Contemporary Robotics

This book book is a collection of 18 chapters written by internationally recognized experts and well-known professionals of the field. Chapters contribute to diverse facets of contemporary robotics and autonomous systems. The volume is organized in four thematic parts according to the main subjects, regarding the recent advances in the contemporary robotics. The first thematic topics of the book are devoted to the theoretical issues. This includes development of algorithms for automatic trajectory generation using redudancy resolution scheme, intelligent algorithms for robotic grasping, modelling approach for reactive mode handling of flexible manufacturing and design of an advanced controller for robot manipulators. The second part of the book deals with different aspects of robot calibration and sensing. This includes a geometric and treshold calibration of a multiple robotic line-vision system, robot-based inline 2D/3D quality monitoring using picture-giving and laser triangulation, and a study on prospective polymer composite materials for flexible tactile sensors. The third part addresses issues of mobile robots and multi-agent systems, including SLAM of mobile robots based on fusion of odometry and visual data, configuration of a localization system by a team of mobile robots, development of generic real-time motion controller for differential mobile robots, control of fuel cells of mobile robots, modelling of omni-directional wheeled-based robots, building of hunter- hybrid tracking environment, as well as design of a cooperative control in distributed population-based multi-agent approach. The fourth part presents recent approaches and results in humanoid and bioinspirative robotics. It deals with design of adaptive control of anthropomorphic biped gait, building of dynamic-based simulation for humanoid robot walking, building controller for perceptual motor control dynamics of humans and biomimetic approach to control mechatronic structure using smart materials

Design and Modelling of Passive UHF RFID Tags for Energy Efficient Liquid Level Detection Applications. A study of various techniques in the design, modelling, optimisation and deployment of RFID reader and passive UHF RFID tags to achieve effective performance for liquid sensing applications

Sewer and oil pipeline spillage issues have become major causes of pollution in urban and rural areas usually caused by blockages in the water storage and drainage system, and oil spillage of underground oil pipelines. An effective way of avoiding this problem will be by deploying some mechanism to monitor these installations at each point in time and reporting unusual liquid activity to the relevant authorities for prompt action to avoid a flooding or spillage occurrence. This research work presents a low cost energy efficient liquid level monitoring technique using Radio Frequency Identification Technology. Passive UHF RFID tags have been designed, modelled and optimized. A simple rectangular tag, the P-shaped tag and S-shaped tag with UHF band frequency of operation (850-950 MHz) has been designed and modelled. Detailed parametric analysis of the rectangular tag is made and the optimised design results analysed and presented in HFSS and Matlab. The optimised rectangular tag designs are then deployed as level sensors in a gully pot. Identical tags were deployed to detect 4 distinct levels in alternate positions and a few inches in seperation distance within the gully pot height (Low, Mid, High and Ultra high). The radiation characteristic of tag sensors in deployment as modelled on HFSS is observed to show consistent performance with application requirements. An in-manhole chamber antenna for an underground communication system is analysed, designed, deployed and measured. The antenna covers dual-band impedance bandwidths (i.e. 824 to 960 MHz, and 1710 to 2170 MHz). The results show that the antenna prototype exhibits sufficient impedance bandwidth, suitable radiation characteristics, and adequate gains for the required underground wireless sensor applications. Finally, a Linearly Shifted Quadrifilar Helical Antenna (LSQHA) designed using Genetic Algorithm optimisation technique for adoption as an RFID reader antenna is proposed and investigated. The new antenna confirms coverage of the RFID bandwidth 860-960 MHz with acceptable power gain of 13.1 dBi.Petroleum Technology Development Fund (PTDF) and National Space Research and Development Agency (NASRDA)

Techniques for In Situ Monitoring the Performance of Organic Coatings and Their Applicability to the Pre-Finished Steel Industry: A Review

A review is carried out in this paper into techniques that currently exist for, of have the potential to be used for, monitoring the performance of organic coating. Specific attention is paid to the applicability of each method to pre-finished steel used in the construction industry as these are rarely monitored in situ and their expected performance is often only estimated from lab-based accelerated corrosion testing. Monitoring could allow more accurate estimates of building cladding lifespan and required maintenance schedules; provide customers with active performance data; additionally, with a better understanding of performance, more appropriate coatings or coating weights could be selected for a construction project, offering economic benefits as part of smart building developments. An introduction to coatings, their use for corrosion protection, failure mechanisms, and relevant monitoring techniques is given before current assessment techniques are described in terms of their working principles. Examples of recent work are presented for the techniques that have been investigated for monitoring or directly relatable purposes. The review concludes that there are several good reasons why an optimum corrosion monitoring technology does not currently exist, however, promising research is emerging in the field of wireless and embedded sensor design which is providing optimistic results

Passive low frequency RFID for non-destructive evaluation and monitoring

Ph. D ThesisDespite of immense research over the years, defect monitoring in harsh environmental conditions still presents notable challenges for Non-Destructive Testing and Evaluation (NDT&E) and Structural Health Monitoring (SHM). One of the substantial challenges is the inaccessibility to the metal surface due to the large stand-off distance caused by the insulation layer. The hidden nature of corrosion and defect under thick insulation in harsh environmental conditions may result in it being not noticed and ultimately leading to failures. Generally electromagnetic NDT&E techniques which are used in pipeline industries require the removal of the insulation layer or high powered expensive equipment. Along with these, other limitations in the existing techniques create opportunities for novel systems to solve the challenges caused by Corrosion under Insulation (CUI). Extending from Pulsed Eddy Current (PEC), this research proposes the development and use of passive Low Frequency (LF) RFID hardware system for the detection and monitoring of corrosion and cracks on both ferrous and non-ferrous materials at varying high temperature conditions. The passive, low cost essence of RFID makes it an enchanting technique for long term condition monitoring. The contribution of the research work can be summarised as follows: (1) implementation of novel LF RFID sensor systems and the rig platform, experimental studies validating the detection capabilities of corrosion progression samples using transient feature analysis with respect to permeability and electrical conductivity changes along with enhanced sensitivity demonstration using ferrite sheet attached to the tag; (2) defect detection using swept frequency method to study the multiple frequency behaviour and further temperature suppression using feature fusion technique; (3) inhomogeneity study on ferrous materials at varying temperature and demonstration of the potential of the RFID system; (4) use of RFID tag with ceramic filled Poly-tetra-fluoro-ethyulene (PTFE) substrate for larger applicability of the sensing system in the industry; (5) lift-off independent defect monitoring using passive sweep frequency RFID sensors and feature extraction and fusion for robustness improvement. This research concludes that passive LF RFID system can be used to detect corrosion and crack on both ferrous and non-ferrous materials and then the system can be used to compensate for temperature variation making it useful for a wider range of applications. However, significant challenges such as permanent deployment of the tags for long term monitoring at higher temperatures and much higher standoff distance, still require improvement for real-world applicability.Engineering and Physical Sciences Research Council (EPSRC) CASE, National Nuclear Laboratory (NNL)

Front End of a 900MHz RFID for Biological Sensing

This thesis presents the front end of a 900MHz passive RFID for biological sensing. The components blocks of the front end consist of power harvester, switch capacitor voltage regulator, phase lock loop and a modulator and demodulator. As the RFID is passive so the power resource is limited hence the main focus while implementing all the block was low power and high efficiency power conversion. All the individual block were optimized to provide maximum efficiency. For the harvester to achieve high efficiency and high output voltage a design approach is discussed by which the device sizes are optimized and the values of the matching network components are solved. The efficiency achieved with this approach is 34% while supplying 74�[email protected]. The switch capacitor voltage regulator would supply power to the digital core of the RFID, which will operate at subtheshold or moderate inversion. The switch capacitor implemented in this work is a adaptive voltage regulator, as I intend to use the dynamic supply voltage scaling technique to compensate for the reduction in reliability of performance of the circuit due to variation of VTH across process due to random doping effects and temperature in subthreshold.The phase lock loop (PLL) block in this front end provide the system clock synchronized with the base station to all the backend blocks like the digital controller, memory, and the analog to digital converter ADC and the switch capacitor voltage regulator. The PLL is a low power with jitter of 24nsec and is capable of clock data recovery from EPC gen 2 protocol format data and consumes 3�W of power Finally a ultra low power AM (amplitude modulation) demodulator is presented which is consumes only 100nW and is capable of demodulating a double-sideband amplitude modulated (DSB-AM) signal centered at 900MHz and the modulating frequency is 160KHz. The demodulator can demodulate signal having as low as -5dBm power and 50% modulation index. The modulation for transmitting signal is achieved by BPSK(back scatter phase shift keying).Electrical Engineerin

The doctoral research abstracts. Vol:8 2015 / Institute of Graduate Studies, UiTM

Foreword: THIRTY FIRST October 2015 marks the celebration of 47 PhD doctorates receiving their scroll during UiTM 83rd Convocation Ceremony. This date is significant to UiTM since it is an official indication of 47 more scholarly contributions to the world of knowledge and innovation through the novelty of their research. To date UiTM has contributed 471 producers of knowledge through their doctoral research ranging from the field of Science and Technology, Business and Administration, and Social Science and Humanities. This Doctoral Abstracts epitomizes knowledge par excellence and a form of tribute to the 47 doctorates whose achievement we proudly celebrate. To the graduands, your success in achieving the highest academic qualification has demonstrated that you have indeed engineered your destiny well. The action of registering for a PhD program was not by chance but by choice. It was a choice made to realise your self-actualization level that is the highest level in Maslow’s Hierarchy of Needs, while at the same time unleashing your potential in the scholarly research. Do not forget that life is a treasure and that its contents continue to be a mystery, thus, your journey of discovery through research has not come to an end but rather, is just the beginning. Enjoy life through your continuous discovery of knowledge, and spearhead innovation while you are at it. Make your alma mater proud through this continuous discovery as alumni of UiTM. As you soar upwards in your career, my advice will be to continuously be humble and ‘plant’ your feet firmly on the ground. Congratulations once again and may you carry UiTM as ‘Sentiasa di Hatiku’. Tan Sri Dato’ Sri Prof Ir Dr Sahol Hamid Abu Bakar, FASc, PEng Vice Chancellor Universiti Teknologi MAR

Sensores passivos alimentados por transmissão de energia sem fios para aplicações de Internet das coisas

Nowadays, the Wireless Sensor Networks (WSNs) depend on the battery duration of the sensors and there is a renewed interest in creating a passive sensor network scheme in the area of Internet of Things (IoT) and space oriented WSN systems. The challenges for the future of radio communications have a twofold evolution, one being the low power consumption and, another, the adaptability and intelligent use of the available resources. Specially designed radios should be used to reduce power consumption, and adapt to the environment in a smart and e cient way. This thesis will focus on the development of passive sensors based on low power communication (backscatter) with Wireless Power Transfer (WPT) capabilities used in IoT applications. In that sense, several high order modulations for the communication will be explored and proposed in order to increase the data rate. Moreover, the sensors need to be small and cost e ective in order to be embedded in other technologies or devices. Consequently, the RF front-end of the sensors will be designed and implemented in Monolithic Microwave Integrated Circuit (MMIC).Atualmente, as redes de sensores sem fios dependem da duração da bateria e,deste modo, existe um interesse renovado em criar um esquema de rede de sensores passivos na área de internet das coisas e sistemas de redes de sensores sem fios relacionados com o espaço. Os desafios do futuro das comunicações de rádio têm uma dupla evolução, sendo um o baixo consumo de energia e, outro, a adaptação e o uso inteligente dos recursos disponíveis. Rádios diferentes dos convencionais devem ser usados para reduzir o consumo de energia e devem adaptar-se ao ambiente de forma inteligente e eficiente, de modo a que este use a menor quantidade de energia possível para estabelecer a comunicação. Esta tese incide sobre o desenvolvimento de sensores passivos baseados em comunicação de baixo consumo energético (backscatter) com recurso a transmissão de energia sem fios de modo a que possam ser usados em diferentes aplicações inseridas na internet das coisas. Nesse sentido, várias modulações de alta ordem para a comunicação backscatter serão exploradas e propostas com o objectivo de aumentar a taxa de transmissão de dados. Além disso, os sensores precisam de ser reduzidos em tamanho e económicos de modo a serem incorporados em outras tecnologias ou dispositivos. Consequentemente, o front-end de rádio frequência dos sensores será projetado e implementado em circuito integrado de microondas monolítico.Programa Doutoral em Engenharia Eletrotécnic

Radar Sub-surface Sensing for Mapping the Extent of Hydraulic Fractures and for Monitoring Lake Ice and Design of Some Novel Antennas.

Hydraulic fracturing, which is a fast-developing well-stimulation technique, has greatly expanded oil and natural gas production in the United States. As the use of hydraulic fracturing has grown, concerns about its environmental impacts have also increased. A sub-surface imaging radar that can detect the extent of hydraulic fractures is highly demanded, but existing radar designs cannot meet the requirement of penetration range on the order of kilometers due to the exorbitant propagation loss in the ground. In the thesis, a medium frequency (MF) band sub-surface radar sensing system is proposed to extend the detectable range to kilometers in rock layers. Algorithms for cross-hole and single-hole configurations are developed based on simulations using point targets and realistic fractured rock models. A super-miniaturized borehole antenna and its feeding network are also designed for this radar system. Also application of imaging radars for sub-surface sensing frozen lakes at Arctic regions is investigated. The scattering mechanism is the key point to understand the radar data and to extract useful information. To explore this topic, a full-wave simulation model to analyze lake ice scattering phenomenology that includes columnar air bubbles is presented. Based on this model, the scattering mechanism from the rough ice/water interface and columnar air bubbles in the ice at C band is addressed and concludes that the roughness at the interface between ice and water is the dominate contributor to backscatter and once the lake is completely frozen the backscatter diminishes significantly. Radar remote sensing systems often require high-performance antennas with special specifications. Besides the borehole antenna for MF band subsurface imaging system, several other antennas are also designed for potential radar systems. Surface-to-borehole setup is an alternative configuration for subsurface imaging system, which requires a miniaturized planar antenna placed on the surface. Such antenna is developed with using artificial electromagnetic materials for size reduction. Furthermore, circularly polarized (CP) waveform can be used for imaging system and omnidirectional CP antenna is needed. Thus, a low-profile planar azimuthal omnidirectional CP antenna with gain of 1dB and bandwidth of 40MHz is designed at 2.4GHz by combining a novel slot antenna and a PIFA antenna.PhDElectrical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/120674/1/wujf_1.pd

Analysis and Life Cycle Assessment of Printed Antennas for Sustainable Wireless Systems

Siirretty Doriast

IN-SITU APPROACH FOR CHARACTERIZATION AND MODELING OF TRANSPONDER PACKAGING TECHNIQUES IN RADIO FREQUENCY INDENTIFICATION SYSTEMS

In a typical Radio Frequency Identification system, the tag-reader communication is the most important characteristic of success or failure. In this system, the tag represents the weakest link in the equation and must be selected with great care. It is also important to recognize that a passive RFID tag derives its power from the RF energy generated by the reader. In turn, it communicates to the reader by modulation of the incident RF energy to create a backscatter signal, where any power loss between the antenna and the integrated circuit chip limits the maximum distance from which the tag can be read. Because the typical assembly flow of the RFID labels requires multiple steps, different assembly methodologies are being used to lower the final cost of the RFID label. Packaged parasitic components can significantly degrade the performance of the RFID tags. Today, the most insidious problem is the loss of energy due to the mismatch between the antenna and the IC chip. The final cost and fabrication requirements for the RFID tag impose a set of criteria on the assembly of the tag, where the typical methods for extracting and characterizing parasitic components of the packaging are not feasible. This research develops the theoretical mechanism for measuring and modeling the packaging parasitic components of the passive Ultra High Frequency RFID tags. The research is based on proven antenna theory and antenna measurement methods, which in turn will provide a benchmark for the current and future assembly methods for manufacturing of the RFID labels