Feedforward model with cascading proportional derivative active force control for an articulated arm mobile manipulator

This thesis presents an approach for controlling a mobile manipulator (MM) using a two degree of freedom (DOF) controller which essentially comprises a cascading proportional-derivative (CPD) control and feedforward active force control (FAFC). MM possesses both features of mobile platform and industrial arm manipulator. This has greatly improved the performance of MM with increased workspace capacity and better operation dexterity. The added mobility advantage to a MM, however, has increased the complexity of the MM dynamic system. A robust controller that can deal with the added complexity of the MM dynamic system was therefore needed. The AFC which can be considered as one of the novelties in the research creates a torque feedback within the dynamic system to allow for the compensation of sudden disturbances in the dynamic system. AFC also allows faster computational performance by using a fixed value of the estimated inertia matrix (IN) of the system. A feedforward of the dynamic system was also implemented to complement the IN for a better trajectory tracking performance. A localisation technique using Kalman filter (KF) was also incorporated into the CPD-FAFC scheme to solve some MM navigation problems. A simulation and experimental studies were performed to validate the effectiveness of the MM controller. Simulation was performed using a co-simulation technique which combined the simultaneous execution of the MSC Adams and MATLAB/Simulink software. The experimental study was carried out using a custom built MM experimental rig (MMer) which was developed based on the mechatronic approach. A comparative studies between the proposed CPD-FAFC with other type of controllers was also performed to further strengthen the outcome of the system. The experimental results affirmed the effectiveness of the proposed AFC-based controller and were in good agreement with the simulation counterpart, thereby verifying and validating the proposed research concepts and models

Layout strategy of protease production from industrial fishery wastes in Kuantan, Pahang

Layout strategy is considered as key decision that controls long-term effectiveness of production operational activities. Fish wastes in the fisheries sector can have negative impact on the environment if not handled properly. This issue plays a huge role in the commitment for choosing the right layout suitable for production of protease from those wastes. The whole analysis of this research was conducted in Kuantan, Pahang that has concentrated many fisheries processing industries which generated quite huge tons of waste material. The purpose of this study was to define a layout strategy that was sufficient for production of protease from fishery waste. Data was obtained from interview sessions with manager of Kilang Keropok Pak Lah followed by documents review and observations of production activities for layout analysis. The study had determined the protease product process flow and therefore developed layout suited to the protease production processed from identified fishery wastes at the site. Feasibility analysis performed had determined the proposed protease production would benefit consumers, increases manufacturing capacity as well as open up new market and business opportunity for company. The study concluded that protease production from fisheries waste increases career opportunities, generate new income and bringing positive impact to the local community. From the research findings gathered, authors strongly recommended further study in this sector looking for other types of commercial products for new economic viability

On the biology and bioacoustic characteristic of spotted catfish arius maculatus (Thunberg 1792) from the Malaysian Estuary.

Estuaries of Matang mangrove reserves in Perak provide an ideal habitat for Arius maculatus population. Results of our survey showed that most of the fish species caught were in their sub-adult stages with size ranged between 11 – 21 cm SL as shown in length frequency analysis. The relative growth condition of the fish population was allometrically negative with “b” value < 3.0 (W = 0.040L2.78) respectively. Study on reproductive biology of the species showed that almost half of the specimens caught were comprised of maturing males and female’s gonad development attained stage II – III. Stomach content analysis demonstrated that A. maculatus was an excellent benthic feeder in muddy water environment. Three major food items have been listed and dominated by zoobenthos and benthic crustacean. Meanwhile bioacoustic study showed that the fish produced a distinct sound resulted from stridulation of pectoral fins. The roles played by Matang mangrove systems as an integral breeding and nursery ground for this particular species was also discussed

A Review on Usability and User Experience of Assistive Social Robots for Older Persons

In the advancement of human-robot interaction technology, assistive social robots have been recognized as one of potential technologies that can provide physical and cognitive supports in older persons care. However, a major challenge faced by the designers is to develop an assistive social robot with prodigious usability and user experience for older persons who were known to have physical and cognitive limitations. A considerable number of published literatures was reporting on the technological design process of assistive social robots. However, only a small amount of attention has been paid to review the usability and user experience of the robots. The objective of this paper is to provide an overview of established researches in the literatures concerning usability and user experience issues faced by the older persons when interacting with assistive social robots. The authors searched relevant articles from the academic databases such as Google Scholar, Scopus and Web of Science as well as Google search for the publication period 2000 to 2021. Several search keywords were typed such as ‘older persons’ ‘elderly’, ‘senior citizens’, ‘assistive social robots’, ‘companion robots’, ‘personal robots’, ‘usability’ and ‘user experience’. This online search found a total of 215 articles which are related to assistive social robots in elderly care. Out of which, 54 articles identified as significant references, and they were examined thoroughly to prepare the main content of this paper. This paper reveals usability issues of 28 assistive social robots, and feedbacks of user experience based on 41 units of assistive social robots. Based on the research articles scrutinized, the authors concluded that the key elements in the design and development of assistive social robots to improve acceptance of older persons were determined by three factors: functionality, usability and users’ experience. Functionality refers to ability of robots to serve the older persons. Usability is ease of use of the robots. It is an indicator on how successful of interaction between the robots and the users. To improve usability, robot designers should consider the limitations of older persons such as vision, hearing, and cognition capabilities when interacting with the robots. User experience reflects to perceptions, preferences and behaviors of users that occur before, during and after use the robots. Combination of superior functionality and usability lead to a good user experience in using the robots which in the end achieves satisfaction of older persons

A Review on Usability and User Experience of Assistive Social Robots for Older Persons

In the advancement of human-robot interaction technology, assistive social robots have been recognized as one of potential technologies that can provide physical and cognitive supports in older persons care. However, a major challenge faced by the designers is to develop an assistive social robot with prodigious usability and user experience for older persons who were known to have physical and cognitive limitations. A considerable number of published literatures was reporting on the technological design process of assistive social robots. However, only a small amount of attention has been paid to review the usability and user experience of the robots. The objective of this paper is to provide an overview of established researches in the literatures concerning usability and user experience issues faced by the older persons when interacting with assistive social robots. The authors searched relevant articles from the academic databases such as Google Scholar, Scopus and Web of Science as well as Google search for the publication period 2000 to 2021. Several search keywords were typed such as ‘older persons’ ‘elderly’, ‘senior citizens’, ‘assistive social robots’, ‘companion robots’, ‘personal robots’, ‘usability’ and ‘user experience’. This online search found a total of 215 articles which are related to assistive social robots in elderly care. Out of which, 54 articles identified as significant references, and they were examined thoroughly to prepare the main content of this paper. This paper reveals usability issues of 28 assistive social robots, and feedbacks of user experience based on 41 units of assistive social robots. Based on the research articles scrutinized, the authors concluded that the key elements in the design and development of assistive social robots to improve acceptance of older persons were determined by three factors: functionality, usability and users’ experience. Functionality refers to ability of robots to serve the older persons. Usability is ease of use of the robots. It is an indicator on how successful of interaction between the robots and the users. To improve usability, robot designers should consider the limitations of older persons such as vision, hearing, and cognition capabilities when interacting with the robots. User experience reflects to perceptions, preferences and behaviors of users that occur before, during and after use the robots. Combination of superior functionality and usability lead to a good user experience in using the robots which in the end achieves satisfaction of older persons

Adoption of MES in complying with the national standard MS 1500:2009 in Malaysia

Malaysia is a pioneering country in the food manufacturing industry,notablyin the halal sector. In order to ensure the quality and safety of halal food, the Malaysian government introduced a strict standard that governs the production from raw material to the final product. The Malaysia Halal Food Standard, MS1500:2009, was designed as a global halal food quality system benchmark, as it is used to obtain halal food certification in Malaysia. Even though this standard has several advantages to customers, particularly in ensuring safety, with benefits in food quality, compliance with this standard forms a significant challenge to the manufacturers, especially in managing knowledge and process. The literature suggests that the manufacturing execution system (MES) has the potential to facilitate manufacturing processes and control. Yet, the application of the manufacturing execution system to halal food is still in its infant stage. Thus, this paper aims to provide a review of how this software can help Malaysian halal food manufacturers comply with the national standard and certification requirements

Design Of Compact Pre-Pregger Machine For In House Production Of Pre-Preg Material

The main idea of this project is to conceptually design and simulate a lab-scale pre-pregger machine for in house production of pre-preg material. The aim is to decrease the size of the existing machine and reduce the cost to fabricate it. The concept design of the machine focuses on four major components: drum, resin bath, guider and fiber spindle. The pre-pregger machine is designed with an adaptable drum parameter which can be installed and removed easily from the drum holder. In this project, Programmable Logic Controller (PLC) was used to control the pre-pregger machine. The CXONE OMRON PLC was chosen to design the ladder diagram of the controller. In order to simulate and test the correctness of the controller, a simple electrical setup has been made. The setup consists of three motors, few sensors and push button. The simulated setup proved that the proposed conceptual design of the pre-pregger machine is workable

AFC motor control using low cost and mobile data acquisition system with dsPIC30 microcontroller and Lubin Kerhuel blockset for MATLAB/Simulink

Data acquisition system (DAQ) plays an important role in research activities. Commercially available DAQ can be expensive and most are PC based and can be overly equipped for the task at hand. This paper proposes a low cost and mobile DAQ system with a dsPIC30 microcontroller form Microchip and program using Lubin Kerhuel Blockset for MATLAB/Simulink. An experimental rig consisting of a Maxon motor equipped with an Escon motor driver connected to a dsPIC30F3014 microcontroller was developed to demonstrate the potential of the proposed system. AFC was used as the control system and result from the experimental setup was presented in MATLAB/Simulink. Results clearly imply the viability of the proposed setu

Critical Factors Influencing User Experience on Passive Exoskeleton Application: A Review

Wearable assistive devices such as passive exoskeleton have been recognized as one of the effective solutions to assist people in industrial work, rehabilitation, elderly care, military and sports. The design and development of a passive exoskeleton that emphasizes on satisfying and fulfilling users' requirements and users' experience are essential to ensure the device remains competitive in the global market. A good user experience of using an exoskeleton stimulates users' satisfaction, as contemporary users are not only considering basic functional features but also fascinated by perception values such as aesthetics and enjoyment. The main purpose of this article is to review the critical factors that are influencing user experience before, during and after utilizing a passive exoskeleton. The authors had searched relevant articles from academic databases such as Google Scholar, Scopus and Web of Science as well as free Google search for the publication period from 2001 to 2020. Several search keywords were used such as 'passive exoskeleton + user experience', 'passive exoskeleton + industry', 'passive exoskeleton + rehabilitation', passive exoskeleton + military', 'passive exoskeleton + sports', 'passive exoskeleton + sit-stand', and 'passive exoskeleton + walking'. This online search found that a total of 236 articles related to the application of passive exoskeleton in the area of industry, rehabilitation, military and sports. Out of this, 81 articles were identified as significant references and examined thoroughly to prepare the essence of this paper. Based on these articles, the authors revealed that the engineering design, usability, flexibility, safety and ergonomics, aesthetics, accessibility, purchase cost, after-sales service and sustainability are the critical factors that are influencing user experience when employing passive exoskeleton