Implementation of PID Based Controller Tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator

© 2018 IEEE. The paper investigates the development of intelligent hybrid collocated and non-collocated PID controller for hub motion and end point vibration suppression of double-link flexible robotic manipulator. The system was modeled using multi-layer perceptron neural network structure based on Nonlinear Autoregressive Exogenous (NARX) model. The hybrid controllers are incorporated with optimization algorithm that is ABC and PSO to find out the parameters of the PID controllers. Numerical simulation was carried out in MATLAB/Simulink to evaluate the system in term of tracking capability and vibration suppression for both links. Performance of the controllers are compared with the hybrid PID-PID Ziegler Nichols (ZN) controller in term of input tracking and vibration suppression. The results show that PSO revealed the superiority over ABC in controlling the system. The system managed to reach desired angle for both hub at lower overshoot using proposed method. Meanwhile, the vibration reduction shows great improvement for both link 1 and 2. This signifies that, the PSO algorithm is very effective in optimizing the PID parameters

Development of a virtual reality platform as a training tool using gaming software

Virtual Reality (VR) is a well-known technology that is applied in many areas including education, medical, manufacturing etc. In the engineering field, VR is commonly used as a toolkit to train humans to perform complex tasks such as aircraft piloting, chemical handling etc. However, the practicality of using gaming software as a VR platform for training purposes needs to be investigated. In this paper, the DarkBASIC Professional (DBPro) gaming software was applied as a VR platform to train humans' adaptability towards new environments. The design of the structure of the VR platform using DBPro is described together with the main elements including 3D modeling, mapping, lighting and sound effects, and player's control. A comparison between the real world and the VR platform was evaluated. Ten selected subjects conveyed positive feedback on the realism of the VR platform through the survey. The results show that the time taken to complete a task was reduced up to 60% after the subjects performed the VR training in advance. It is hoped that the VR platform will support VR training with low development costs and an open source concept

Comparison Study between FEM Simulation and Experimental of Heat and Mass Transfer in Kek Lapis Sarawak Baking

Kek Lapis Sarawak is specialty dish from Sarawak. Kek Lapis Sarawak industry contributes a lot to the state’s economy. In cake industry, the use of oven in the baking process contributes to high energy consumption. Nowadays, energy has become an operational issue and there is a need to minimize energy consumption to reduce production cost. This research aims to optimize the baking process for an efficient energy consumption. Therefore, it is important to investigate the relationship between baking temperature, time and cake quality. Accurate temperature and time will define an efficient baking process. Kek Lapis Sarawak baking process has been modelled and simulated using finite element method (FEM). Results from the model was validated with an experiment. There is specific oven temperature needed to enable perfect gelatinization and coagulation to happen which is 190 °C. While baking time are varied by layers. The baking time is reducing as more layers added.  The finding shows interdependent relationship between porosity, thermal conductivity and moisture content where higher porosity  can lead to poor thermal conductivity

Design of Mechanical Bracing Device for Clubfoot Treatment

Clubfoot is one of the complex three-dimensional deformities of the foot. In Malaysia, clubfoot remains a significant problem and yields an unpredictable outcome due to the late presentation for treatment and ignorance of parents. Invasive and non-invasive treatment is applied for clubfoot. However, relapse can occur after the treatment, and the patient needs to use a bracing device for post-treatment maintenance. In this paper, the design of a new mechanical bracing device for clubfoot treatment is presented. Engineering design approach was applied to the device development. Problem identification and customer requirement, conceptual design, preliminary design, detail design and final design were conducted before the fabrication process. The device consists of adjustable foot width, dorsiflexion, shoe, a horizontal plate, foot pad and foot height. The prototype was fabricated, and SWOT (Strengths, Weaknesses, Opportunities and Threats) analysis was conducted for evaluation purpose. The device consists of multiadjustable joint that can be considered as a new concept for the bracing device

Development of an Ankle Foot Orthosis for Hemiplegic Children

Hemiplegia is a half body paralysis which causes disability in mobility function. Hemiplegia is normally discovered since early birth and is not curable. Treatment such as physical therapy can be carried out for the hemiplegic patient to prevent muscle contraction, especially at the early age. In this research, a tool for the physical therapy and gait assistance known as ankle foot orthosis (AFO) was developed for the hemiplegic children. The AFO was based on the active concept that mobilised the ankle by preventing excessive plantarflexion and allowed dorsiflexion. A linear type DC (direct current) motor was used as the actuator. The maximum range of motion (ROM) was +20° for the dorsiflexion and -20° for plantarflexion movement. The prototype was fabricated using 3D printing. Simple control for the device was developed using Arduino kits. The development of a new AFO is hoped to support the rehabilitation of the hemiplegic children

Development of adjustable foot corrective device for clubfoot treatment

Congenital talipes equinovarus (CTEV) or clubfoot is a complex deformity of the foot that is characterised by four main deformities; forefoot cavus and adductus, hindfoot varus and ankle equinus. Currently, the Ponseti method is the most general and recognized treatment with a high success rate of over 90%. The treatment involves gentle manipulation and serial casting. However, the casting method could create complications for the patients such as soft-tissue damage and inconvenience in following the treatment schedule especially for those living far away from hospital. The aim of this research is to develop an adjustable corrective device for clubfoot treatment based on the techniques in the Ponseti method and at the same time attempt to eliminate the side-effects. The prototype consists of six adjustable movements from six different mechanisms to correct the four deformities. The prototype was developed using 3D printing method and the main material used is polylactic acid (PLA), rubber, aluminium and cotton fabric with sponge. The total weight of the prototype is around 300 g

Drying effect on the properties of traditionally processed sago starch

Local people in Sarawak, Malaysia produce sago starch, commonly referred as lemantak, using traditional method for authentic meals and delicacies. The quality of lemantak degrades with time due to its high moisture content limiting the potential for a wider market, and hence affecting the socio-economy of those whose livelihood depends on sago starch production. The objective of the present work was to evaluate the changes in the properties of traditionally processed dried Sarawak sago starch. In order to achieve this, sago starch was extracted using a well-established traditional process and was dried at 40°C to produce sago starch with moisture contents of 40%, 30%, 20% and 10% wet basis. The effect of moisture content on the physical properties was studied through colour analysis, microscopic analysis, and particle size distribution. Analysis on resistant starch content was also performed. Changes on the hydration and functional properties was monitored by measuring the water absorption index (WAI), water solubility index (WSI), swelling capacity (SC), and gelatinisation behaviour. Lastly, Fourier transform-infrared spectroscopy (FT-IR) was applied to observe the changes in amorphous and crystalline areas. The physical properties analysis showed changes in starch colour and granule surface; but the change on granule size varied. Dried starch with lower moisture content exhibited higher resistant starch, absorption index, and peak temperature, but lower solubility index, swelling capacity, peak viscosity, crystalline index, and amorphous index. It is suggested that moisture content affected the changes in traditionally processed sago starch properties which was influenced by few components namely polyphenol, lipid, amylose-lipid complex, and inter-molecular hydrogen bon

Drying effect on the properties of traditionally processed sago starch

Local people in Sarawak, Malaysia produce sago starch, commonly referred as lemantak, using traditional method for authentic meals and delicacies. The quality of lemantak degrades with time due to its high moisture content limiting the potential for a wider market, and hence affecting the socio-economy of those whose livelihood depends on sago starch production. The objective of the present work was to evaluate the changes in the properties of traditionally processed dried Sarawak sago starch. In order to achieve this, sago starch was extracted using a well-established traditional process and was dried at 40°C to produce sago starch with moisture contents of 40%, 30%, 20% and 10% wet basis. The effect of moisture content on the physical properties was studied through colour analysis, microscopic analysis, and particle size distribution. Analysis on resistant starch content was also performed. Changes on the hydration and functional properties was monitored by measuring the water absorption index (WAI), water solubility index (WSI), swelling capacity (SC), and gelatinisation behaviour. Lastly, Fourier transform-infrared spectroscopy (FT-IR) was applied to observe the changes in amorphous and crystalline areas. The physical properties analysis showed changes in starch colour and granule surface; but the change on granule size varied. Dried starch with lower moisture content exhibited higher resistant starch, absorption index, and peak temperature, but lower solubility index, swelling capacity, peak viscosity, crystalline index, and amorphous index. It is suggested that moisture content affected the changes in traditionally processed sago starch properties which was influenced by few components namely polyphenol, lipid, amylose-lipid complex, and inter-molecular hydrogen bon

Development of adjustable foot corrective device for clubfoot treatment

Congenital talipes equinovarus (CTEV) or clubfoot is a complex deformity of the foot that is characterised by four main deformities; forefoot cavus and adductus, hindfoot varus and ankle equinus. Currently, the Ponseti method is the most general and recognized treatment with a high success rate of over 90%. The treatment involves gentle manipulation and serial casting. However, the casting method could create complications for the patients such as soft-tissue damage and inconvenience in following the treatment schedule especially for those living far away from hospital. The aim of this research is to develop an adjustable corrective device for clubfoot treatment based on the techniques in the Ponseti method and at the same time attempt to eliminate the side-effects. The prototype consists of six adjustable movements from six different mechanisms to correct the four deformities. The prototype was developed using 3D printing method and the main material used is polylactic acid (PLA), rubber, aluminium and cotton fabric with sponge. The total weight of the prototype is around 300 g

Design and analysis of ankle foot orthosis for disabled children

Ankle Foot Orthosis (AFO) is a brace or device that is worn on the lower leg to support and correct the foot and ankle position. AFO is also used to correct the foot drop. In this paper, a new design of AFO is proposed and its analysis using AUTODESK Inventor will be discussed. The design concept was based on the short and long size of pneumatic artificial muscle (PAM). The PAM are custom made in the laboratory with the short and long size are 150mm and 250mm respectively. Single point statics analysis including reaction force and moment at selected points were conducted for both designs. Based on the von Mises stress, displacement, safety factor and PAM experiment result, the long size design is selected for this research. Fabrication and further testing needs to be conducted in order to evaluate the device