Geometrical Error Analysis and Correction in Robotic Grinding

The use of robots in industrial applications has been widespread in the manufacturing tasks such as welding, finishing, polishing and grinding. Most robotic grinding focus on the surface finish rather than accuracy and precision. Therefore, it is important to advance the technology of robotic machining so that more practical and competitive systems can be developed for components that have accuracy and precision requirement. This thesis focuses on improving the level of accuracy in robotic grinding which is a significant challenge in robotic applications because of the kinematic accuracy of the robot movement which is much more complex than normal CNC machine tools. Therefore, aiming to improve the robot accuracy, this work provides a novel method to define the geometrical error by using the cutting tool as a probe whilst using Acoustic Emission monitoring to modify robot commands and to detect surfaces of the workpiece. The work also includes an applicable mathematical model for compensating machining errors in relation to its geometrical position as well as applying an optimum grinding method to motivate the need of eliminating the residual error when performing abrasive grinding using the robot. The work has demonstrated an improved machining precision level from 50µm to 30µm which is controlled by considering the process influential variables, such as depth of cut, wheel speed, feed speed, dressing condition and system time constant. The recorded data and associated error reduction provide a significant evidence to support the viability of implementing a robotic system for various grinding applications, combining more quality and critical surface finishing practices, and an increased focus on the size and form of generated components. This method could provide more flexibility to help designers and manufacturers to control the final accuracy for machining a product using a robot system

Implementation, use and analysis of open source learning management system “Moodle” and e-learning for the deaf in Jordan

When learning mathematics, deaf children of primary school age experience difficulties due to their disability. In Jordan, little research has been undertaken to understand the problems facing deaf children and their teachers. Frequently, children are educated in special schools for the deaf; the majority of deaf children tend not to be integrated into mainstream education although efforts are made to incorporate them into the system. Teachers in the main stream education system rarely have knowledge and experience to enable deaf students to reach their full potential. The methodological approach used in this research is a mixed one consisting of action research and Human Computer interaction (HCI) research. The target group was deaf children aged nine years (at the third grade) and their teachers in Jordanian schools. Mathematics was chosen as the main focus of this study because it is a universal subject with its own concepts and rules and at this level the teachers in the school have sufficient knowledge and experience to teach mathematics topics competently. In order to obtain a better understanding of the problems faced by teachers and the deaf children in learning mathematics, semi-structured interviews were undertaken and questionnaires distributed to teachers. The main aim at that stage of research was to explore the current use and status of the e-learning environment and LMS within the Jordanian schools for the deaf in Jordan. In later stages of this research, semi-structured interviews and questionnaires were used again to ascertain the effectiveness, usability and readiness of the adopted e-learning environment “Moodle. Finally pre-tests and post-tests used to assess the effectiveness of the e-learning environment and LMS. It is important to note that it was not intended to work with the children directly but were used as test subjects. Based on the requirements and recommendations of the teachers of the deaf, a key requirements scheme was developed. Four open source e-learning environments and LMS evaluated against the developed key requirements. The evaluation was based on a software engineering approache. The outcome of that evaluation was the adoption of an open source e-learning environment and LMS called “Moodle”. Moodle was presented to the teachers for the purpose of testing it. It was found it is the most suitable e-learning environment and LMS to be adapted for use by deaf children in Jordan based on the teachers requirements. Then Moodle was presented to the deaf children’s to use during this research. After use, the activities of the deaf and their teachers were used and analysed in terms of Human Computer Interaction (HCI) analysis. The analysis includes the readiness, usability, user satisfaction, ease of use, learnability, outcome/future use, content, collaboration & communication tools and functionality

Investigating the Capability of Precision in Robotic Grinding

Most robotic grinding focus on the surface finish rather than accuracy and precision. However ever increased demand on complex component manufacture requires to advance robot grinding capability so that more practical and competitive accurate systems can be developed. The current study focuses on improving the level of accuracy of robotic grinding, which is a significant challenge in robot application because the kinematic accuracy of robot movement is much more complex than normal CNC machine tools. Aiming to improve accuracy and efficiency the work considers all quality of measures including surface roughness and the accuracy of size and form. For that to be done, a repeatability test is firstly preformed to observe the distributions of the joint positions and how well the robot responds to its programmed position using a dial gauge method and a circuit trigger method. After that, a datum setting method is performed to assess the datum alignment with the robot. Hence, a mathematical model based on regression analyses applies towards the collected data to observe closely any error correlation when setting up a datum to perform the grinding procedure

Implementing Virtual Pair Programming in E-Learning Environment

Programming subjects are one of the core and important subjects that should be taken by students majoring in information system or computing. The problem of teaching and learning of programming has been widely reported in literatures. Many attempts have been made to solve this problems and this has led to many new approaches in teaching and learning of programming. One of the approach that has been proposed is the use of pair-programming, which is one of the practice of eXtreme Programming (XP). The advent of e-learning has given birth to the idea of Virtual Pair Programming (VPP). This paper describes how asynchronous mode of collaboration using VPP could be implemented for e-learning learners to learn programming

Recovery of Xanthan Gum from Palm Oil-Based Fermentation Broth by Diafiltration with Flat Polysulfone Microfiltration (MF) Membrane

Xanthan gum recovery from palm oil-based broth by diafiltration was carried out using flat microfiltration (MF) membrane. Optimization of process parameters such as transmembrane pressure (TMP), crossflow velocity (CFV), ionic strength (IS) and diafiltration factor (DF) was performed by Taguchi method using signal-to-noise (S/N) ratio of larger-the-better criterion yielding the following optimum conditions: level 1, level 2, level 3, and level 2, respectively, corresponding to Xanthan recovery of 68 %. Analysis of variance (ANOVA) showed the significance of TMP on providing a driving force for Xanthan’s transmembrane transport (XTT), whereas little effect of DF indicated the evidence of sieving action by cake layer on XTT, which was also responsible for complete rejection of oil indicated by the absence of fatty acid component in permeate upon GC-MS analysis. On the contrary, better XTT was observed during MF operation on zero-oil broth due to absence of oily cake layer rendering CFV more effective

Mengenal Manhaj Tafsir Fazrul Rahman

This research on Manhaj Tafsir Fazlur Rahman aims to describe and describe the methods or approaches used by Fazlur Rahman in interpreting the Qur'an. This research was conducted through library research. The study is descriptive and analytical, that is, analytical in a historical and philosophical sense. Data concerning the methodological thinking of interpreting the Koran can be traced back to Rahman's writing (primary source). The research data is in the form of works by Fazlur Rahman in interpreting various Qur'an verses. Meanwhile, the data sources that will be explored in this paper are Rahman's interpretations, which are widely published in multiple books in Indonesia. The results of his research show that diversity in both the method (manhaj / tariqah), style (nau'), and approaches (alwan) used is something that cannot be avoided in a work of interpretation. Although interpretive works have appeared in modern times, their interpretation still follows classical and medieval patterns. For Fazrul Rahman, tafsir's essence is how an interpreter can create an authentic meaning (original meaning) from reading through the historical context of the past. He captures all moral aspects to contextualize meaning in the present with a new methodology

The Changing Pattern of Hospital Admission to Medical Wards : Burden of non-communicable diseases at a hospital in a developing country

Objectives: This study aimed to determine the pattern of hospital admissions and patient outcomes in medical wards at Atbara Teaching Hospital in River Nile State, Sudan. Methods: This retrospective cross-sectional study was conducted from August 2013 to July 2014 and included all patients admitted to medical wards at the Atbara Teaching Hospital during the study period. Morbidity and mortality data was obtained from medical records. Diseases were categorised using the World Health Organization’s International Classification of Diseases (ICD) coding system. Results: A total of 2,614 patient records were analysed. The age group with the highest admissions was the 56‒65-year-old age group (19.4%) and the majority of patients were admitted for one week or less (86.4%). Non-communicable diseases constituted 71.8% of all cases. According to ICD classifications, patients were admitted most frequently due to infectious or parasitic diseases (19.7%), followed by diseases of the circulatory (16.4%), digestive (16.4%) and genito-urinary (13.8%) systems. The most common diseases were cardiovascular disease (16.4%), malaria (11.3%), gastritis/peptic ulcer disease (9.8%), urinary tract infections (7.2%) and diabetes mellitus (6.9%). The mortality rate was 4.7%. Conclusion: The burden of non-communicable diseases was found to exceed that of communicable diseases among patients admitted to medical wards at the Atbara Teaching Hospital

A roadmap towards the smart factory

Industry 4.0 is the transformation of industrial manufacturing through digitisation and the use of different emerging technological advancement, when coupled together forms the smart factory. However, the roadmap of adoption is a journey rather than an absolute solution. The objectives of this paper are to give general insights and a roadmap towards the smart factory. A six-gear roadmap concept is proposed and discussed together with different challenges and practical ways of overcoming them. The significance of this paper can serve as a steppingstone for a detailed strategic roadmap for a successful implementation and transformation into a smart factory