To Design a Bipedal Robot

The design of abipedal robot literally involves walking gait and control of balance. Controlling the direction of balance for atwo legged walking robot typically means mimicking the human form and its walking locomotion. The ultimate aim is to maintain an upright torso while advancing one leg in front of the other continuously without falling. The bipedal structure forces the writer to consider acombination of factors such as weight balancing, mechanism and degrees of freedom before designing the robot prototype. The writer has to apply fundamental knowledge about servo motor actuator, pulse width modulation, and PIC programming in accomplishing the project Independent work through self-discipline, selfmanagement and job co-ordination also needed to be exercise while undertaking the project This report consists of five important chapters that cover the project introduction, review of related literature, project methodology, discussion of result, and finally the conclusion. The introductory part briefly discusses the background study ofthe project and the existing studies on designing abipedal robot, more focus on the problem statement that covers problem identification and the significant of the projects, as well as the objectives of the project are stated and it describes more on the relevance and the feasibility of the project within the scope and time frame given. The review ofrelated literature on the project is enclosed in chapter two while the project methodology is covered in chapter three ofthe report. Findings related to the project along with its discussions are stated in chapter four of the report together with the conclusion and references used during the research works

Formaldehyde Synthesis by Methanol Oxidation Using Platinised Oxides Catalysts

The main purpose of this study is to investigate the performance of platinised silicon dioxide and titanium (IV) oxide catalysts for oxidation of methanol to formaldehyde at room temperature (25 °C). The reaction was carried out using 100 mL of methanol (2.53 mol) in the presence of powdered (150 mg) catalyst. Samples were drawn at time intervals of 0, 10 20, 60, 90 and 120 minutes and the reaction was conducted up to 120 hours. Formaldehyde concentrations were determined by reacting 5 ml sample solution with the Hantzsch reagent. The complex formed in the samples were analysed using a UV Spectrophotometer. The amountof formaldehyde formed depends on the type of catalyst used. When 0.1 % Pt on silicon dioxide catalyst used, 0.012 mmol of formaldehyde was formed from 2.53 mol methanol after 60 minutes of reaction. Whereas using the 0.3 % Pt on silicon dioxide catalyst, 0.016 mmol of formaldehyde was formed. In the presence of 0.1 %, 0.3 %, 0.5 % and 1.1 % Pt on titanium (IV) oxide catalysts, 0.020, 0.032, 0.044 and 0.020 mmol of formaldehyde was formed, respectively. The percentage conversions of methanol using 0.1 %, 0.3 %, 0.5 % and 1.1 % Pt on titanium (IV) oxide catalysts are 0.0008, 0.0013, 0.0017 and 0.0008 %, respectively. The activity of the catalyst can be ranked in order of 0.5 % Pt on titanium (IV) oxide followed by 0.3 % Pt on titanium (IV) oxide, 0.1 % Pt on titanium (IV) oxide, 0.5 % Pt on silicon dioxide and 0.5 % Pt on silicon dioxide. The titanium (IV) oxide provides better support for platinum to create active sites for reactions. The best platinum loading is approximately 0.5 %. The formaldehyde yields were found to be decreased when elevating the reaction temperatures from 30 °C to 40 °C. The activation energy is 34 kJ/mol and the corresponding frequency factor is 0.26 (mol/L)"075s"1 for this reaction temperature range. From the economic potential of view, the costs ofproduced catalysts are lower than silver catalyst

Experimental design and performance analysis in plasma arc surface hardening

In this paper, the experimental design by using the Taguchi method was employed to optimize the processing parameters in the plasma arc surface hardening process. The evaluated processing parameters are arc current, scanning velocity and carbon content of steel. In addition, the significant effects of the relation between processing parameters were also investigated. An orthogonal array, signal-to-noise (S/N) ratio and analysis of variance (ANOVA) were employed to investigate the effects of these processing parameters. Through this study, not only the increasing in hardened depth and improvement in surface roughness, but the parameters that significantly affect on the hardening performance were also identified. Experimental results showed the effectiveness of this approach

Plasmonic Effect in Photoelectrochemical Cells

Two types of third-generation photovoltaic (PV) cells are sensitized by dyes and quantum dots (QDs), the former being dye-sensitized solar cell abbreviated as DSSC. The second is the quantum dot-sensitized solar cell or QDSSC. There are three main components in DSSC and QDSSC. The photoanode is the component where the light is being absorbed either by molecules of the dye or by the quantum dots (QDs). The sensitizers are attached on the semiconductor (normally TiO2) surface. The conduction band (CB) of the semiconducting material should be at a level lower than the lowest unoccupied molecular orbital (LUMO) of the dye molecules or CB of QDs for fast electron transfer. Incorporation of plasmonic materials into the photoanode can increase light absorption efficiency by surface plasmon effect and thus improve the efficiency of the DSSCs and QDSSCs. Plasmonic materials that have been employed include gold (Au), silver (Ag) and aluminum (Al) nanoparticles (NPs). Different NPs exhibit different effects on the cell parameters. Covering the NPs with a thin wide bandgap semiconducting film is necessary to protect the plasmonic NP materials from the corrosive nature of the electrolyte

To Design a Bipedal Robot

The design of abipedal robot literally involves walking gait and control of balance. Controlling the direction of balance for atwo legged walking robot typically means mimicking the human form and its walking locomotion. The ultimate aim is to maintain an upright torso while advancing one leg in front of the other continuously without falling. The bipedal structure forces the writer to consider acombination of factors such as weight balancing, mechanism and degrees of freedom before designing the robot prototype. The writer has to apply fundamental knowledge about servo motor actuator, pulse width modulation, and PIC programming in accomplishing the project Independent work through self-discipline, selfmanagement and job co-ordination also needed to be exercise while undertaking the project This report consists of five important chapters that cover the project introduction, review of related literature, project methodology, discussion of result, and finally the conclusion. The introductory part briefly discusses the background study ofthe project and the existing studies on designing abipedal robot, more focus on the problem statement that covers problem identification and the significant of the projects, as well as the objectives of the project are stated and it describes more on the relevance and the feasibility of the project within the scope and time frame given. The review ofrelated literature on the project is enclosed in chapter two while the project methodology is covered in chapter three ofthe report. Findings related to the project along with its discussions are stated in chapter four of the report together with the conclusion and references used during the research works

Absolute assignment in takāful industry: Sharī‘ah contracts, issues and solutions

This article deliberates on the Islamic contracts used in absolute assignment in takāful industry and identifies Sharī‘ah issues that might accrue from it. The article studies the market practice of absolute assignment in takāful industry in Malaysia and proposes the adequate Islamic contracts that can be used in absolute assignment and at the same time resolve any Sharī‘ah issues that might occur from it. This research consists of both library-based research and fieldwork research. The researchers interviewed some practitioners and studied the related documents and acts used in executing absolute assignment in takāful industry in Malaysia. The study infers that there are two types of absolute assignments. The first one is between an individual to an individual on the basis of hibah and the second one is between an individual and a financier/bank on the basis of kafālah

Third-Generation-Sensitized Solar Cells

The need to produce renewable energy with low production cost is indispensable in making the dream of avoiding undue reliance on non-renewable energy a reality. The emergence of a third-generation photovoltaic technology that is still in the infant stage gives hope for such a dream. Solar cells sensitized by dyes, quantum dots and perovskites are considered to be third-generation technological devices. This research focuses on the development of suitable and reliable sensitizers to widen electromagnetic (EM) wave absorption and to ensure stability of the photovoltaic system. This article discusses the basic principles and the progress in sensitized photovoltaics

APPLICATION OF THE RULES OF COMMANDMENTS AND PROHIBITIONS IN TAFSIR AL-MISHBAH

Shihab, in full M. Quraish Shihab (b. 1944) is a prominent exegete who became one of the leading intellectual figures of 20th-century Indonesia. As a scholar, Shihab is best remembered for his 30-chapter exegesis entitled Tafsir Al-Mishbah. In the Commentary, Shihab had applied several rules that had driven him towards exegeting the verses. This kind of rule is also adopted by the other exegetes to ensure their exegeses are in line with the Islamic law. Therefore, this paper seeks to analyze the rules of interpretation applied by Shihab which focuses on the discussions of commandments (al-amr) and prohibitions (al-nahy). To get a proper understanding and to ensure the rules that Shihab had employed can be analysed perfectly, We adopted the document analysis method by making language scriptures and venerated exegeses as the main sources of references. The study found that Shihab had applied six rules related to al-amr and al-nahy in his Tafsir Al-Mishbah, and the rules have been affirmed by grand exegetes

Integrated Mechanical Pulse Jet Coolant Delivery System Performance for Minimal Quantity Lubrication

Minimum quantity lubrication (MQL) machining is one of the promising solutions to the requirement for decrease in cutting fluid consumption. This research describes MQL machining in a range of lubricant consumption 2.0ml/h, which is 10–100 times smaller than the consumption usually adopted in industries. MQL machining in this range is called pulse jet coolant delivery system in this research. A specially designed system was used for concentrating small amounts of lubricant onto the cutting interface. The performance of concentrated spraying of lubricant in pulse jet coolant delivery system design was compared with that of current ‘Pulse Jet MQL’ systems. The concentrated spraying of lubricant with a specially designed of system was quite effective in increasing tool life in the pulse jet coolant delivery system range

Civil disobedience during reformation era

The removal of Anwar Ibrahim as Deputy Prime Minister of Malaysia in September 1998 was a shock to the nation. This is because there were a series of street demonstrations in 1998 until 2001 that gave birth to reformasi (reform) movement. People thought that the dismissal was unfair due to personal conflict between the Prime Minister, Dr. Mahathir and Anwar Ibrahim. The purpose of this paper is to analyze the emergence of civil disobedience during reform movement and to identify the actors involved in mobilizing civil disobedience. The analysis shows what the main reason behind the outbreak of civil disobedience was the result of government actions that weakened democracy through the restriction of political rights and civil liberties. In this respect, the removal of Anwar Ibrahim was only a triggering factor. Furthermore, the actors who were involved in acts of civil disobedience include students, young people, opposition parties, non government organizations (NGOs) and activists. These groups cooperated to seek justice for Anwar Ibrahim and also raised issues related to corruption, cronyism and abuse of power in the government. Consequently, support for the Barisan Nasional (National Front) coalition, especially the United Malays National Organization (UMNO) declined dramatically in the 1999 general election