High-speed Robert’s Cross edge detector using residue number system

Digital image processing is one of the high demands in the market that is targeted from a variety of fields. This demand has arisen because of the introduction of applications for editing and capturing images in the market. In image processing, the Robert's Cross Detector (RCD) is a detector that conducts median reordering, picture smoothing, and quick 2-D convolution on an image to discover edge pixels. This approach is based on noise reduction and gradient-based edge detection algorithms. RCD is designed to avoid creating statistics that are artificial while highlighting changes in intensity that occur in a diagonal direction. When it comes to speed, power consumption, and throughput rate application, having a mathematical arithmetic process with a high throughput is always one of the most important factors to attain. Positional number system requires large bit width to process the data which slows down the computation and becomes the major issue while processing the edge detection. On the other hand, the complexity of this implementation's design and the amount of computing it requires make it expensive to implement. Therefore, Residue Number System (RNS) architecture is implemented to replace normal PNS architecture. The RNS represents binary numbers using a set of residue numbers. Each modulus in the moduli set transforms enormous numbers into a collection of small residue numbers without requiring the full propagation chain length of adders and multipliers. Due to the carry free characteristic of residue numbers, the calculation on the set of residue numbers can be performed in parallel. As a result, RNS outperforms conventional positional number systems in mathematical computations. This study aims to create an RNS-based RCD with a high computing speed and throughput for processing picture data. In Gaussian filter and Robert Cross Operator (RCO) functional blocks, arithmetic units are implemented in Positional Number System and Residue Number System. Those units are replaced with smaller bit width of modulo adder and multiplier in residue number system. Simulation is carried out in Quartus Prime 21.1 and compiled in Synopsys Design Compiler. The Signal Noise Ratio, Peak Signal Noise Ratio, and absolute percentage error show better results in the RNS-based Gaussian Filter functional block. The results are similar for both the PNS and RNS-based RCO functional blocks. From the result of Synopsys Design Compiler, the operating frequency and throughput of RNS-based RCD are 282MHz and 3384MHz, whereas for PNS-based RCD, they are 151MHz and 2416MHz. The area of the RNS-based RCD and PNS-based RCD is 1187212.12um and 1143353.53um, respectively. For power analysis, RNS-based RCD consumed more power, which is 299.138mW, whereas PNS-based RCD consumed 290.646mW. In conclusion, the RNS-based RCD outperforms the PNS-based RCD by 86.75% and 40.10% from the speed perspective, but it traded off and required higher area and power, with a percentage of 3.83% and 2.92%, respectively

Position tracking of underwater vehicle using extended Kalman Filter

Position tracking is essential for mobile robots for autonomous functionalities and navigation especially for robots that are deployed in underwater conditions. Hence, this thesis proposes the usage of the Extended Kalman Filter (EKF) for position tracking of an underwater vehicle. Underwater vehicles cannot use conventional GPS for position tracking due to radio signals being damped by the body of water surrounding it. Underwater GPS(UGPS) is used for predicting the position of underwater vehicles, but it suffers from latency issues. Therefore, estimation algorithms like Kalman Filter (KF) and EKF are applied to provide a consistent position value from the UGPS. The main advantage of the EKF estimation algorithm is it can estimate the state of a non-linear system without an observable model. It is a nonlinear extension of KF, and it is a popular method used in estimating robot position due to its simplicity and consistency. The main objective of this research is to implement EKF in underwater conditions using UGPS relative position and Inertial Measurement Unit (IMU) orientation. The secondary objective of this research is improving EKF positioning estimation by implementing of outlier filters. Overall, the proposed system allows accurate position tracking of underwater vehicles. Before EKF is applied, the dead reckoning model of the ROV was developed as the vehicle odometry. In addition, an experiment is conducted by evaluating the odometry of the robot where the transmitter of the UGPS is attached to the Remotely Operated Vehicle (ROV) and need to travel a pre-measured distance and compare the odometry output of the ROV with the measured distance. To test the effectiveness of the proposed method, the EKF was implemented offline with recorded data consisting of Underwater GPS (UGPS) and Inertial Measurement Unit (IMU). The filtered EKF output is evaluated by using MSE and RMSE to ensure the distinct features of the output signals are retained. The MSE and RMSE of median mean filter are less than 0.1 meter which signifies the filtered output of EKF retains the distinct features of the raw output of EKF. The proposed method can overcome the UGPS latency issues and accurately estimate the underwater vehicle’s pose

Implikasi ketidakpatuhan pihak berkuasa tempatan terhadap kelulusan kebenaran merancang dalam konteks memulakan kerja binaan

Kebenaran merancang merupakan kebenaran yang diberi oleh PBPT bagi memulakan pemajuan atau pembangunan di Semenanjung Malaysia. Notis Mula Kerja Binaan hendaklah dikemukakan kepada PBT sebagai penentu kepada tarikh sesuatu pemajuan dimulakan secara rasmi dan telah mematuhi ke semua aspek perundangan. Objektif kajian yang pertama adalah untuk mengenalpasti peruntukan undang-undang dan peraturan yang berkaitan dengan kebenaran merancang dan Notifikasi Mula Kerja Binaan. Objektif kajian yang kedua adalah mengkaji ketidakpatuhan pihak berkuasa tempatan dalam proses dan prosedur kebenaran merancang dan Notifikasi Mula Kerja Binaan beserta punca dan implikasinya. Kajian ini dijalankan melalui tiga (3) kajian kes di MBJB iaitu permohonan pelan pemajuan yang mempunyai isu dan masalah semasa hendak mengemukakan Notis Mula Kerja Binaan dan temubual bersama dua belas (12) orang responden. Hasil kajian mendapati ketidakpatuhan PBT berlaku apabila PBT membenarkan sesuatu perkara berlaku tidak mengikut perundangan dan peraturan sedia ada sama ada atas rayuan pemilik projek, PSP, SP atau atas kelalaian PBT sendiri. Terdapat sembilan (9) ketidakpatuhan berlaku berkaitan dengan kelulusan kebenaran merancang semasa pengemukaan Notifikasi Mula Kerja Binaan yang berpunca daripada arahan dari pihak atasan, bertindak berdasarkan keputusan mesyuarat, hak jabatan untuk memberi pengecualian dan tidak mengetahui ia adalah satu ketidakpatuhan. Ketidakpatuhan yang berlaku ini menimbulkan empat (4) implikasi terhadap PBT iaitu pelanggaran peruntukan Akta 172, Akta 133 dan UKBS, mengikat PBT dengan Doktrin Legitimate Expectation, kehilangan hasil PBT dan mencalar imej dan integriti PBT. Oleh yang demikian, semua tindakan PBT hendaklah berpaksikan undang-undang dengan mematuhi proses dan prosedur yang telah ditetapkan untuk memastikan prinsip Rule of Law dapat diterjemahkan dalam sistem penyampaian perkhimatan kerajaan

Pengekstrakan butiran topografi berasaskan kecerdasan buatan dari imej beresolusi tinggi bagi pemetaan berskala 1:5000

Pengekstrakan butiran dari imej satelit beresolusi tinggi dapat meningkatkan kecekapan penghasilan generasi peta dan produk pemetaan. Metodologi konvensional pengekstrakan butiran memakan masa dan tidak dapat mematuhi polisi pengemaskinian peta topografi kebangsaan. Oleh itu, kaedah automatik adalah merupakan satu keperluan untuk pemetaan kawasan besar dengan berkesan dan kos efektif. Teknologi semasa dalam pengekstrakan butiran bagi kawasan bandar bergantung pada atribut fizikal sebagai asas untuk diklasifikasikan. Kaedah pengekstrakan butiran secara automatik digunakan dalam kajian ini bagi mengemaskini peta topografi berskala besar iaitu 1:5000. Objektif kajian adalah untuk mengenalpasti sumber imej satelit yang berpotensi serta menganalisis ketepatan planimetri dan geometri hasil pengekstrakan secara automatik. Algoritma kecerdasan buatan bagi pengekstrakan butiran topografi adalah berasaskan pendekatan penganotasi peta dan pengecaman pandangan. Oleh itu, kajian ini menunjukkan keberhasilan pendekatan alternatif untuk mengekstrak butiran semula jadi dan buatan manusia dari imej beresolusi tinggi dan penggunaan algoritma kecerdasan buatan. Kombinasi imej raster beresolusi tinggi 0.3m sebagai sumber utama dan algoritma kecerdasan buatan merupakan metodologi yang berpotensi dan efektif untuk aplikasi pengekstrakan butiran topografi. Ralat punca min kuasa dua (RMSE) bagi pengekstrakan data vektor ialah 0.646m. Kaedah ini menunjukkan tahap penerimaan penggunaan yang tinggi dalam mengemaskini peta topografi berskala besar dengan cepat kepada akademik dan agensi berkepentingan

Analysis of the hybrid adhesion mechanism of the wall climbing robot

This paper presents the design and analysis of hybrid method adhesion mechanism of the Wall Climbing Robot (WCR) by using online Computational Fluid Dynamic (CFD) software SIMSCALE. The simulation is focused on the investigation of the air flows and negative pressure region inside the chamber while calculating the adhesion force by varying the gap height of the chamber and the air flowrate which correspond to the propeller rotational speed. The results of this simulation show the increased in adhesion force by decreasing the gap height. Also, from the result, it is found that there is a limit on flowrate to maintain the adhesion force at a small gap height. The results also show significant increase of force production with respect to the thrust force which is the original force produced by the Electric Ducted Fan (EDF). This shows that the hybrid method can make the EDF to produce much higher force than its normal mode

Factors influencing customer preference toward e-commerce platforms’ product return service

As the global consumer becomes more and more reliable towards technology and digitalization. The amount of consumer that makes their purchases for their personal needs have increased exponentially as they don’t have to go to the physical shops and their products will be sent via courier service right to their doorsteps. According to author (Gupta, 2014), more business community have become aware of the e-commerce potential and its benefits. This scenario has changed the market from the traditional that’s more physical to an electronic marketplace that has seen the narrowing down of business capital size. As there’s a rapid increase in e-commerce market, the competitiveness among business community have also becomes more vigorous as to capture a bigger market share. In this research studies will focus on product return service influence customer preference when choosing e-commerce platform. The factor that will influence customer preference is cost of return, flexibility in product return process, logistics provider and information system. The objective of this research is to identify factors influencing customer preference towards e-commerce product return service, identify the significant factors influencing customer preference towards e-commerce product return service and to purpose work flow for return service management. Researcher has been choosing the southern region of Malaysia as the study area. For this research study, researcher has been chosen student that studied in the southern region of Malaysia as respondent. 3 biggest University in Johor that represent overall student in Southern region Malaysia. University Technology Malaysia Skudai, University Technology Mara Pasir Gudang Campus, and University Kuala Lumpur Malaysian Institute of Industrial Technology Campus (UNIKL M|TEC). The finding of the research, researcher able to identify the factors influencing customer preference towards e-commerce product return service, the significant factors and also what is the improvement on the current workflow of the product return service

Green synthesis of zinc oxide silver nanoparticles using punica granatum for antibacterial and anticancer applications

The problem of antimicrobial resistance (AMR) is expected to become a much worse issue as more microbes have developed resistance to conventional drugs. Thus, making medical treatments more complicated than usual. Similarly, cancer disease has been projected to affect a large number of human populations in the next few decades, resulting in increased morbidity and mortality worldwide. The field of nanotechnology has been thriving as it shows potential to ameliorate these growing concerns. Metallic nanomaterials such as zinc oxide nanoparticles (ZnO-NPs) and silver nanoparticles (Ag-NPs) are interesting materials to study as they possess great physical and chemical properties that could contribute in antibacterial and anticancer applications. Individual ZnO-NPs and Ag-NPs exhibit excellent activities in various field but there is still a lack of information on the efficiency of biologically synthesized coupled zinc oxide silver nanoparticles (ZnO-Ag-NPs) for use as antibacterial or anticancer agent. In this research, the “green” synthesis of ZnO-NPs and ZnO-Ag-NPs in the presence of Punica granatum (pomegranate) fruit peels extract under different parameters is reported. P. granatum fruit peels extract contains an abundance of phytochemicals that can act as a reducing or stabilizing agent during NPs synthesis process. Characterization of synthesized samples were carried out using X-ray diffraction (XRD), UV-visible (UV-vis) spectroscopy, High Resolution Transmission Electron Microscopy (HR-TEM) and Fourier Transform Infrared spectroscopy (FTIR). Sol-gel as well as combustion method was adopted for the synthesis of ZnO-NPs and the effect of calcination temperatures (400, 500, 600 and 700 °C) on the physico-chemical properties of ZnO-NPs was investigated. Crystallinity and particle sizes of the biosynthesized ZnO-NPs increased proportionally with calcination temperature. Subsequently, ZnO-Ag-NPs was synthesized using precipitation method in acidic, neutral and alkaline medium reaction (pH 5, pH 7 and pH 9 respectively) with P. granatum F. peels extract as a reducing/stabilizing agent. The role of pH during synthesis process of ZnO-Ag-NPs was evaluated and discussed accordingly. XRD confirmed the production of highly pure ZnO-Ag-NPs with increased crystallinity for samples in higher pH level. UV-vis analysis displayed shifting of absorption peaks of ZnO-Ag-NPs towards higher wavelength and a decrease in band-gap energy compared to pure ZnO-NPs, further confirming the coupling of Ag-NPs onto ZnO-NPs. For antibacterial studies, ZnO-Ag-NPs showed significantly high inhibition activities of both Gram-positive and Gram-negative bacterial strains compared to pure ZnO-NPs. The proposed mechanism of this enhanced antibacterial activities was further elaborated. In vitro cytotoxicity studies of the biosynthesized ZnO-NPs and ZnO-Ag-NPs against human colorectal cancer cell and normal colon cell were investigated but results showed non-selective killing of cells for both NPs. To conclude, pomegranate-mediated ZnO-Ag-NPs proves to be efficient as antibacterial agent, however, further modifications are required to give the NPs better specificity for cancer killing activities

In-situ sterilization of microalgae photobioreactor via ozone-rich macrobubbles

Aseptic technique plays a critical role in determining high volumes of microalgae biomass during the cultivation stage as the presence of a contaminant is one of the limiting factors. This study focuses on developing an energy-efficient method in sterilizing the 2 L microalgae photobioreactor. Initially, the seawater bacterial contaminant was successfully screened, isolated and identified as Kurthia gibsonii. The photobioreactor sterilization using ozonolysis was optimized using one factor at a time (OFAT), with 3 parameters studied: ozone aeration rate (0.5 L/min, 1.0 L/min and 1.5 L/min), bacterial culture volume (1.0 L, 1.5 L, and 2.0 L) and ozonation time (maximum of 180 minutes with 30-minute intervals). The ozonation technique at optimum condition reduced the contaminants up to 7 log reductions. The initial cells concentration in 1 L culture containing 6.73×107 cells/ml was reduced to 7 cells/ml after being ozonated for 180 min. The morphology study of the bacteria before and after ozonation (at 1000X magnification) confirmed that ozonation shattered the cells into small pieces. This study reveals the possibility of replacing energy-intensive sterilization techniques such as the autoclave method with ozonolysis. Ozonation method is more energy efficient, with a total 1.26 kW energy used during the sterilization process as compared to autoclaved method with 3.565 kWh. The study proves that the ozonation method is energy efficient, cheaper and easily applied to a larger industrial scale as well

Perbezaan nilaian dari segi faktor pemilikan bagi Tanah Rizab Melayu dan Tanah Luar Rizab Melayu di negeri Perak

Tanah Rizab Melayu (TRM) merupakan satu perundangan pemilikan tanah yang dikhaskan kepada masyarakat melayu sahaj a. Sekatan Rizab Melayu merupakan sekatan pemilikan di mana harta tanah berkenaan hanya boleh dimiliki oleh ‘orangorang Melayu’ sahaja dan dipindahmilik/digadaikan kepada ‘orang-orang Melayu’ sahaja, yang secara tidak langsung menyekat pasaran. Namun demikian, sekatan pindahmilik tersebut adalah dikecualikan kepada tanah kepunyaan pemilik bukan Melayu yang diisytiharkan sebagai Rizab Melayu sebelum merdeka di bawah Seksyen 6(vi), ERM dan Perkara 89(4), Perlembagaan Persekutuan. Seseorang Penilai seringkali menghadapi masalah dalam membuat keputusan dalam menentukan nilaian. Pendekatan nilaian yang paling popular dan sering digunapakai oleh Penilai adalah Pendekatan Perbandingan. Ketiadaan perbandingan jual beli yang sebanding sering menimbulkan masalah kepada seorang Penilai. Apabila perbandingan yang kurang sebanding digunakan, pelarasan yang sewajarnya perlu diberikan bagi faktor-faktor yang berbeza. Begitulah juga keadaannya apabila menilai TRM. Kajian ini berhasrat mengetahui kewujudan perbezaan nilaian dari segi faktor pemilikan Tanah Rizab Melayu dan Tanah Luar Rizab Melayu. Kajian ini dijalankan dengan menggunakan data transaksi yang diperolehi dari VIS JPPH. Pemilihan mengikut kriteria tertentu telah dij alankan dan seterusnya data tersebut diproses untuk dianalisis melalui program SPSS. Perbezaan nilai tersebut akan ditunjukkan dalam bentuk peratusan. Melalui kajian yang dijalankan, penulis mendapati bahawa terdapat perbezaan antara nilai TRM pemilikan bukan Melayu dan pemilikan Melayu manakala nilai TRM pemilikan bukan Melayu mempunyai nilai yang hampir sama dengan nilai TLRM. Perbezaan nilaian tersebut berlaku disebabkan pengecualian sekatan pindahmilik kepada Tanah Rizab Melayu di bawah pegangan bukan Melayu. Semoga kajian ini dapat menjadi rujukan kepada Penilai JPPH dan Penilai Swasta dalam kerja-kerja pelarasan terutamanya dari segi faktor pemilikan di TRM khususnya di Negeri Perak. Kekurangan data transaksi yang memenuhi kesemua kriteria yang ditetapkan untuk tujuan analisis dan kekurangan bahan penulisan berkaitan TRM dari sudut nilaian merupakan kekangan dihadapi dalam kajian ini

Comparative study of service-based sentiment analysis of social networking sites fanatical contents

The proliferation of mobile web services (MWS) for sentiment analysis makes it hard to identify the best MWS for sentiment analysis of social networking sites’ fanatical contents. This paper carries out a comparative study of service-based sentiment analysis of social networking sites’ fanatical contents. This is achieved by cleaning, transformation, and reduction of fanatical contents from the publicly available social media dataset, and multiple MWS are selected for comparison using the application programming interface (API) key of the MWS. To evaluate the service-based sentiment analysis, standard measures such as accuracy, precision, recall, and f-measures of sentiment result for each MWS are used. The result shows that Dandelion SA performs better in terms of accuracy (72.5%) and recall (76.9%), while Wingify SA performs better in terms of precision (88.6%) and f-measure (75.5%), though AlchemyAPI offers the most crucial elements in analyzing sentiments such as emotion, relevance score, and sentiment type. The outcomes of this paper will benefit the sentiment analysis service developers, sentiment analysis service requesters as well as other researchers in the social media fanatical content domain