3rd INTERNATIONAL CONFERENCE ON MECHATRONICS

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


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


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


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


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


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


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


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


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


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


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


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


Session IIIB Machine Vision 2


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


Session IVC Vehicle Dynamics &

Control 2 Venue: Seminar Room 3

Parallel Technical Sessions V 11.20 - 12.20

Session VA Robotics 3


Session VB Mechatronics & Robotics

in Education Venue: Seminar Room 1

Session VC Unmanned Vehicle


12.30 - 13.30 Lunch & Friday Prayer

13.30 - 14.00 Talk: I-Math Sdn. Bhd.


14.00 - 14.30 Talk: Solution 4U Sdn. Bhd. Venue: Conference Room


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


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


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


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


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.



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.



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.


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.



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.



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.


ICOM ’08 CONFERENCE ABSTRACTS


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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.


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


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


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.


Resources Sdn. Bhd. (previously known as WNF Waja) is a fast growing company in the area of Educational Training Equipment. We provide excellent services to our customers in the education industries. DESIGNER AND FABRICATOR OF CUSTOMIZED TRAINING EQUIPMENT IN PROCESS CONTROL INSTRUMENTATION, AUTOMATION AND ROBOTICS

Products and Services:Educational Training Equipment

- Control & Instrumentation - Test & Measurement - Process Equipment - Mechatronics - Automation and Robotics

Specialized Engineering courses in Mechanical/Electrical /Electronics /Mechatronics area

- Custom made Experiment Courseware - Custom made training for lecturers/trainers

Workshop Machineries Training and Consultancy Services

Contact Us: WNF RESOURCES SDN BHD (786799-M) Tel: +60126300109 / +60193322365 Fax:+60341473179 Email:[email protected] Weblog: http://wnfresources.blogspot.com


Sdn Bhd (706527-A) 36-1, Plaza Puchong, Jalan Puchong Mesra 1, 58200 Kuala Lumpur, Malaysia Tel : +603-8071 1300 Fax : +603-8071 1400

Pte Ltd 259 Onan Road, Singapore 424651 Tel : +65 6468 3325 Fax : +65 6764 5646 Email: [email protected]

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Googol Technology had developed a series of motion control challenge models that covers a wide range of engineering principles. Initially designed to solve research problems in real world, this widely used and robust models had evolved into establish ranges of solutions for teaching and research at all levels – from introducing control concepts to advanced motion control research. Its motion controllers and systems are also applied in wide range of industries including semiconductor / microelectronics, plastic injection molding, and CNC machine tool. With strong support of a regional application engineering expertise, cost effectiveness, and high performance had set Googol Technology apart from all others.

Solutions4U

Solutions4U

Register at our booth for a LIVE Control

Hardware demonstration.

We Specialize in

● Test & Measurement Systems ● System up Grading & Modification ● Power Monitoring / Control Systems ● Industrial and Electronic Tools ● Process Automation / Control ● PCB Manufacturing System ● Education Trainer Systems ● Repair & Service Test Equipment/ Education Trainer


3rd INTERNATIONAL CONFERENCE ON MECHATRONICS

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