
nver
ter
or
insi
de
the
casi
ng,
depe
ndin
g m
agne
torh
eolo
gica
l flu
id
enab
le
to
chan
ge
the
para
met
ers
of a
mec
hani
c sy
stem
(ri
gidi
ty, b
raki
ng f
orce
) as
a r
esul
t of
ele
ctric
vol
tage
and
cur
rent
con
trol
.
Dev
elop
men
t of
a N
ew M
etho
d of
Cra
ck M
odel
ing
and
Pre
dict
ion
Alg
orith
m
A. M
. Aib
inu,
A. A
. Sha
fie, M
. J. E
. Sal
ami,
A.F.
Sal
ami,
I.
A. B
amgb
opa
and
W. A
. Law
al
Inte
rnat
iona
l Isl
amic
Uni
vers
ity M
alay
sia,
MAL
AYSI
A In t
his
repo
rt,
the
wel
l kn
own
para
met
ric
met
hod
of
sign
als
and
syst
ems
repr
esen
tatio
n is
ex
tend
ed
to
mod
elin
g an
d pr
edic
tion
of c
rack
s on
bui
ldin
g an
d ro
ad
surf
aces
. A
lso,
a
new
al
gori
thm
ba
sed
on
com
plex
va
lue
auto
regr
essi
ve
neur
al
netw
ork
with
sp
lit li
near
act
ivat
ion
func
tion
for
the
dete
rmin
atio
n of
C
ompl
ex-V
alue
A
utor
egre
ssiv
e M
ovin
g av
erag
e (C
AR
MA
) co
effic
ient
s is
als
o pr
opos
ed i
n th
is r
epor
t. Fu
rthe
rmor
e,
mat
hem
atic
al
deri
vati
on
and
deta
il an
alys
is o
f th
e pr
opos
ed C
AR
MA
bas
ed C
ompl
ex-V
alue
N
eura
l N
etw
ork
(CVN
N)
algo
rithm
is
also
dis
cuss
ed i
n th
is w
ork.
The
Adv
ance
men
t of
C
ontr
olle
r A
rea
Net
wor
k Te
chno
logy
Ah
mad
Fai
ruz
Muh
amm
ad A
min
and
Isha
k Ar
is
Univ
ersi
ti Pu
tra
Mal
aysi
a, M
ALAY
SIA
The
Con
trol
ler
Are
a N
etw
ork
(CA
N)
is
a co
mm
unic
atio
n bu
s fo
r m
essa
ge
tran
sact
ion
in
a di
strib
uted
en
viro
nmen
t. It
is
w
idel
y us
ed
in
both
ve
hicl
e an
d sy
stem
s.
Cur
rent
de
man
ds
in
man
y ap
plic
atio
ns o
f C
AN
req
uire
hig
h sp
eed
and
bigg
er
band
wid
th.
This
nee
ds a
n im
prov
emen
t in
ter
ms
of
both
sof
twar
e an
d ha
rdw
are
desi
gn in
CA
N. T
his
pape
r pr
esen
ts a
n ov
ervi
ew o
f C
AN
bas
ed o
n its
sta
ndar
ds,
fram
e fo
rmat
, arb
itrat
ion
and
prot
ocol
s as
wel
l as
the
bene
fits
of C
AN
dev
elop
men
t sy
stem
. It
als
o in
clud
es
sugg
estio
ns
to
impr
ove
the
perf
orm
ance
of
C
AN
sy
stem
.
31
Par
alle
l Tec
hnic
al S
essi
ons
VII,
Sat
urda
y, 2
0 D
ecem
ber
20
08
: 11
.40
- 1
2.4
0
Time
VIIA
: Rob
otic
s 4
C
hair
pers
on: D
r. R
aisu
ddin
Kha
n Ve
nue:
Con
fere
nce
Roo
m
VIIB
: Mec
hatr
onic
s S
yste
m 2
C
hair
pers
on: D
r. N
aim
Sid
ek
Venu
e: S
emin
ar R
oom
1
VIIC
: Sen
sor
& M
easu
rem
ent
3
Cha
irpe
rson
: Dr.
Sam
er M
Als
aid
Venu
e: S
emin
ar R
oom
3
11.40– 12.00
Inve
stig
atio
n of
a N
ovel
Typ
e of
Loc
omot
ion
for
a S
nake
R
obot
Sui
ted
for
Nar
row
Spa
ces
M. W
atan
abe,
M.R
. Kha
n In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a, M
ALAY
SIA
In s
nake
rob
ot r
esea
rch,
one
of
the
mos
t ef
ficie
nt f
orm
s of
loc
omot
ion
is t
he l
ater
al u
ndul
atio
n. H
owev
er,
late
ral
undu
latio
n, i
s ill
-sui
ted
for
narr
ow s
pace
s, a
s th
e bo
dy o
f th
e sn
ake
mus
t as
sum
e a
cert
ain
amou
nt o
f cu
rvat
ure
to
prop
el
forw
ard.
O
ther
ty
pes
of
mot
ion
such
as
th
e co
ncer
tina
or
rect
iline
ar
may
be
su
itab
le
for
narr
ow
spac
es, b
ut is
hig
hly
inef
ficie
nt. I
n un
derg
oing
con
cert
ina
mov
emen
t, th
e sn
ake
lifts
par
t of
its
body
off
the
gro
und
to r
educ
e fr
ictio
n; t
his
cann
ot b
e re
prod
uced
in
plan
ar
snak
e ro
bots
. To
ov
erco
me
the
inab
ility
to
ad
apt
to
narr
ow s
pace
s, a
nov
el t
ype
of a
gai
t is
int
rodu
ced.
With
sl
ight
mod
ifica
tions
to
the
mem
bers
of
the
mul
ti-lin
k sn
ake
robo
t, th
e ro
bot
norm
ally
dev
elop
ed f
or l
ater
al
undu
latio
n is
abl
e to
util
ize
the
new
gai
t to
neg
otia
te
narr
ow s
pace
s. T
he m
odifi
catio
ns i
nclu
de a
ltera
tions
to
the
snak
e se
gmen
ts a
s w
ell
elem
ents
tha
t m
imic
sca
les
on t
he u
nder
side
of
the
snak
e bo
dy.
Thro
ugh
kine
mat
ic
stud
ies
the
viab
ility
of t
his
gait
is il
lust
rate
d.
Vibr
atio
n S
uppr
essi
on
Tech
niqu
es
Usi
ng
Del
ayed
Fe
edba
ck S
igna
l And
LQ
R: A
Com
para
tive
Ass
essm
ent
M.A
. Ahm
ad a
nd A
.N.K
. Nas
ir Un
iver
siti
Mal
aysi
a Pa
hang
, MAL
AYSI
A Th
is p
aper
pre
sent
s th
e us
e of
ang
ular
pos
ition
con
trol
ap
proa
ches
fo
r a
flexi
ble
robo
t m
anip
ulat
or
with
di
stur
banc
es e
ffec
t in
the
dyn
amic
sys
tem
. D
elay
ed
Feed
back
Sig
nal (
DFS
) and
Lin
ear
Qua
drat
ic R
egul
ator
(L
QR
) co
ntro
ller
are
the
tech
niqu
es
used
in
th
is
inve
stig
atio
n to
ac
tivel
y co
ntro
l th
e vi
brat
ions
of
fle
xibl
e st
ruct
ure.
A
co
nstr
aine
d pl
anar
si
ngle
-link
fle
xibl
e m
anip
ulat
or i
s co
nsid
ered
and
the
dyn
amic
m
odel
of
the
syst
em i
s de
rived
usi
ng
the
assu
me
mod
e m
etho
d.
A
com
plet
e an
alys
is
of
sim
ulat
ion
resu
lts f
or e
ach
tech
niqu
e is
pre
sent
ed in
tim
e do
mai
n an
d fr
eque
ncy
dom
ain
resp
ectiv
ely.
Per
form
ance
s of
bo
th c
ontr
olle
rs a
re e
xam
ined
in
term
s of
vib
ratio
n su
ppre
ssio
n an
d di
stur
banc
es c
ance
llatio
n. F
inal
ly,
a co
mpa
rativ
e as
sess
men
t of
th
e im
pact
of
ea
ch
cont
rolle
r on
the
sys
tem
per
form
ance
is
pres
ente
d an
d di
scus
sed.
Visi
on B
ased
Rob
ot P
ositi
onin
g an
d R
ecog
nitio
n U
sing
A
rtifi
cial
Inte
llige
nt S
yste
m
A.S.
Fat
hinu
l-Sya
hir,
Haz
ry D
esa,
Md
Juha
iri A
ziz
Sata
r Un
iver
siti
Mal
aysi
a Pe
rlis,
MAL
AYSI
A A
Vis
ion
Sys
tem
and
a s
et o
f ar
tific
ial
inte
llige
nce
soft
war
e ca
n pr
ovid
e th
ese
capa
bilit
ies
to a
rob
ot t
o op
erat
e in
depe
nden
tly.
The
vis
ion
sens
ors
of t
he r
obot
ca
ptur
e th
e im
age
of a
n ob
ject
fro
m a
mon
g ju
mbl
ed
obje
cts
in
a bi
n.
The
visi
on
syst
em
anal
yses
an
d pr
oces
ses
the
imag
es t
o id
entif
y th
e to
p m
ost
obje
ct
and
com
pute
s it
s (
X,Y
,Z)
co-o
rdin
ates
. Th
e ro
bot
can
use
this
info
rmat
ion
to p
ick
up t
he o
bjec
t an
d pe
rfor
m
asse
mbl
y or
ser
vice
ope
ratio
ns.
Adv
anta
ges
of u
sing
im
agin
g te
chno
logy
for
sens
ing
are
that
it c
an b
e fa
irly
accu
rate
, no
ndes
truc
tive,
an
d yi
elds
co
nsis
tent
re
sults
. A
pplic
atio
ns o
f vi
sion
tec
hnol
ogy
will
im
prov
e in
dust
ry’s
pr
oduc
tivity
, th
ereb
y re
duci
ng
cost
s an
d m
akin
g ag
ricu
ltura
l op
erat
ions
and
pro
cess
ing
safe
r fo
r fa
rmer
s an
d pr
oces
sing
-line
wor
kers
.
12.00 -
Sel
f O
rgan
izin
g G
ait
Tran
sitio
ns H
exap
od R
obot
Md.
Mas
um B
illah
, Dr.
Moh
iudd
in A
hmed
, Soh
eli F
arha
na
Inte
rnat
iona
l Isl
amic
Uni
vers
ity M
alay
sia,
MAL
AYSI
A In t
his
pape
r, a
gait
tran
sitio
n m
etho
d ha
s pr
opos
ed t
hat
allo
ws
a he
xapo
d ro
bot
to s
witc
h fr
om o
ne g
ait
to a
noth
er
with
sta
ble
cond
ition
, du
ring
diff
eren
t te
rrai
n na
viga
tion
. Ty
pica
l ga
its
of
loco
mot
ion
are
anal
yzed
fo
r he
xapo
d ro
bot.
Hex
apod
rob
ots
freq
uent
ly o
pera
te v
ario
us g
aits
to
loco
mot
e ov
er a
var
iety
of
surf
aces
. To
enab
le lo
com
otio
n in
a c
hang
ing
surf
ace,
hex
apod
mus
t be
abl
e to
sta
bly
chan
ge b
etw
een
gaits
whi
le c
ontin
uing
to
loco
mot
e. A
co
mpa
rativ
e st
udy,
bas
ed o
n di
ffer
ent
gaits
for
diff
eren
t su
rfac
e lo
com
otio
n, c
oncl
udes
that
the
hexa
pod
robo
t
Incl
usio
n of
Whe
el S
lips
in M
obile
Rob
ot M
odel
ing
To
Enha
nce
Rob
ot S
imul
ator
Per
form
ance
N
aim
Sid
ek
Vand
erbi
lt Un
iver
sity
, USA
Im
prov
ing
navi
gatio
n pe
rfor
man
ce
of
auto
nom
ous
whe
eled
m
obile
ro
bot
(WM
R)
in
a dy
nam
ic
unst
ruct
ured
en
viro
nmen
t re
quir
es
impr
oved
m
aneu
vera
bilit
y. In
suc
h ca
ses,
the
dyn
amic
s of
whe
el
slip
may
vio
late
the
idea
l no-
slip
kin
emat
ic c
onst
rain
ts
gene
rally
use
d to
mod
el n
onho
lono
mic
WM
R.
In t
his
pape
r, a
new
m
etho
d is
pr
opos
ed
to
tack
le
the
mod
elin
g in
adeq
uacy
th
at
aris
es
whe
n sl
ip
is
negl
ecte
d by
inc
ludi
ng b
oth
long
itudi
nal
and
late
ral
slip
dyn
amic
s in
to th
e ov
eral
l dyn
amic
s of
the
WM
R.
Dev
elop
men
t of
A L
ocal
Sen
sor
Sys
tem
for
Ana
lysi
s of
a
Bad
min
ton
Sm
ash
Chan
g Ta
i kia
ng.,
Chan
Kua
n Yo
ong.
, A. C
. Spo
wag
e Th
e Un
iver
sity
of N
ottin
gham
, MAL
AYSI
A In
a co
mpe
titiv
e ba
dmin
ton
gam
e,
the
abili
ty
to
exec
ute
an a
ccur
ate
and
pow
erfu
l sm
ash
is e
ssen
tial
for
a pl
ayer
to
be c
ompe
titiv
e. T
he h
uman
dyn
amic
an
d th
e m
otio
n of
the
rac
ket
are
maj
or f
acto
rs t
hat
influ
ence
the
qua
lity
of a
bad
min
ton
smas
h. T
o he
lp
anal
yze
the
key
char
acte
rist
ics
of a
n ef
fect
ive
smas
h,
a se
ries
of
se
nsor
s ha
s to
be
in
tegr
ated
in
to
a co
nven
tiona
l rac
ket.
The
aim
of
this
inve
stig
atio
n is
to
deve
lop
a se
nsor
sy
stem
th
at
will
fa
cilit
ate
the
quan
tifia
ble
anal
ysis
of t
he b
adm
into
n sm
ash
and
32
12.20
use
two
type
s ga
it fo
r co
mpl
ex s
urfa
ces
with
con
curr
ent
gait
tran
siti
on d
urin
g na
viga
tion.
Fin
ally
, a
gait
tran
sitio
n al
gorit
hm is
dev
elop
ed fo
r he
xapo
d ro
bots
.
The
new
m
odel
pr
ovid
es
a re
alis
tic
sim
ulat
ion
envi
ronm
ent
that
can
be
utili
zed
to d
evel
op a
bet
ter
mod
el-b
ased
con
trol
ler
to i
mpr
ove
WM
R n
avig
atio
n es
peci
ally
w
hen
the
WM
R
is
to
be
driv
en
auto
nom
ousl
y at
hi
gh
spee
d on
un
stru
ctur
ed
envi
ronm
ent.
We
argu
e th
at w
heel
slip
is a
n im
port
ant
fact
or t
hat
can
impa
ct W
MR
nav
igat
ion
perf
orm
ance
in
suc
h an
app
licat
ion.
othe
r ke
y st
roke
s.
A
sing
le
acce
lero
met
er
is
insu
ffic
ient
to
dete
rmin
e th
e th
ree
dim
ensi
onal
pat
h of
the
rac
ket
and
its a
ccel
erat
ion.
The
refo
re t
wo,
low
m
ass
com
pact
, pi
ezoe
lect
ric
acce
lero
met
ers
wer
e ap
plie
d to
th
e he
ad
of
the
rack
et.
It
has
been
de
mon
stra
ted
that
it
is
poss
ible
to
an
alyz
e th
e pe
rfor
man
ce o
f a
smas
hing
str
oke
and
prov
ide
usef
ul
info
rmat
ion
for
coac
hing
and
rac
ket
desi
gn u
sing
the
cu
rren
t m
etho
dolo
gy.
12.20 - 12.40
Inve
rse
Kin
emat
ics
of
a H
yper
-Red
unda
nt
Rob
otic
M
anip
ulat
or
Syed
Mas
rur A
ham
ad, M
d. R
aisu
ddin
Kha
n,
Md.
Moz
asse
r Rah
man
In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a, M
ALAY
SIA
Ser
ial
robo
ts,
Sna
ke o
r, W
orm
rob
ots,
Ten
tacl
e ro
bots
or
cont
inuu
m r
obot
s ar
e kn
own
as h
yper
-red
unda
nt r
obot
s an
d po
sses
s ve
ry
larg
e de
gree
s of
ki
nem
atic
s re
dund
ancy
. In
vers
e ki
nem
atic
s of
hy
per-r
edun
dant
ro
bots
can
hav
e in
finite
num
ber
of s
olut
ions
, w
hich
is
a gr
eat
chal
leng
e ag
ains
t po
sitio
n co
ntro
l of
such
rob
ots.
In
this
pa
per
a ne
w
tech
niqu
e ha
s be
en
prop
osed
th
at
assu
mes
a
conf
igur
atio
n w
ith
a vi
rtua
l la
yer,
w
here
pr
obab
le
sing
ular
ities
ar
e in
clud
ed.
In
the
succ
essi
ve
step
s th
e si
ngul
ariti
es
are
rem
oved
fo
llow
ing
som
e ge
omet
ric
prop
ositi
ons
to h
ave
the
final
ver
sion
of
the
conf
igur
atio
n,
whi
ch
ulti
mat
ely
give
s th
e in
vers
e ki
nem
atic
s of
the
hyp
er-re
dund
ant
robo
t. M
athe
mat
ics
invo
lved
in
this
new
tec
hniq
ue i
s th
e tr
aditi
onal
inv
erse
ki
nem
atic
s so
lutio
n of
tw
o lin
k su
brob
ots,
w
hich
ar
e se
lect
ed
to
satis
fy
the
geom
etric
pr
opos
itio
ns.
The
prop
osed
tec
hniq
ue h
as b
een
test
ed o
n fo
ur l
ink
and
six
link
robo
ts a
nd s
ome
com
paris
on a
re m
ade
with
one
of
the
rece
nt t
echn
ique
s kn
own
as A
NFI
S.
Inve
stig
atio
n on
P
reci
sion
H
ydra
ulic
C
ompo
nent
El
ectr
ohyd
raul
ic
Ser
vova
lve
thro
ugh
Fini
te
Elem
ent
Met
hod
Som
ashe
khar
. S. H
irem
ath
and
M. S
inga
peru
mal
In
dian
Inst
itute
of T
echn
olog
y M
adra
s, IN
DIA
Th
e an
alyz
ed e
lect
rohy
drau
lic s
ervo
valv
e is
a j
et p
ipe
type
, is
one
of
the
mec
hatr
onic
s co
mpo
nent
use
d fo
r pr
ecis
ion
flow
co
ntro
l ap
plic
atio
n.
Elec
troh
ydra
ulic
se
rvov
alve
s (E
HS
V)
avai
labl
e ar
e ei
ther
a
flapp
er/n
ozzl
e ty
pe o
r a
jet
pipe
typ
e. I
n th
e pr
esen
t pa
per
an
atte
mpt
ha
s be
en
mad
e to
st
udy
the
dyna
mic
s of
jet
pip
e EH
SV
with
bui
lt-in
mec
hani
cal
feed
back
usi
ng F
inite
Ele
men
t M
etho
d (F
EM).
In j
et
pipe
EH
SV,
the
dyn
amic
s of
spo
ol g
reat
ly d
epen
ds o
n pr
essu
re r
ecov
ery
and
henc
e th
e flu
id f
low
at
spoo
l en
ds.
The
effe
ct
of
pres
sure
re
cove
ry
on
spoo
l dy
nam
ics
is s
tudi
ed u
sing
FEM
by
crea
ting
the
fluid
-st
ruct
ure-
inte
ract
ion.
Th
e an
alys
is
was
ca
rrie
d ou
t us
ing
the
com
mer
cial
ly a
vaila
ble
FE c
ode
AB
AQ
US.
Th
e je
t pi
pe a
nd s
pool
dyn
amic
s ar
e pr
esen
ted
in t
he
pape
r.
Str
engt
heni
ng
Spu
r G
ears
by
A
lter
ing
Str
ess
Dis
trib
utio
n Sa
mer
Mas
oud
Alsa
id1
and
Max
Bro
wn2
1 J
orda
n Un
iver
sity
of S
cien
ce &
Tec
hnol
ogy,
JOR
DAN
2 U
nive
rsity
of C
inci
nnat
i, U
SA
It
is
wel
l kn
own
that
ho
les
and
othe
r ge
omet
ry
chan
ges
can
alte
r th
e st
ress
dis
trib
utio
n in
a p
art.
Met
al
Fatig
ue
is
very
su
scep
tible
to
st
ress
co
ncen
trat
ion
so f
atig
ue l
ife c
an b
e gr
eatly
inc
reas
ed
by s
mal
l red
uctio
ns in
str
ess
at a
str
ess
conc
entr
atio
n.
The
purp
ose
of
this
pa
per
is
to
appl
y th
ese
two
prin
cipl
es t
o sp
ur g
ears
in
an a
ttem
pt t
o si
gnifi
cant
ly
incr
ease
gea
r lif
e by
red
ucin
g th
e st
ress
at
the
fille
t at
th
e ro
ot o
f th
e to
oth.
Whi
le b
reak
ing
of t
he t
ooth
is
the
prim
ary
area
of
ex
pect
ed
impr
ovem
ent,
wea
r ch
arac
teri
stic
s at
the
too
th c
onta
ct a
rea
wer
e al
so
mon
itore
d.
Fini
te
elem
ent
tech
niqu
es
(I-D
EAS
an
d A
NS
YS)
wer
e us
ed t
hrou
ghou
t to
eva
luat
e st
ress
es.
Thre
e ap
proa
ches
wer
e ta
ken.
The
con
cept
is t
hat
the
low
m
odul
us
mat
eria
l at
th
e st
ress
co
ncen
trat
ion
defo
rms
with
in t
he e
last
ic r
ange
shi
ftin
g th
e st
ress
to
the
high
mod
ulus
mat
eria
l at
a po
siti
on r
emov
ed f
rom
th
e st
ress
co
ncen
trat
ion.
U
sing
co
mm
on
mat
eria
ls
this
red
uced
str
esse
s by
30
-40
%.
33
Par
alle
l Tec
hnic
al S
essi
ons
VIII
, Sat
urda
y, 2
0 D
ecem
ber
20
08
: 14
.00
- 1
5.2
0
Time
VIIIA
: Oth
ers
Cha
irpe
rson
: Dr.
Nah
rul K
hair
Ve
nue:
Con
fere
nce
Roo
m
VIIIB
: Spe
ech
and
Imag
e P
roce
ssin
g C
hair
pers
on: D
r. A
isha
Has
san
Abd
alla
Ve
nue:
Sem
inar
Roo
m 1
VIIIC
: M
echa
tron
ics
Sys
tem
3
Cha
irpe
rson
: Dr.
Nai
m S
idek
Ve
nue:
Sem
inar
Roo
m 3
14.00– 14.20
Gen
eral
ized
O
ne-D
imen
sion
al
Flow
In
side
Th
erm
o-El
ectr
ical
ly C
ontr
olle
d M
icro
nozz
le
Amar
Has
an H
and
Rae
d Ka
fafy
In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a, M
ALAY
SIA
Flow
insi
de m
icro
nozz
les
suff
er f
rom
low
eff
icie
ncie
s du
e to
low
Rey
nold
s nu
mbe
rs.
Pre
sent
stu
dy g
o st
raig
ht t
o so
lve
the
gene
raliz
ed
Qua
si-O
ne
Dim
ensi
onal
fl
ow
equa
tion
insi
de m
icro
nozz
le n
umer
ical
ly c
onsi
deri
ng t
he
heat
su
pplie
d an
d re
mov
ed
to
the
subs
onic
an
d su
pers
onic
flo
w,
resp
ectiv
ely.
Th
e te
chni
que
used
to
su
pply
hea
ting
upw
ard
the
thro
at t
hen
supp
ly c
oolin
g do
wnw
ard
the
thro
at is
new
, the
rmoe
lem
ents
are
use
d as
no
zzle
wal
ls a
nd t
he e
lect
rica
l cu
rren
t fo
rces
the
hea
t to
m
ove
from
co
ld
side
to
ho
t si
de
insi
de
the
ther
moe
lem
ent
depe
ndin
g on
Pel
tier
conc
ept.
Hea
ting
the
subs
onic
flo
w
upw
ard
the
thro
at
then
co
olin
g su
pers
onic
flo
w d
ownw
ard
the
thro
at a
ccel
erat
e th
e flo
w
and
then
impr
ove
the
ther
mal
eff
icie
ncy
of th
e no
zzle
.
Aud
io C
ompr
essi
on u
sing
Wav
elet
Tra
nsfo
rm
Oth
man
O. K
halif
a, S
erin
g H
abib
Har
ding
and
Ai
sha
Has
san
Abdu
llah
Inte
rnat
iona
l Isl
amic
Uni
vers
ity M
alay
sia,
MAL
AYSI
A A
udio
co
mpr
essi
on
has
beco
me
one
of
the
basi
c te
chno
logi
es o
f th
e m
ultim
edia
age
. The
cha
nge
in t
he
tele
com
mun
icat
ion
infr
astr
uctu
re,
in
rece
nt
year
s,
from
circ
uit
switc
hed
to p
acke
t sw
itche
d sy
stem
s ha
s al
so
refle
cted
on
th
e w
ay
that
sp
eech
an
d au
dio
sign
als
are
carr
ied
in
pres
ent
syst
ems.
In
m
any
appl
icat
ions
, su
ch
as
the
desi
gn
of
mul
timed
ia
wor
ksta
tions
and
hig
h qu
ality
aud
io t
rans
mis
sion
and
st
orag
e, t
he g
oal
is t
o ac
hiev
e tr
ansp
aren
t co
ding
of
audi
o an
d sp
eech
sig
nals
at
the
low
est
poss
ible
dat
a ra
tes.
In
ot
her
wor
ds,
band
wid
th
cost
m
oney
, th
eref
ore,
the
tra
nsm
issi
on a
nd s
tora
ge o
f in
form
atio
n be
com
es c
ostly
. H
owev
er,
if w
e ca
n us
e le
ss d
ata,
bo
th
tran
smis
sion
an
d st
orag
e be
com
e ch
eape
r. Fu
rthe
r re
duct
ion
in b
it ra
te is
an
attr
activ
e pr
opos
ition
in
ap
plic
atio
ns
like
rem
ote
broa
dcas
t lin
es,
stud
io
links
, sa
telli
te t
rans
mis
sion
of
high
qua
lity
audi
o an
d vo
ice
over
inte
rnet
app
licat
ions
.
Sta
te
Feed
back
C
ontr
ol
Tuni
ng
for
Flex
ible
Jo
int
Man
ipul
ator
usi
ng P
SO w
ith
Con
stra
int
Mah
mud
Iwan
S.,
Andi
ka A
Wija
ya, W
ahyu
di
Inte
rnat
iona
l Isl
amic
Uni
vers
ity M
alay
sia,
MAL
AYSI
A In t
his
stud
y, p
artic
le s
war
m o
ptim
izat
ion
(PS
O)
is
adop
ted
to
tune
st
ate
feed
back
co
ntro
l ga
ins
for
flexi
ble
join
t m
anip
ulat
or.
Alth
ough
the
pro
blem
of
feed
back
con
trol
des
ign
is c
onve
ntio
nally
han
dled
by
pole
pla
cem
ent
met
hod
or l
inea
r qu
adra
tic r
egul
ator
(L
QR
) m
etho
d vi
a R
icca
ti eq
uatio
n, t
hey
still
pos
sess
in
conv
enie
nt t
rial a
nd e
rror
adj
ustm
ent
of p
aram
eter
. P
artic
ular
ly, c
hoos
ing
elem
ents
of
Q a
nd R
mat
rices
in
the
stat
e fe
edba
ck c
ontr
ol d
esig
n us
ing
LQR
met
hod
has
to
be
done
by
tr
ial.
Ther
efor
e,
an
inte
llige
nt
met
hod
to
reso
lve
this
pr
oble
m
is
prop
osed
by
ad
optin
g P
SO
alg
orith
m. T
he e
xper
imen
tal w
orks
hav
e be
en c
ondu
cted
in
labo
rato
ry u
sing
Qua
nser
’s r
otar
y fle
xibl
e jo
int.
The
resu
lts s
how
the
eff
ectiv
enes
s of
the
pr
opos
ed m
etho
d.
14.20 -
An
over
view
of
Pul
se O
xim
etry
Sys
tem
for
Non
inva
sive
M
onito
ring
M
uslim
A. A
bu-U
mar
, Lib
an A
. Kas
sim
and
Oth
man
O. K
halif
a In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a, M
alay
sia
Pul
se O
xim
eter
is
a m
edic
al e
lect
roni
c in
stru
men
t th
at
mea
sure
s th
e ox
ygen
sat
urat
ion
(SaO
2)
of a
rter
ial
bloo
d an
d pu
lse
rate
by
non-
inva
sive
tec
hniq
ues.
Sin
ce o
xyge
n is
the
mos
t im
port
ant
elem
ent
for
hum
an t
o co
ntin
ue
livin
g, a
n ef
fect
ive
low
-cos
t de
vice
is
need
ed t
o m
onito
r ox
ygen
le
vels
in
th
e hu
man
bl
ood.
La
ck
of
suff
icie
nt
oxyg
en in
pat
ient
s bl
ood
tend
to
caus
e H
ypox
emia
whi
ch
an a
bnor
mal
ly l
ow c
once
ntra
tion
of o
xyge
n in
the
blo
od.
It c
an c
ause
irre
vers
ible
bra
in d
amag
es a
nd e
vent
ually
A
Stu
dy
of
Inde
pend
ent
Com
pone
nt
Ana
lysi
s A
pplic
abili
ty
to
Feta
l H
eart
R
ate
Det
ectio
n us
ing
Pho
tole
thys
mog
arph
H
. Mal
ek, O
thm
an O
. Kha
lifa
and
M. A
. Moh
d Al
i In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a, M
ALAY
SIA
Pho
topl
ethy
smog
raph
(P
PG
) is
an
op
toel
ectr
onic
te
chni
que
for
mea
surin
g an
d re
cord
ing
chan
ges
in t
he
volu
me
of b
ody
part
s. T
hese
cha
nges
are
ass
ocia
ted
with
eac
h he
art
beat
and
acq
uire
d by
pul
se o
xim
etry
. Fe
tal
hear
t ra
te
(FH
R)
mon
itori
ng
usin
g P
PG
is
a
chal
leng
ing
task
sin
ce t
he a
cqui
red
sign
als
pres
ent
the
patt
ern
of b
oth
feta
l an
d m
ater
nal
hear
ts.
In t
his
pape
r, w
e st
udy
the
appl
icab
ility
of i
ndep
ende
nt
Dev
elop
men
t of
U
nman
ned
Vehi
cle
Uti
lizin
g G
PS
Sys
tem
M. H
. Ali,
S.B
Abd
ul H
amid
, M. A
. Rah
man
In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a, M
ALAY
SIA
In
rece
nt
year
s ho
wev
er,
sate
llite
na
viga
tion
has
star
ted
to e
xpan
d in
to o
ther
are
as s
uch
as r
ecre
atio
n an
d em
erge
ncy
resp
onse
. Th
ere
is n
o do
ubt
that
thi
s m
etho
d of
acq
uiri
ng p
ositi
on i
s he
re t
o st
ay,
and
will
co
ntin
ue t
o sp
awn
new
app
licat
ions
. In
fact
, the
mas
s co
nsum
er
mar
ket
for
sate
llite
na
viga
tion
rela
ted
prod
ucts
and
ser
vice
s is
exp
ecte
d to
dou
ble
in t
he
next
thr
ee y
ears
. It
is in
thi
s cl
imat
e th
at th
e pr
ojec
t
34
14.40
anes
thet
ic d
eath
s. T
his
pape
r pr
imar
ily f
ocus
es o
n th
e th
eory
beh
ind
puls
e ox
imet
ry.
Beg
inni
ng w
ith t
he B
eer-
Lam
bert
’s L
aw, w
hich
rel
ates
the
inte
nsity
of
light
bef
ore
and
afte
r an
ab
sorb
ing
med
ium
. A
n ov
ervi
ew
of
tech
niqu
es c
omm
only
use
d fo
r de
sign
of
puls
e O
xim
eter
is
pr
esen
ted.
Th
e pr
inci
ple
of
Pul
se
Oxi
met
ry
was
in
trod
uced
.
com
pone
nt a
naly
sis
(IC
A)
to F
HR
det
ectio
n us
ing
PP
G.
The
stud
y w
as c
ondu
cted
usi
ng e
mul
ated
sig
nals
to
mim
ic t
he p
ulsa
tion
natu
re o
f bo
th m
ater
nal a
nd f
etal
he
arts
. Th
e ou
tcom
e of
th
is
expe
rimen
t sh
ows
enco
urag
ing
resu
lts i
n te
rms
of I
CA
ext
ract
ion
abili
ty
whi
ch c
an w
ell-p
erfo
rm e
ven
whe
n fe
tal-t
o-m
ater
nal
SNR
(SFN
MR
) dro
ps to
-27
6 d
B.
aim
s to
dev
elop
a d
evic
e th
at w
ill u
se a
sat
ellit
e na
viga
tion
syst
em
to
loca
te
rem
ote
obje
cts.
C
ompl
etio
n of
th
e pr
ojec
t w
ill
dem
onst
rate
th
e fe
asib
ility
of
the
theo
ry,
and
in s
uch
a br
oade
ning
m
arke
t, it
may
be
poss
ible
to
deve
lop
the
syst
em
furt
her
into
a c
omm
erci
al p
rodu
ct.
14.40 - 15.00
The
Rol
e of
In
telli
gent
S
yste
ms
in
Mec
hatr
onic
s En
gine
erin
g N
ahru
l Kha
ir Al
ang
Md
Ras
hid
Int
erna
tiona
l Isl
amic
Uni
vers
ity M
alay
sia,
MAL
AYSI
A Mec
hatr
onic
s ca
n be
vie
wed
as
a co
nflu
ence
of
man
y di
scip
lines
fus
ed s
yner
gist
ical
ly t
o fo
rm a
n in
tegr
ated
or
syst
em
appr
oach
in
th
e de
sign
of
pr
oduc
ts
and
man
ufac
turi
ng p
roce
sses
. M
echa
tron
ics
som
etim
es a
re
mis
take
nly
seen
as
a pu
re c
ombi
natio
n of
mec
hani
cal
and
elec
tron
ics
engi
neer
ing.
Th
e in
fusi
on
of
cont
rol,
com
pute
r en
gine
erin
g, c
omm
unic
atio
n, d
igita
l sy
stem
s in
to it
pro
vide
the
glu
e or
the
enz
yme,
if c
an lo
ok a
t it
that
w
ay, f
or t
he f
orm
atio
n of
Mec
hatr
onic
s. T
he r
apid
gro
wth
of
exp
ert
syst
em,
inte
llige
nt s
yste
m f
urth
er p
rovi
des
the
unify
ing
elem
ents
tha
t ch
arac
teriz
e M
echa
tron
ics
as a
di
scip
line.
Th
is
pape
r lo
oks
at
the
role
of
in
telli
gent
sy
stem
in M
echa
tron
ics.
Usi
ng S
plin
e P
ath
in R
eal T
ime
Nav
igat
ion
Sim
ulat
ions
S
yste
ms
in C
onti
nuou
s S
pace
Ah
med
Mus
tafa
, Ais
ha-H
assa
n A.
Has
him
and
O
thm
an K
halif
a In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a, M
ALAY
SIA
This
wor
k ai
ms
to d
esig
n al
gori
thm
s us
able
by
real
tim
e sy
stem
s,
whi
ch
can
sim
ulat
e na
viga
tion
in
a gr
aph
base
d ne
twor
k, a
nd u
ses
curv
es s
plin
e’s
alon
g w
ith
the
stra
ight
lin
e pa
ths.
Th
e ne
twor
k w
ill
be
desc
ribe
d w
ith m
inim
um e
ffor
t, an
d pa
th n
umbe
r of
no
des
need
s to
be
min
imiz
ed.
The
real
tim
e sy
stem
ne
eds
a lig
ht
wei
ght
algo
rith
m
with
m
inim
um
calc
ulat
ions
in
orde
r fo
r th
is a
lgor
ithm
to
be i
nsta
ntly
us
ed. T
he s
mar
t ag
ent
will
be
able
to
effic
ient
ly f
ind
its
path
thr
ough
a n
etw
ork
that
con
sist
s of
cur
ved
and
stra
ight
pat
hs th
at li
nks
betw
een
dest
inat
ions
.
Fuzz
y-ba
sed
NC
TF C
ontr
olle
r fo
r P
TP P
ositi
onin
g: F
uzzy
M
embe
rshi
p an
d R
ule
Bas
ed M
odifi
catio
ns
Purt
ojo,
Rin
i Akm
elia
wat
i and
Wah
yudi
In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a, M
ALAY
SIA
Fuzz
y-ba
sed
Nom
inal
ch
arac
teri
stic
tr
ajec
tory
fo
llow
ing
(NC
TF)
cont
rolle
r ha
d be
en p
ropo
sed
as a
pr
actic
al c
ontr
olle
r fo
r po
int-t
o-po
int
(PTP
) po
sitio
ning
sy
stem
. H
owev
er,
the
Fuzz
y-ba
sed
NC
TF c
ontr
olle
r is
on
ly e
ffec
tive
for
a sm
all d
ispl
acem
ent.
As
a re
sult
the
resp
onse
sp
eed
of
the
Fuzz
y-ba
sed
NC
TF
cont
rol
syst
em is
not
as
fast
as
expe
cted
by
the
NC
T. In
ord
er
to o
verc
ome
this
pro
blem
, in
thi
s pa
per,
mem
bers
hip
func
tions
of
the
fuzz
y co
mpe
nsat
or a
re m
odifi
ed s
o as
th
e m
otio
n of
the
pla
nt c
ontr
olle
d by
the
Fuz
zy-b
ased
N
CTF
con
trol
ler
reac
h an
d th
en f
ollo
w t
he N
CT
quic
kly
even
if th
e di
spla
cem
ent i
s la
rge.
15.00 - 15.20
A
n Is
olat
ed C
hara
cter
Seg
men
tatio
n A
ppro
ach
Assm
a O
. H. A
yyad
, Oth
man
O. K
halif
a an
d Ai
sha
Has
san
In
tern
atio
nal I
slam
ic U
nive
rsity
Mal
aysi
a, M
ALAY
SIA
Dev
elop
ing
an
appr
oach
fo
r ch
arac
ter
reco
gniti
on
requ
ires
accu
racy
in
the
stag
e of
seg
men
tatio
n, w
hile
fo
r w
ord
reco
gniti
on, s
egm
enta
tion-
free
cou
ld b
e m
ore
usef
ul,
as
the
erro
r in
se
gmen
tatio
n m
isle
ads
the
follo
win
g pr
oces
ses
of w
ord
reco
gniti
on. I
n th
is p
aper
, a
revi
ew o
f th
e se
gmen
tatio
n te
chni
ques
is c
ondu
cted
. Th
e re
view
is b
ased
on
the
prev
ious
wor
k in
the
field
of
Han
dwrit
ten
Ara
bic
Wor
d R
ecog
nitio
n. F
urth
erm
ore,
ou
r ap
proa
ch
of
com
bini
ng
the
segm
enta
tion
and
segm
enta
tion-
free
tec
hniq
ues
to h
andl
e C
hara
cter
and
W
ord
reco
gniti
on
resp
ectiv
ely
is
emph
asiz
ed
alon
g w
ith t
he m
ost
rece
nt r
esul
ts o
btai
ned.
35
MALAYSIA – TRULY ASIA
With the land size of 329,758 sq km the Federation of Malaysia comprises of Peninsular Malaysia and the states of Sabah and Sarawak on the island of Borneo. Located between 2º and 7º north of the Equator, Peninsular Malaysia is separated from the states of Sabah and Sarawak by the South China Sea. To the north of Peninsular Malaysia is Thailand while its southern neighbour is Singapore. Sabah and Sarawak are bounded by Indonesia while Sarawak also shares a border with Brunei. Malays who make up about 57% of the 25 million populations are the predominant group in Malaysia, with Chinese, Indians and other ethnic groups making up the rest. Bahasa Melayu (Malay) is the national language but English is widely spoken. The ethnic groups also speak various languages and dialects. The official religion in Malaysia is Islam but all other religions are freely practiced. Malaysia is blessed with a tropical climate with warm weather all year round. The temperatures ranged from around 21ºC (70ºF) to 32ºC (90ºF) and the annual rainfall varies from 2,000mm to 2,500mm. Manufacturing constitutes the largest single component of Malaysia’s economy. Tourism and primary commodities such as petroleum, palm oil, natural rubber and timber are other major contributors to the economy.
Malaysia is divided into Peninsular Malaysia (West Malaysia) and East Malaysia. The capital, Kuala Lumpur, lies midway along the West Coast of Peninsular Malaysia. Kuala Lumpur represents the heartbeat of Malaysia, serving as its administration, cultural, commercial and transportation centre. It all began in the Middle of the 19th century when a group of tin prospectors came to settle around the convergence of the Klang and Gombak rivers. This marked the foundation of Kuala Lumpur and it has been its share of growth and setbacks to become metropolitan centre of today. With a population of over 1.3 million, Kuala Lumpur is by far the largest city in Malaysia. Malays, Chinese and Indians comprise the main races among others in this multicultural backdrop. This ethnic diversity has shaped the city over the years and is clearly seen in the various cultural customs and religious beliefs, as well as languages, cuisines and architecture. Better known as KL to the locals, the city is a heady mix of history and culture intertwined with mushrooming skyscrapers and office towers. Kuala Lumpur is one of the best examples of a city that has managed to preserve the best of its cultural heritage and combine it with modern conveniences to offer a wholly unique experience to visitors.
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INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA (IIUM)
IIUM was established in 1983 to fulfill one of the major aspirations of the contemporary global Muslim community. This yearning of the Ummah is a key element in IIUM’s vision statement: "To be an international centre of educational excellence which integrates Islamic revealed knowledge and values in all disciplines and which aspires to the restoration of the Ummah’s leading role in all branches of knowledge."
IIUM operates under the direction of a Board of Governors with representatives from the eight sponsoring governments and the Organization of Islamic Conference (OIC). Currently, IIUM is home to over 15,000 students including students from more than 100 countries and 3,000 teaching and administrative staff members.
The university's current physical facilities are located at three sprawling campuses in Gombak, Kuala Lumpur, and Kuantan, and a Matriculation Centre in Petaling Jaya. This is a far cry from its humble beginnings in 1983 when it operated from temporary quarters with 153 students and a handful of lecturers and administrators.
IIUM offers a wide range of academic programmes through its faculties of Science, Laws, Medicine, Engineering, Islamic Revealed Knowledge and Human Sciences, Economics and Management, Nursing and Allied Health Sciences and Architecture and Environmental Design. These are geared towards both skill-building and scholastic attainments and designed in accordance with IIUM’s philosophy, which is built upon the belief that knowledge must be pursued and propagated in the spirit of tawhid, as an act of worship, in full recognition that it is a trust which Allah has placed upon mankind. Malaysian graduates of IIUM have performed well in both the public and private sectors. Since 1987 IIUM has been producing about 3,000 graduates annually.
Website: http://www.iium.edu.my
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FACULTY OF ENGINEERING, IIUM
The mission of the Faculty of Engineering is to provide quality engineering education, with sufficient scope to include fundamental and specialized knowledge and practice in engineering and a broad base in management, ethics, and humanities. This will enable our graduates to be ready to serve the current and emerging needs of the society. Besides being professionally qualified and competent, the graduates will acquire spiritual, intellectual, moral and ethical characteristics towards the development of an integral and harmonious relationship with Allah (the creator), fellow human beings and with the natural environment. The interdisciplinary approach to engineering education not only allows the graduates to solve industrial and human problems; it will also enable them to bring about and manage changes in conformity with the worldview based on the principles of Islam. Currently, there are eight programmes being offered: Aerospace Engineering, Automotive Engineering, Biotechnology Engineering, Communication Engineering, Computer and Information Engineering, Manufacturing Engineering, Materials Engineering, and Mechatronics Engineering. The faculty is also offering postgraduate engineering programmes leading to MSc. and Ph.D. degrees. At the moment the student population at the undergraduate level stands at 1981 with 200 students at the postgraduate level. Research and development is one of the primary activities in the Faculty of Engineering and there are excellent facilities, qualified and competent academic staff, and conducive environment which enhance active participation in research activities in various fields of Engineering. To foster research collaboration amongst faculty members, research units and research groups have been established. Presently, there are three research units and fifteen research groups which span various areas of engineering, encompassing both conventional and emerging fields. There are also well equipped Advanced Laboratories to support research and development activities and postgraduate studies. The Faculty of Engineering offers PhD and Master degree programmes. The PhD programme is by research whereas the Master degree programme is conducted in three modes, namely, research only, mixed mode (equal number of credits for both courses and research), and courses only. It offers eight master programmes in the following areas: Automotive Engineering, Biotechnology Engineering, Communication Engineering, Computer and Information Engineering, Electronic Engineering, Manufacturing Engineering, Material Engineering, Mechatronics Engineering. There are also the Executive Master degree programmes by taught courses run by Advanced Engineering and Innovation Centre (AEIC).
Website: http://eng.iium.edu.my
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ACKNOWLEDGMENT
The organizing committee acknowledges the efforts of all those who have contributed their valuable time and efforts as reviewers in ensuring high quality technical papers for the 3rd International Conference on Mechatronics 2008 (ICOM’08) Deepest appreciation to all faculty members of the Faculty of Engineering, International Islamic University Malaysia (IIUM) for their sincere cooperation in making the conference successful. Appreciation also goes to all parties who have contributed to the success of the 3rd International Conference on Mechatronics 2008 (ICOM’08). Finally, the organizing committee would like to express their thanks to the following companies for sponsoring this conference:
Techsource Sdn. Bhd. National Instruments Akademi Caddcam
WNF Resources Sdn. Bhd. DAG Technologies (M) Sdn. Bhd.
Vanguard Company Sasbadi Sdn. Bhd.
Solutions4U Sdn. Bhd. EIS (M) Sdn. Bhd. Tekmark Sdn. Bhd.
Preferred Vision Sdn. Bhd. Selari Technology Sdn. Bhd.
i-Math Sdn. Bhd.
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3rd International Conference on Mechatronics 2008 (ICOM'08) 40
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