Practice of law in the provisioning of accessibility facilities for person with disabilities in Malaysia

Malaysia’s significant changes can be seen clearly through the improvement of social welfare of the disabled and people with disabilities. Although the governments has carried out various policies and provide facilities as well as provision for the disabled but there are still many obstacles encountered by people with disabilities, especially the legal and the accessibility of facilities and services. Therefore, this paper attempts to discuss the practice of law relating of legal procedure particularly for disabled users which affects the movement of these people from one destination to another. This paper discusses the practice of law adopted in the preparation of facilities for disabled people to help them make movement independently. The study was conducted by secondary data to the Malaysia legal and policies for disabled person by comparing with United Kingdom (UK). Malaysia has come out with a strong legal framework for disabled person through People with Disabilities Act 2008 (Act 685). There are several areas in the act that still can be improved to support disabled person

A Supervisor for Control of Mode-switch Process

Many processes operate only around a limited number of operation points. In order to have adequate control around each operation point, and adaptive controller could be used. When the operation point changes often, a large number of parameters would have to be adapted over and over again. This makes application of conventional adaptive control unattractive, which is more suited for processes with slowly changing parameters. Furthermore, continuous adaptation is not always needed or desired. An extension of adaptive control is presented, in which for each operation point the process behaviour can be stored in a memory, retrieved from it and evaluated. These functions are co-ordinated by a ¿supervisor¿. This concept is referred to as a supervisor for control of mode-switch processes. It leads to an adaptive control structure which quickly adjusts the controller parameters based on retrieval of old information, without the need to fully relearn each time. This approach has been tested on experimental set-ups of a flexible beam and of a flexible two-link robot arm, but it is directly applicable to other processes, for instance, in the (petro) chemical industry

A discrete decentralized variable structure robotic controller

A decentralized trajectory controller for robotic manipulators is designed and tested using a multiprocessor architecture and a PUMA 560 robot arm. The controller is made up of a nominal model-based component and a correction component based on a variable structure suction control approach. The second control component is designed using bounds on the difference between the used and actual values of the model parameters. Since the continuous manipulator system is digitally controlled along a trajectory, a discretized equivalent model of the manipulator is used to derive the controller. The motivation for decentralized control is that the derived algorithms can be executed in parallel using a distributed, relatively inexpensive, architecture where each joint is assigned a microprocessor. Nonlinear interaction and coupling between joints is treated as a disturbance torque that is estimated and compensated for

A hyper-redundant manipulator

“Hyper-redundant” manipulators have a very large number of actuatable degrees of freedom. The benefits of hyper-redundant robots include the ability to avoid obstacles, increased robustness with respect to mechanical failure, and the ability to perform new forms of robot locomotion and grasping. The authors examine hyper-redundant manipulator design criteria and the physical implementation of one particular design: a variable geometry truss

Integral Resonant Control for vibration damping and precise tip-positioning of a single-link flexible manipulator

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