Line and wall follower hexapod robot

Robot widely use to help human to do something, especially for difficult or danger task. To fulfil the robot requirements, some techniques, sensors and controller have been applied. Due to kind of robot is a hexapod robot, which it develops in this research. Hexapod robot is a mechanical vehicle that’s walk on 6 legs. A hexapod robot movement are guided with guidance, they are line and wall. Fuzzy logic control as intelligent control is applied to govern the robot follow line and wall. Fuzzy logic controller is used to create a smooth response of robot behaviour rather than logic programming. Infrared sensors are used to sense line and distance to the wall as the input variable for the controller. Based on these signals, the controller control the turning angle of forward movement thus making robot to move forward and turning in same time

Symbols and Metaphors: Translations from “Hikayat Inderaputera” into Painting / Mohd Shahrul Hisham Ahmad Tarmizi ...[et al.]

This research covers constituents of symbols and metaphors based on ‘Hikayat Inderaputera’ and it is connected to the intrinsic and extrinsic elements in visual art. The research is actually related to the view of possibilities of metaphor applied in the study of painting. ‘Hikayat Inderaputera’ can be translated into expressions, imaginations, and perceptions through painting and it also gives meaning and connection in semiotic approach. In a creative process, paintings are always related to narrative as a visual language and it is a part of structure in picture making. To understand metaphors, we need to consider semiotic as a methodology and it requires language as a structure, arguing that structuralism could equally be applied to any system of meaning making. It is actually a set of signal or codes. This research also explains how the researcher remarks and relates ‘Hikayat Inderaputera’ to previous works. In painting, artists always apply metaphors to create visual narratives while they are also being reflected writers. In addition, the researcher realized “Hikayat Inderaputera” as a way of expressions in creating symbols and metaphors. It can be translated into new possibilities of readings, visual languages, signs and can also be developed in new directions to represent other associations in images making especially in paintin

EMG Signal Features Extraction of Different Arm Movement for Rehabilitation Device

Rehabilitation device is used as an exoskeleton for people who had failure of their limb. Arm rehabilitation device may help the rehab program to who suffer from arm disability. The device used to facilitate the tasks of the program should improve the electrical activity in the motor unit and minimize the mental effort of the user. Electromyography (EMG) is the techniques to analyze the presence of electrical activity in musculoskeletal systems. The electrical activity in muscles of disable person is failed to contract the muscle for movements. To prevent the muscles from paralysis becomes spasticity the force of movements should minimize the mental efforts. To minimize the used of mental forced for disable patients, the rehabilitation device should analyze the surface EMG signal of normal people that can be implemented to the device. The signal is collected according to procedure of surface electromyography for non-invasive assessment of muscles SENIAM). The EMG signal is implemented to set the movements’ pattern of the arm rehabilitation device. The filtered EMG signal were extracted for features of Standard Deviation(STD), Mean Absolute Value(MAV), Root Mean Square(RMS) in time-domain. The extraction of EMG data is important to have the reduced vector in the signal features with less of error. In order to determine the best features for any movements, several trials of extraction methods are used by determining the features that can be used in classifier. The accurate features can be appliedin future works of rehabilitation control system in real-time and classification of the EMG signal

EMG Signal Features Extraction of Different Arm Movement for Rehabilitation Device

Rehabilitation device is used as an exoskeleton for people who had failure of their limb. Arm rehabilitation device may help the rehab program to who suffer from arm disability. The device used to facilitate the tasks of the program should improve the electrical activity in the motor unit and minimize the mental effort of the user. Electromyography (EMG) is the techniques to analyze the presence of electrical activity in musculoskeletal systems. The electrical activity in muscles of disable person is failed to contract the muscle for movements. To prevent the muscles from paralysis becomes spasticity the force of movements should minimize the mental efforts. To minimize the used of mental forced for disable patients, the rehabilitation device should analyze the surface EMG signal of normal people that can be implemented to the device. The signal is collected according to procedure of surface electromyography for non-invasive assessment of muscles SENIAM). The EMG signal is implemented to set the movements’ pattern of the arm rehabilitation device. The filtered EMG signal were extracted for features of Standard Deviation(STD), Mean Absolute Value(MAV), Root Mean Square(RMS) in time-domain. The extraction of EMG data is important to have the reduced vector in the signal features with less of error. In order to determine the best features for any movements, several trials of extraction methods are used by determining the features that can be used in classifier. The accurate features can be applied in future works of rehabilitation control system in real-time and classification of the EMG signal

Simulation and control of a six degree of freedom lower limb exoskeleton

In this paper, the development of controlling a six Degree of Freedom (DOF) Lower Limb Exoskeleton (LLE) model using the Robot Operating System (ROS) is presented. Moreover, this work proposes a method to analyze kinematic properties and control of the LLE before the prototype. The model of the LLE is described using Extensible Markup Language (XML) programming in the Unified Robot Description Format (URDF). The dynamic equation of the six-DoF LLE is determined by using Newton-Euler. In addition, a Proposition-Integral- Derivative (PID) controller is established in a feedback closed-loop control system. The PID controller is tuned via Ziegler-Nichols (Z-N). The tuned PID controller is tested in the Gazebo environment to confirm the performance of the proposed method. The nodes and topics flow chart of the programmed 3-D model of the LLE is described. Furthermore, a desired angular trajectory based on the phase on walking is defined for each joint of the LLE. The result shows that the actual pursue the desired angular trajectory for each joint. The average and maximum error of the angular trajectories for all the joints are less than 0.05 radian. It can be ascertained that our developed LLE model in the Gazebo simulator can be used for giving an overview of the walking pattern

Storeroom Management Module (SMM) Development for ARCA Web-based System

Storeroom is the most important storage area and it must be kept secured as it will be used by college students to keep their goods during semester break. They need to clear up the room before leaving the campus. To impose the security measure of storeroom, college management unit require students that are using the storeroom to write details and particulars before checking in and out the storeroom. This paper presents a development of Storeroom Management Module (SMM) for integration with Attendance Record for College Activities (ARCA) system. The module offers easy process when college staffs and students are dealing with storeroom. Module development involved three main phases which are feasibility study, design and development and module testing. Four components that comprises 17 questionnaires were included in technology acceptance model for module testing. Out of four components tested, component perceived user satisfaction (PUS) had received the highest mean score. This indicated that the developed SMM satisfied users in dealing with storeroom management module

Strategic energy management plan and MS ISO 50001:2011 compliance / Mohd Tarmizi Mat Asim...[et al.]

Strategic energy management plan is a long-term approach provided for achieving the goals set, determining the level of energy efficiency, detecting, controlling, monitoring and reporting on the performance of energy consumption. Successful strategic energy management plan builds long-term relationships with energy users and can improve the persistence of energy savings. It will also benefit the organization, the country and the world directly and indirectly. However, without the support, these benefits may not be achieved and the implementation of strategic energy management plan will not be successful. The objective of the study is to improve energy performance at TH Headquarters building and to reduce electricity energy consumption. The study started with preliminaries study, data collection, data analysis and strategic energy management plan development process. All data and information were sourced from data collection activity that has been processed and analyzed based on the needs such as occupant behavior, trend of energy used and energy performance. Furthermore, wastage factors, target saving baseline, energy performance indicator, and strategic energy management plan were identified and developed. The proposed methods refer to MS ISO 50001:2011 as a guideline

Persepsi belia tentang metode dan pendekatan dakwah yang digunakan oleh pendakwah di Wilayah Persekutuan Labuan

Kajian ini bertujuan untuk meneliti persepsi belia tentang metode dan pendekatan dakwah yang digunakan oleh pendakwah di Wilayah Persekutuan Labuan. Secara khususnya, kajian ini dilaksanakan bertujuan untuk mengenal pasti metode dan pendekatan dakwah yang sering digunakan oleh pendakwah , menentukan hubungan antara metode dakwah dan orientasi keagamaan serta mengenal pasti perbezaan metode dakwah dan orientasi keagamaan mengikut jantina dan status perkahwinan. Rekabentuk kajian yang digunakan ialah reka bentuk tinjauan. Seramai 268 orang yang berumur antara 15 tahun hingga 40 tahun dijadikan subjek kajian. Alat kajian yang digunakan merangkumi item-item bagi mengukur metode dan pendekatan dakwah dan Religious Orientation Scale (ROS) bagi mengukur orientasi dan penghayatan mengamalkan agama