Vision-Based Autonomous Vehicle Driving Control System

In recent years, extensive research has been carried out on autonomous vehicle system. A completely autonomous vehicle is one in which a computer performs all the tasks that the human driver normally would. However, this study only focuses on driving control system that based on vision sensor. Therefore, this study presents a simulation system with Graphical User Interface (GUI) to simulate and analyse the driving control for autonomous vehicle that based on video taken fiom the vehicle during driving on highway, by using MATLAB programming. The GUI gives easy access to analyse video, image and vehicle dynamics. Once the GUI application for simulation is launched, user can enter input parameters value (number of frames, canny edge detection value, vehicle speed, and braking time) in text control to simulate and analyse video images and vehicle driving control. In this study, there are four subsystems in the system development process. The first subsystem is sensor. This study was used a single Grandvision Mini Digital Video as sensor. This video camera provides the information of Selangor's highway environment by recording highway scene in front of the vehicle during driving Then, the recorded video is process in second subsystem or named as imageprocessing subsystem. In this subsystem, image-capturing techniques capture the video images frame by frame. After that, lane detection process extracts the information about vehicle position with respect to the highway lane. The results are angle between the road tangent and orientation of the vehicle at some look-ahead distance. Driving controller in the controller subsystem that is the third subsystem used the resulted angle from lane detection process along with vehicle dynamics parameters to determine the vehicledriving angle and vehicle dynamics performance. In this study, designing a vehicle controller requires a model of vehicle's behaviour whether dynamics or kinematics. Therefore, in vehicle subsystem that is the fourth subsystem, this study used vehicle's dynamics behaviour as the vehicle model. The model has six degrees of fieedom (DOF) and several factors such as the vehicle weight, centre of gravity, and cornering stifkess were taken into account of dynamics modelling. The important contribution of this study is the development of vehicle lane detection and tracking algorithm based on colour cue segmentation, Canny edge detection and Hough transform. The algorithm gave good result in detecting straight and smooth curvature lane on highway even when the lane was afTected by shadow. In this study, all the methods have been tested on video data and the experimental results have demonstrated a fast and robust system

Homeostatic-inspired controller algorithm for a hybrid-driven autonomous underwater glider

The autonomous hybrid-driven underwater glider presented in this thesis combines the concept of a buoyancy-driven underwater glider and a conventional autonomous underwater vehicle. It is classified as a new kind of autonomous underwater glider. The existing buoyancy-driven gliders have proven to be powerful tools in oceanographic applications. This is because they are inexpensive, high-endurance and energy-efficient. However, they still have weaknesses in terms of speed and manoeuvrability due to the under-actuated system; relatively slow; limited propulsion forces; and limited external control surfaces. Furthermore, it is difficult to control the glider because of the high nonlinearity and complexity of the glider dynamics, coupled with the underwater environments and disturbances. Thus, the main objective of this research is to design and develop a controller algorithm that is able to make the glider adaptive despite facing these constraints. A robust and reliable homeostatic-inspired controller system has been designed for this purpose. The controller is able to adapt efficiently to the dynamically changing conditions and is able to compensate the disturbance from water currents. The controller algorithm has been designed based on the human innate control mechanism by integrating three artificial systems: the artificial neural network (ANN), artificial endocrine system (AES), and artificial immune system (AIS). According to simulation results of control methods benchmarking, the homeostatic controller was able to achieve the desired pitch angle at the fastest settling time, which was 12.5 seconds faster than the model predictive control (MPC); 9 seconds faster than the linear-quadratic regulator (LQR); 6.5 seconds faster than the neural network (NN) controller; and 3.75 seconds faster than the neuroendocrine controller. In addition, the homeostatic controller was able to optimise the ballast mass and distance of the sliding mass in order to achieve the desired pitch angle by shortening the sliding mass distance up to 53.7% and reducing the ballast mass up to 17.7% when compared with the LQR and MPC. Overall, the homeostatic controller has achieved the best performance compared with the LQR, MPC, NN and neuroendocrine controllers. Furthermore, the validation analyses between the simulation and experimental results have shown that the homeostatic control system produces very satisfactory performance, with the homeostatic controller able to achieve the desired angle

Vision-based autonomous vehicle driving control system

In recent years, extensive research has been carried out on autonomous vehicle system. A completely autonomous vehicle is one in which a computer performs all the tasks that the human driver normally would. However, this study only focuses on driving control system that based on vision sensor. Therefore, this study presents a simulation system with Graphical User Interface (GUI) to simulate and analyse the driving control for autonomous vehicle that based on video taken from the vehicle during driving on highway, by using MATLAB programming. The GUI gives easy access to analyse video, image and vehicle dynamics. Once the GUI application for simulation is launched, user can enter input parameters value (number of frames, canny edge detection value, vehicle speed, and braking time) in text control to simulate and analyse video images and vehicle driving control. In this study, there are four subsystems in the system development process. The first subsystem is sensor. This study was used a single GrandVision Mini Digital Video as sensor. This video camera provides the information of Selangor's highway environment by recording highway scene in front of the vehicle during driving. Then, the recorded video is process in second subsystem or named as image�processing subsystem. In this subsystem, image-capturing techniques capture the video images frame by frame. After that, lane detection process extracts the information about vehicle position with respect to the highway lane. The results are angle between the road tangent and orientation of the vehicle at some look-ahead distance. Driving controller in the controller subsystem that is the third subsystem used the resulted angle from lane detection process along with vehicle dynamics parameters to determine the vehicle-driving angle and vehicle dynamics performance. In this study, designing a vehicle controller requires a model of vehicle's behaviour whether dynamics or kinematics. Therefore, in vehicle subsystem that is the fourth subsystem, this study used vehicle's dynamics behaviour as the vehicle model. The model has six degrees of freedom (DOF) and several factors such as the vehicle weight, centre of gravity, and cornering stiffness were taken into account of dynamics modelling. The important contribution of this study is the development of vehicle lane detection and tracking algorithm based on colour cue segmentation, Canny edge detection and Hough transform. The algorithm gave good result in detecting straight and smooth curvature lane on highway even when the lane was affected by shadow. In this study, all the methods have been tested on video data and the experimental results have demonstrated a fast and robust system

Factors affecting young Malaysians' intention to purchase green products

Green marketing refers to holistic marketing concept in which it involves production, marketing, consumption and product disposal in a way that is less harmful to the environment.The purpose of this study was to examine the influence of knowledge, perceived value, eco-label, and social influence on the intention of future green products purchasing among young Malaysian.The sample size of this study was 250 students.The results of this study showed that social influence have a relationship with young consumers’ intention to purchase green products, however knowledge and eco-label had no influence. This research brings a better understanding on young consumers’ intention towards future green purchasing in Malaysia

Young consumers’ intention towards future green purchasing in Malaysia

Green marketing is all about marketing products that are considered environmentally safe.The purpose of this study is to examine the influence of price, time, and eco-label, on the intention of future green products purchasing among young Malaysian.In this study 250 questionnaires were distributed.The data was analyzed using reliability test, normality, correlation analysis, and multiple regressions.The results of this study showed that price, and time have a significant relationship with young consumers’ intention to purchase green products, however, eco-label had no influence on consumers’ intention to purchase green products.This research brings a better understanding on young consumers’ intention towards future green purchasing in Malaysia

Mismatch between Anthropometics and Chair Dimension of Primary School Children (Level 1) In Northern Region, Malaysia

Several studies hav e been done on the issue of mismatch between the anthropometries dimension among school children and classroom furniture in different countries. All the studies shared the same results, showing that there is mismatch between the two variables (Mohd Azuan K. et al. 2010; Castellucci. Arezes &. Viviani 2009; NuruI Asyiqin el al. 2009; Lueder & Rice 2008; Gouvali & Boudolos 2006; Lipardo et al. 2006; Murphy, Buckle &. Stubbs 2003). The issue on mismatch in this paper does not only focus on chair dimension and anthropometric variables of the children, but it also investigates the possible negative implication of seating posture due to the mismatch (Castellucci, Arezes & Viviani 2009; Gouvali & Boudolos 2006; Parcells, Stommel & Hubbard 1999; Panagiotopoulou el al. 2004)

Peranan Ergonomik Dalam Rekabentuk Kerusi Sekolah: Kajian Kes Di Sekitar Perlis, Kedah Dan Pulau Pinang

Ergonomik memainkan peranan yang penting dalam rekabentuk kerusi sekolah. Postur duduk yang janggal akibat daripada rekabentuk kerusi yang tidak sesuai mampu menyumbang ke arah kesan yang negatif kepada kesihatan kanak-kanak. Isu ini dapat dilihat melalui penyelidikan yang mempersoalkan tentang kesesuaian ukuran kerusi yang terdapat di sekolah rendah yang digunakan oleh Murid Sekolah Rendah Tahap Satu (MSRTS). Seramai 108 orang responden telah terlibat dalam penyelidikan ini yang terdiri daripada MSRTS yang berumur 7, 8 dan 9 tahun dari 12 buah Sekolah Rendah Kebangsaan di Perlis, Kedah dan Pulau Pinang. Penyelidikan ini menggabungkan kaedah kuantitatif dan kualitatif dalam mengenalpasti ketidak-sepadanan antropometri responden dengan ukuran kerusi yang digunakan di sekolah. Antropometer, goniometer, penimbang berat badan dan pita ukur digunakan bagi memperolehi data antropometri responden dan ukuran kerusi dari setiap sekolah. Data antropometri dan ukuran kerusi dianalisa menggunakan perisian SPSS (Statistical Package for Social Science). Postur duduk responden ketika sesi pembelajaran di dalam kelas turut dirakam dan dianalisa bagi menyokong data SPSS yang diperolehi. Dapatan kajian mencatatkan data antropometri MSRTS tidak sepadan dengan ukuran kerusi yang digunakan di sekolah. Oleh itu, pertimbangan terhadap faktor ergonomik dalam rekabentuk kerusi sekolah adalah perlu bagi memastikan kesihatan dan keselesaan MSRTS di sekola

The Effect of Preoperative Neutrophil-Lymphocyte Ratio On Quality of Life After Coronary Artery Bypass Graft (CABG) Surgery

Neutrophil-lymphocyte ratio (NLR) is an inexpensive and easily accessible inflammatory biomarker. Studies have shown the ability of NLR to predict poor outcome in many diseases. This study aimed to determine the relationship between NLR and cardiovascular risk factors, and duration of ICU and hospital stay in post CABG patients. 137 patients who underwent CABG between 2013 and 2017 with available preoperative neutrophil and lymphocyte counts were included in the study. NLR was found to be increased in patients who had prolonged intensive care unit (ICU) stay and hospital/ ward stay. Thus NLR can potentially be used to predict worse outcome.Keywords: Neutrophil-lymphocyte ratio; coronary artery bypass graft (CABG); mortality; length of stay (maximum 4 keywords) eISSN: 2398-4287 © 2019. The Authors. Published for AMER ABRA cE-Bs by e-International Publishing House, Ltd., UK. This is an open access article under the CC BYNC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/). Peer–review under responsibility of AMER (Association of Malaysian Environment-Behaviour Researchers), ABRA (Association of Behavioural Researchers on Asians) and cE-Bs (Centre for Environment-Behaviour Studies), Faculty of Architecture, Planning & Surveying, Universiti Teknologi MARA, Malaysia.DOI: https://doi.org/10.21834/e-bpj.v4i10.162

Central and Provinsional Authorities’ Tussles In Cross Border Palm Oil Plantation Ventures in Indonesia: Experiences of Malaysian Multinational Enterprises (MNEs)

Conflict between the Central and Provincial Governments in Indonesia is one of the main hindrances for Malaysian MNEs implementing palm oil investment in Indonesia. This issue if not resolved can lead to the failure of the MNEs investment and affect FDI flows. The objective of this paper is to discuss the issues arising from conflict between the Central and Provincial Governments in Indonesia faced by the Malaysian MNEs in Indonesia. This paper provides the approaches that have been taken to address the problems. Qualitative and legal research methodologies were used in this paper. From this writing, certain data can be generated to show the severity and gravity of the problems arising from land conflict in palm oil plantation ventures in Indonesia and the approaches that have been taken to deal with the problems. The findings of the research will benefit the Malaysian MNEs in its internationalization of palm oil plantation ventures

Land Conflict in Palm Oil Land Procurement in Indonesia: Features, Issues and Approaches

Malaysia currently accounts for 39% of world palm oil production and 44% of world exports. Being one of the biggest producers of palm oil, Malaysia has an important role to play in fulfilling the global demand for palm oil. With the growing global demand for palm oil, Malaysian Multinational Enterprises (MNEs) have embarked on the expansion of palm oil plantations by venturing into cross border palm oil plantation ventures including Indonesia. Nonetheless the cross border venture may not an easy project, as the MNEs have encountered unprecedented challenges. Currently, land conflict in palm oil land procurement in Indonesia is one of the main hindrances for Malaysian MNEs implementing investment in Indonesia. This issue if not resolved can lead to the failure of the MNEs’ investment and may affect the FDI flows into Indonesia. The main objective of this paper is to explain the issue of land conflicts in palm oil land procurement faced by the Malaysian MNEs in Indonesia. This paper will reveal the approaches that have been taken to address the problems. Qualitative social and legal research methodologies were used in this research. From this, certain information can be generated to show the severity of the problems arising from land conflict in palm oil land procurement in Indonesia and the approaches that have been taken by the stakeholders to deal with the problems. The findings of the research will significantly enhance the performance of the Malaysian MNEs in its internationalization of palm oil plantation ventures