Comments on \u27Information measure for performance of image fusion\u27

The unsuitability of using classic mutual information measure as a performance measure for image fusion is discussed. Analytical proof that classic mutual information cannot be considered a measure for image fusion performance is provided.<br /

A decision support tool for resource allocation in batch manufacturing

A decision support tool for production planning is discussed in this paper to perform the job of machine grouping and labour allocation within a machining line. The production plans within the industrial partner have been historically inefficient because the relationship between the cycle times, the machine group size, and the operator\u27s utilisation hasn\u27t been properly understood. Starting with a simulation model, a rule-base has been generated to predict the operator\u27s utilisation for a range of production settings. The resource allocation problem is then solved by breaking the problem into a series of smaller sized tasks. The objective is to minimise the number of operators and the difference between the maximum and minimum cycle times of machines within each group. The results from this decision support tool is presented for the particular case study. <br /

Haptically enabled interactivity and immersive virtual assembly

Virtual training systems are attracting paramount attention from the manufacturing industries due to their potential advantages over the conventional training practices such as general assembly. Within this virtual training realm for general assembly, a haptically enabled interactive and immersive virtual reality (HIVEx) system is presented. The idea is to imitate real assembly training scenarios by providing comprehensive user interaction as well as by enforcing physical constraints within the virtual environment through the use of haptics technology. The developed system employs a modular system approach providing flexibility of reconfiguration and scalability as well as better utilization of the current multi-core computer architecture. The user interacts with the system using haptics device and data glove while fully immersed into the virtual environment with depth perception. An evaluation module, incorporated into the system, automatically logs and evaluates the information through the simulation providing user performance and improvements over time. A ruggedized portable version of the system is also developed and presented with full system capabilities allowing easy relocation with different factory environments. A number of training scenarios has been developed with varying degree of complexity to exploit the potential of the presented system. The presented system can be employed for teaching and training of existing assembly processes as well as the design of new optimised assembly operations. Furthermore, the presented system can assist in optimizing existing practices by evaluating the effectiveness and the level of knowledge transfer involved in the process. Within the aforementioned conceptual. framework, a working prototype is developed.<br /

Haptically enable interactive virtual assembly training system development and evaluation

Virtual training systems are attracting paramount attention from the manufacturing industries due to their potential advantages over the conventional training practices. Significant cost savings can be realized due to the shorter times for the development of different training-scenarios as well as reuse of existing designed engineering (math) models. In addition, use of computer based virtual reality (VR) training systems can shorten the time span from computer aided product design to commercial production due to non-reliance on the hardware parts for training. Within the aforementioned conceptual framework, a haptically enabled interactive and immersive virtual reality (HIVEx) system is presented. Unlike existing VR systems, the presented idea tries to imitate real physical training scenarios by providing comprehensive user interaction, constrained within the physical limitations of the real world. These physical constrains are imposed by the haptics devices in the virtual environment. As a result, in contrast to the existing VR systems that are capable of providing knowledge generally about assembly sequences only, the proposed system helps in cognitive learning and procedural skill development as well, due to its high physically interactive nature.<br /

Modular instrument for a haptically-enabled robotic surgical system (HeroSurg)

To restore the sense of touch in robotic surgical systems, a modular force feedback-enabled laparoscopic instrument is developed and employed in a robotic-assisted minimally invasive surgical system (HeroSurg). Strain gauge technology is incorporated into the instrument to measure tip/tissue lateral interaction forces. The modularity feature of the proposed instrument makes it interchangeable between various tip types of different functionalities, e.g., cutter, grasper, and dissector, without losing force sensing capability. Series of experiments are conducted and results are reported to evaluate force sensing capability of the instrument. The results reveal mean errors of 1.32 g and 1.98&deg; in the measurements of tip/tissue load magnitude and direction across all experiments, respectively

Design of scalar functional observers of order less than (v-1)

This paper presents a new method of designing scalar functional observers of order less than the well-known upper bound (&nu; - 1). A condition for the existence of observers of order p where 1 &le; p &le; (&nu; - 1) is given. A simple and effective algorithm for solving the constrained generalized Sylvester equation is proposed. Several numerical examples are given to illustrate the attractiveness of the design algorithm. <br /

Estuary and sea-associated wetlands as final sink for organic pollutants: a case study in Sabah, Malaysia

Estuaries and sea-associated wetlands are the final destination for organic pollutants due to their chemical and physical properties. The current research studied Parai River and estuary adjacent to the southern South China Sea in Kota Kinabalu, Sabah. Six samples of surface sediment were taken during January 2012. The samples (top 3 cm) were extracted by Soxhlet using Dichloromethane, subjected to 2 steps of column chromatography for clean-up and fractionation followed by Gas Chromatography-Mass Spectrometry. The results indicated that the highest concentration of alkane in a full range of even and odd carbon numbers is dominant in the estuary and sea-associated wetland. Estuaries receive the highest level of suspended materials due to continuous interaction between marine saline and riverine fresh water. The high amount of Unresolved Complex Mixture (UCM) indicated an incomplete cycle of degradation and decomposition. Terrestrial input was the most dominant natural entry to the study area where C31/C19 ratio was employed. The study concluded that sea-associated wetlands around the estuary may act as the final sink of organic pollutants in the environmen