Moving Control of Quadruped Hopping Robot Using Adaptive CPG Networks

This paper describes the moving control using the adaptive Central Pattern Generators (CPGs) including motor dynamic models for our developed quadruped hopping robot. The CPGs of each leg is interconnected with each other and by setting their coupling parameters can act as the flexible oscillators of each leg and adjust the hopping height of each leg to require stable hopping motion. The formation of the CPG networks are suitable not only to generate the continuous jumping motion but also can generate the moving motion in twodimensional, respectively. We also propose the reference height control system which including the maximum hopping height detector and Proportional Integral (PI)controller to achieve the reference jumping height. By using the proposed method, the hopping height of each leg can be control independently in order to make the posture of robot’s body incline ahead and move forward. We create MATLAB/Simulink model to conduct various types of experiments and confirmed the effectiveness of our proposed CPG model including the reference height control system to generate the stable moving performance while jumping continuously

Rice Husk Ash: Burning Procedures and Its Effects on Cementitious Properties of Paste and Mortars

Rice husk ash (RHA) is a waste material that needs costly disposal to avoid environmental pollution. Nevertheless RHA has basic oxide contents that have some cementitious properties. By and large through normal burning procedures, RHA contains about 80%-85% amorphous Si02, which is a vital cementitious element. The focus of this research is to establish a burning procedure to derive highly active amorphous silica from rice husk so that its pozzolanic reactivity can be enhanced. Numerous burning procedures have been employed for this purpose. Finally two methods of burning were established. Even though the temperatures of burning varied between the two procedures, both were based on the same principle of thermal combustion in three stages. In the first stage the burning temperature was capped at 280°C, which was less than the ignition temperature of rice husk in the presence of air. In the second stage, the temperature was maintained between 280°C and 520°C. The presence of air is essential to oxidize the residual carbon from the rice husk. In the third stage, the temperature was increased to 550°C but in the absence of air. The two procedures with burning duration of 184 minutes and 176 minutes yielded silica content of 93.1 % and 94.3% respectively. The XRD Test further confirmed that the silica was in amorphous form. The cement paste cubes containing RHA replacements of2.5%, 5%, 7.5%, 10%, 12.5%, 15%, 17.5% & 20% were tested and their compressive strengths were compared with control cement cubes. It was found that the percentages replacement of 5% and 7.5% of RHA with water/cement (w/c) of 0.28 and 0.32 respectively produced higher compressive strength compared with its control mix. The optimum w/c for cement paste cubes containing 2.5% RHA in order to get high strength was 0.25. For other replacement ratios of 5%, 7.5%, I 0%, 12.5%, 15%, 17.5% & 20% RHA, the corresponding w/c were 0.28, 0.32, 0.32, 0.35, 0.36, 0.37, and 0.39 respectively. Test on pozzolanic activity index of RHA was carried out and compared with RHAs that were obtained from other methods of burning. The pozzolanic activity index of this RHA was found to have higher value compared to RHA from ferrocement incinerator. The effect of RHA on porosity of cement cubes containing RHA was also investigated in this research and was found that RHA replacement with low w/c reduces porosity

Design and Development of MY 2nd EYE for Visually Impaired Person

This paper discussed on design and development of electronic device by using warning system for visually impaired person usage which is called ‘MY 2 nd EYE’. This electronic device is designed to support and help the visually impaired person around this world to have their own confident in order to travel from one place to another place. This project is about developing of warning system by using a vibration motor as a warning device via microcontroller that received input from distance measurement sensor when detecting obstacle. The vibration motor is a best solution to warn the blind person because it uses touch sense of human when the system is run. In this system, there are four pieces of vibration motor are mounted to the gloves at different locations. Each location will have its own function that show different direction such as front, left, right and down. In this project, the effectiveness of the system gives command the direction of obstacle existence is very important and have been confirmed through simulation and experiment

Patient Satisfaction With Nursing Care In Hospital Kangar

In general, this study aims to identify the degree of patient satisfaction in Hospital Kangar based on service quality formulated. The specific objectives of this study is to identify the degree of patient satisfaction towards Nursing care, is to identify the degree of expectation towards the elements and dimensions measured, it is to identify the degree of perception after patient received the service, to identify patient satisfaction in view of the gap between the elements and the dimensions of perception and expectation and to identify areas of concern pertaining to patient satisfaction. Several service quality dimensions were generated from Parasuraman, Zeithalm and Berry (1988), to achieve the research objectives. The dimensions measured are tangible, reliable, responsiveness, assurance empathy and accessibility. Two sets of questionnaires were developed to measure Expectation and the Perception of patient. Reliability test was determined prior to real data collection. Cronbach Alpha was found to be 0.83 and 0.92 respectively. The research data was gathered from 100 patients admitted to the Medical wards at Hospital Kangar. Descriptive statistical analysis using frequencies, percentage and means were used. The findings of the study showed that the overall expectation means was 4.55 and the overall perception mean was 3.66. The perception elements that were related to nurses showed 96.7 % of patients responded that they were "satisfied" and " most satisfied". This percentage concluded that majority of the patient perceived that they have received a satisfactory service. The expectation dimension with highest mean is reliability with mean value of 4.69. This measure exceeds " Important" degree. In the perception dimension the highest mean is reliability with mean score of 3.89. This measure exceeds "Quite satisfied". In the satisfaction gap the, responsiveness dimension has the highest gap 1.01. The conclusion derived from this study is that the service level in Hospital Kangar can be consider as not of satisfactory level

A Conceptual Model: The Impact of Sociodemographic on Coronary Heart Disease

The paper aims to examine the conceptual model on the impact of sociodemographic towards coronary heart disease. There is still limited study on the association between cost of living particularly the cost of food and housing and its impact on coronary heart disease. Therefore, this study incorporates five essential sociodemographic attributes namely, cost of food, children education cost, housing cost, smoking habit and gender. The study provides greater understanding on how the cost of living and lifestyle may give impact to coronary heart disease. It may provide the awareness among the regulators as the society faces burden of high cost of living. The burden may threaten the Malaysians quality of life particularly the lower income group

Antecedent factors influencing maternal health information seeking behaviour of women of childbearing age in rural Tanzania

Seeking maternal health information from relevant and reliable sources is essential in reducing pregnancy-related complications that may result in both maternal morbidity and mortality. This study has investigated factors that influence maternal health information seeking behaviour of women of childbearing age in rural Tanzania. The study utilized a descriptive research design combining quantitative and qualitative research approaches. The study has used questionnaires, administered to 380 respondents, and focus group discussions involving 29 participants to collect data. Findings indicate that several factors are responsible for the women’s information seeking behaviour. These factors are: proximity to information sources; economic factors; previous pregnancy experiences; direct experience with information sources; information sources’ ability to provide relevant and adequate health information and women’s belief that the sought information will help to address their health problems. This study concludes that health practitioners and maternal health information providers should be mindful of these factors when providing maternal health information to women in rural areas. Furthermore, while it is important to encourage women to seek health information from reliable sources, it is also essential to equip them with information literacy skills to enable them to evaluate the health information they receive from their social networks and other informal sources