EMBEDDED LEARNING ROBOT WITH FUZZY Q-LEARNING FOR OBSTACLE AVOIDANCE BEHAVIOR

Fuzzy Q-learning is extending of Q-learning algorithm that uses fuzzy inference system to enable Q-learning holding continuous action and state. This learning has been implemented in various robot learning application like obstacle avoidance and target searching. However, most of them have not been realized in embedded robot. This paper presents implementation of fuzzy Q-learning for obstacle avoidance navigation in embedded mobile robot. The experimental result demonstrates that fuzzy Q-learning enables robot to be able to learn the right policy i.e. to avoid obstacle

Daylight adaptive optimal lighting system control strategies for energy savings and visual comfort in commercial buildings

Artificial lighting of commercial buildings in Malaysia consumes 21% of the total electrical energy. Therefore, reducing the energy is required to achieve sustainable buildings (i.e., higher energy efficiency and visual comfort), by implementing optimal light sensor placement method and optimisation-based control strategy. However, in recent works related to light sensor placement, energy performance and illuminance uniformity (Uo) are not considered, and the results did not provide the optimal number of sensors to be employed. To optimise power consumption (PC) and visual comfort simultaneously through the optimisation-based control strategy, the previous work developed a visual comfort model to represent Uo. However, the model did not consider daylight and the results of Uo need further improvement. This research proposes: (1) a new optimal light sensor placement method (OLSPM) by using combined particle swarm optimisation (PSO) and fuzzy logic controller (FLC) denoted as OLSPM-PSOFLC, and (2) a new visual comfort metric called illuminance uniformity deviation index (IUDI) and incorporated with multi-objective PSO (MOPSO) for solving energy consumption and visual comfort problem. The OLSPM�PSOFLC is developed to determine the optimal number and position of light sensors by considering PC while satisfying average illuminance level (Eav) and Uo. To ensure both PC and Uo in the room are always at the optimum levels, the IUDI with MOPSO is developed. Before the proposed methods are implemented, retrofitting lighting system is implemented first to determine the best lamp technology to be installed in terms of technical and economic metrics. An actual office room is considered for carrying out the proposed methods. The comparative results showed that the OLSPM�PSOFLC significantly reduced the number of sensors, energy consumption, carbon dioxide emission, payback period, and life cycle cost were 66%, 23%, 23%, and 30%, respectively, compared to the multi-sensor. Meanwhile, based on the comparative study of the IUDI and CVRMSE, the IUDI showed superior performance with 6% and 27% improvement of Uo and energy savings, respectively. Based on their superiority, the newly developed methods can be potentially implemented for all types of rooms and are very useful methodologies towards sustainable commercial buildings

Polysulfone mixed matrix membranes with biosynthesis nanoparticles: enhancement of interface compatibility and antibacterial membrane seperation process

This study investigates the effect of biosynthesis silver nanoparticles (bio-AgNPs) structure towards PSf membranes performance. The addition of bio-AgNPs in the membrane formulation was aimed to improve antibacterial properties and interface compatibility of the polymer mixed matric membrane. In this work, facile green synthesis method of silver nanoparticles was prepared using Parkia speciosa (Petai) leaves extract silver nitrate aqueous solution. The bio-AgNPs/PSf membranes was fabricated using phase-inversion process. Characterization of the synthesized bio�AgNPs and mixed matrix membranes via UV-Vis spectroscopy (UV-Vis), Field emission scanning electron microscope (FESEM), Transmission electron microscopy (TEM), X-ray diffraction (XRD), and Fourier transform infrared spectroscopy (FTIR). Surface plasmon resonance for bio-AgNPs was assigned at 465 nm with brown colour. FTIR spectroscopy identified the biomolecules capped on the surface of nanoparticles are phenol, flavonoid and terpenoid compounds. The microstructure and structural analyses had shown that AgNPs possessed good characteristics with spherical shapes, small average size of particles (59.96 nm), and small crystallite size. The bio-AgNPs also showed significant potential antibacterial activity against Escherichia coli (E. coli) and Staphylococcus aureus (S. aureus). The addition of bio-AgNPs was able to enhance the hydrophilicity of composite PSf membranes which proved by decreasing the value of contact angle. Meanwhile, structure on bottom layer shown a porous bulk with finger-like structure and macroviod structure which is responsible for mechanical support. Finger-like structure on top layer became smaller with increment of bio-AgNPs because of its hydrophilicity properties. Hence, the pure water flux also will increase because the hydrophilicity properties was an essential factor for water permeability. The molecular interaction between molecules was investigated using Dynamic mechanical analysis (DMA) and silver leaching analysis by Inductive coupled plasma mass spectrometer (ICP-MS). vi As revealed, the strength of molecular interaction between AgNPs and PSf molecules was improved with addition of bio-AgNPs. Hence, overall the results showed that the incorporation of bio-AgNPs able to improve antibacterial properties and interface compatibility of the polymer mixed matric membran

A Study On Influencing Factors And Performance Of Logistics Outsourcing Practices Among Electrical And Electronics Firms In Malaysia

Penyumberluaran aktiviti logistik telah menjadi strategi popular bagi kebanyakan organisasi dalam memburu kecemerlangan operasi di era persaingan sengit pasaran global. Logistics outsourcing has been growing as a popular strategy for many organizations in pursuit of operational excellence despite the fierce competitive market globally

Height determination using GPS data, local geoid and global geopotential models

Orthometric heights are normally derived using the spirit levelling. This requires the spirit level equipment to be set up from point 10 point along a levelling line which is a time consuming and tedious task. GPS offers a new altematiV)O in orthometric height determination very accurately over a comparatively short period. The ellipsoidal height derived from GPS technique can be transformed into orthometric height if we know the geoidal height normally derived from a gravimetric geoid of the area. Unfortunately, we have yet to compute an accurate gravimetric geoid for such purpose, largely due to nonexistence of gravity data for a larger part of the Country. As an alternative, a study was undertaken to look into the feasibility of using a simple local geoid solution and a global geopotential geoid model solution The data used in this study consist of GPS data and known orthometric height ofseveral GPS points. This paper present some of the results obtained so far in estimating orthometric height from GPS data in local en,ironment

The 1st. Turkish International Symposium on Deformations

Preamble This write up attempts to report on the conference' on deformation the writer attended in September, 1994 held in Istanbul, Turkey. This report will try to inform the reader on the following; the conference and the organizer, the place, the papers presented and the participants, the social Events and lastly some personal observation on the conference and Istanbu

Fish Biodiversity in the Swamp Ecosystem of Barumun River Area

Swamp flooded is a habitat of various types of fish, which as an feeding ground, shelter, and reproduction. Diversity of fish types has been utilized by the people to catch fish, as a material of consumption and economic income. One of the flooded swamp that people have utilized in the Barumun River area. The purpose of this research is to know the biodiversity of fish in the swamp flooded Barumun River.  This research is explorative, with the determination of observation stations with purposive sampling methods. Fish are captured using hand cast fishing nets, fishing rods, and gill nets. Fish are identified using relevant books. Total fishing catches during the study amounted to 298 individuals consisting of 13 genera and 17 speisies. The average value of the Keanakaragaman index is 1,85 with a low cathedral. The average value of uniformity index (E ') is 0,67 in medium category. The average value of the Dominancy index (C) is 0,027 in low category. Based on the results of the study concluded the waters of Rawa Sungai Barumun has suffered disruption due to land function and pollution. This is evidenced by the Oil Palm Factory PT. Nubika Jaya and palm plantations area

Nanostructured titanium dioxide thin film for dye-sensitized Solar cell applications

Nanostructured Titanium Dioxide (TiC^) thin film for Dye-Sensitized Solid State Solar Cell (DSSSC) application has been synthesized using sol-gel method and deposited onto silicon and glass substrates using spin coating technique. The optimized annealing temperature and sol-gel concentration were obtained a| 500°C and 0.2M, respectively. Basically, there were four properties studied; surface morphology, structural, electrical and optical properties. Field Emission Scanning Electron Microscopy (FE-SEM) / Scanning Electron microscopy (SEM) were carried out to observe the changes in surface morphology whenever there are changes on the parameters. X-Ray Diffractions (XRD) characterization of the samples was taken to examine the TiC>2 crystalline phases and the intensity of nanocrystalline particles in the thin film. I-V measurement using two-point probe equipment was used to observe the electrical properties which include the measuring of the sheet resistance, the resistivity and the conductivity of the TiC>2 thin film. The optical properties were observed using UV-Vis-NIR spectrophotometer. The thin film transmittance and the band gap energy were also observed using this spectrophotometer. At the end of this research, uniform and homogeneous TiC>2 thin film has successfully prepared. By controlling the sol-gel concentration, a transparent TiC>2 thin film has been developed which has high transmittance property of above 80%. The TiC>2 thin films which were annealed at a temperature of 500°C and prepared at 0.2M of sol-gel precursor concentration gave the optimum results. By adding TiC>2 nanopowder, the surface area and porosity of TiC>2 thin film is improved, thus good candidate to use in DSSSC application

Improving Geoidal Height Estimates from Global Geopotential Model Using Regression Model and GPS Data

Conventionally, for most application, position of a point is often referred to the geoid as the reference surface. Thus there is an important need for the knowledge of the geoid undulation in the area where positioning tasks is performed, This requirement is made more apparent with the advent of high precision using GPS where the resulting ellipsoid height must be converted to orthometric height. An ideal solution is to use a precise gravimetric solution where the geoidal height at each GPS point is computed and applied. Unfortunately, at the moment there is no such solution available in Malaysia. However. efforts are currently being made to develop a precise gravimetric geoid, For the time being, an alternative method would have to be use and the global geopotential model is one of them. [n order to increase the accuracy of computed geoid height from the geopotential model. a regression model is used in conjunction with the GPS data. The resulting accuracy estimates of the geoid height determination increases from around 60 cm 'to about 10 cm leve1

Composite foundations on Malaysian soft clay soil: applications of innovative techniques

An innovative technique of electro osmosis coupled with vertical surcharge loading to accelerate the consolidation and stiffen Kaolin (China Clay Grade E) was investigated in this study. The geotechnical properties of this China Clay Kaolin Grade E and the design of electro osmotic consolidation chamber are discussed together with an explanation of the procedural concept of the electro osmotic consolidation chamber (i.e., the preparation of the apparatus and the clay sample, assembling of the electro osmotic consolidation chamber; and the experimental work). The plastic limit, liquid limit and plasticity index were 35%, 53% and 18% respectively. Therefore, China Clay Kaolin Grade E is classified as MH soil, and it is predominantly a silt with high plasticity. The specific gravity of the soil is 2.65. To ensure the kaolin is saturated, all samples were prepared in a similar manner with deaired water to produce a slurry at 150% of the liquid limit (initial moisture content of 79.5%). The electro osmotic consolidation chamber was cylindrical and consisted of the body, the base and the top cap. The body and the base of the chamber were constructed of polyvinyl chloride (PVC) tube with a wall thickness of 10.9 mm, 345 mm high and 251 mm inner diameter. The electro osmotic consolidation chamber was assembled together with a 45 mm thick flange and collar. The top cap of this chamber was based on that of a Rowe cell of similar diameter. Twenty one tests were performed in this study with an applied voltage and one test was a control test. The test samples in the twenty one tests were all consolidated to three different phases. In Phases 1 and 2, the samples were consolidated at 15 kPa while in the Phase 3, 50 kPa was used. The electro osmotic process was only performed during Phase 2. The time of treatment, numbers of electrodes, the arrangement of electrodes, and the applied voltages were investigated in these tests. Results from these tests indicated that the China Clay Kaolin Grade E in a 79.5% slurry form responded well to electro osmotic treatment and that electro osmotic process increased the overall stiffness of the soil as indicated by the reduced relative settlement in Phase 3 with a pressure of 50kPa. The water content around the anodes was less than that at the cathode creating zones of higher average constrained stiffness. The tests demonstrated that the longer the time of treatment, the greater the numbers of anodes, the shorter distance between the electrodes and the higher the applied voltages associated with electro osmosis increased the average stiffness of the soil mass confirming the concept of an electro osmotic pile. Keywords: electro osmotic merged vertical loading and electro osmotic, consolidation, electro osmotic consolidation chamber, stiffening