The Model And Evaluation Of Swaying Arm To The Torso Torque Of Humanoid Robot During Walking

The humanoid robot stand is the posture where the net torque and force generated by gravity is zero. Thus, the balance of the robot body is produced and keeping the vertical axis equilibrium behaviour. However, during the robot walking, the torque of the torso is disrupted by the internal forces of lower limbs motion. The increase of torso torque will then cause the robot to stumble or fell down. The swing arm motion is a natural phenomenon that realized in the humanoid robot walking. The swaying arm angle range is introduced in this study to utilize the humanoid robot arm motion during walking. The main idea of this technique is the employment of the right shoulder and left shoulder joint angle to reduce the torque at the torso in the vertical direction. The torso torque is computed using a method which utilized the servo torque of right hip, left hip, right shoulder and left shoulder. The torso torque,

Benefits Optimization through Ill-Informed Client Competency Acquisition and Engagement in Renovation Works Flow

In Malaysia, landed residential building design for mass housing has been influenced by the orientation towards a “seller’s market, without prioritizing the changing needs of the owner-occupant. This has contributed to the growing trend of having to “remodel” homes that is currently dominated by “low-value adding practices” that are embedded within traditional benefits realization principles, amounting to brief freezing. There is a disregard for client’s engagement at the construction phase, wherein the client is constrained by the practice of restrictive benefits realizations. This issue is underlined by a predominant positivist orientation to the issue of client participation that does not recognize residential housing client’s ability for competency acquisition in realigning requirements to maximize benefits. This paper proposes that value maximization for such a client can best be achieved through dynamic engagement with the renovation contractor to allow for value-driven ‘disruptive innovation’ practice during the construction phase. Focusing on requirements capture as a process rather than an output, it is proposed that client’s requirements can be realigned to maximize benefits based on a dynamic benefits realization model. This issue of benefits maximization is viewed from a social science perspective of primary stakeholder engagement within a legitimate peripheral mode of participation acting from within a community of practice whilst operating in a relational contracting environment. DOI: 10.5901/mjss.2016.v7n5p33

Effect of storage temperature and duration on physico-chemical properties, microbial growth and nutritional composition of papaya and banana fruits

Kultivar pisang (Musa sp.) dan betik (Carica papaya) dituai dan disimpan selama sebulan pada suhu penyimpanan dan jangka masa berbeza. Buah-buahan ini diambil daripada kebun yang terletak di Johor Bahru, Malaysia. Masak dalam tempoh yang tidak diingini, perubahan warna kulit, penurunan berat, buah-buahan kehilangan kualiti seperti nutrisi, kadar serangan mikroorganisma tinggi, dan kerosakan buah-buahan kerana cara penyimpanan tidak wajar. Buah-buahan itu disimpan pada jangka masa berbeza (0, 3, 6, 14, 30, hari) dan pelbagai suhu penyimpanan (4 ±1, 10±2, 30±3 °C). Perubahan warna, kehilangan berat, jumlah polisakarida dan protein, jumlah gula larut (TSS), keasidan boleh titrat (TA), pH, kandungan bebas fenol (FPC) dan pertumbuhan mikrob ditentukan. Keputusan menunjukkan parameter tersebut dipengaruhi dengan ketara oleh suhu dan masa. Contohnya, polisakarida pisang adalah 20 mg/L pada 4°C, 20 mg/L pada 10°C, dan 16 mg/L pada 30°C, protein pisang adalah 1155 pada 4°C, 1315 pada 10°C, dan 1640 pada 30°C, jumlah gula larut adalah 6.8 pada 4°C, 7.9 pada 10°C, dan 8.2 pada 30°C, pH pisang adalah 4.8 pada 4°C, 4.8 pada 10°C, dan 5.9 pada 30°C, kandungan bebas fenol betik (FPC) adalah 184 pada 4°C, 245 pada 10°C dan 569 mg/L pada 30°C, dan kehilangan berat betik adalah 7 pada 4°C, 15 pada 10°C dan 65% pada 30°C. Warna betik tidak berubah pada jangka masa penyimpanan yang panjang penyimpanan sejuk. Di samping itu, warna kulit pisang terjejas akibat pemerangan dan kecederaan pendinginan ke dalam penyimpanan sejuk. Selain itu, semasa penyimpanan, jumlah gula larut, (TSS), jumlah polisakarida, keasidan boleh titrat (TA), dan kandungan bebas fenol (FPC) meningkat semasa penyimpanan sejuk. Tambahan lagi, pH, pertumbuhan mikrob, berat, dan anggaran protein pula meningkat semasa penyimpanan sejuk. Kesimpulannya, berdasarkan keputusan yang diperoleh, suhu dan jangka masa penyimpanan optimum untuk pisang didapati pada 4°C dan 14 hari dan sebulan untuk buah betik. Dapatan keseluruhan kajian ini boleh menyediakan alat pengurusan berasaskan sains untuk prestasi penyimpanan buah pisang dan betik

PARAMETER STUDY OF STABLE WALKING GAITS FOR NAO HUMANOID ROBOT

It is a challenge to any researcher to maintain the stability of the robot while in the walking motion. This paper proposes for parameter study of a walking pattern method which is inspired by the Dip Goswami (2009). The walking pattern is generated based on three points. These points are located at ankle left and right and one at the hip of the NAO humanoid robot. By using these points the walking gaits are generated to use as a reference point while walking motion. Then, an inverse kinematics with geometric solution of a ten degree-of-freedom humanoid robot is formulated from hip until the ankle joint. By sampling period of time with ten this reference point is used to find the joint angle of each link. The NAO humanoid robot is built in with force resistive sensor (FSR) located under both feet are used to determine the walking stability by using force distributer concept. The zero moment point of the robot is calculated on the normalized value between FSR reading from right leg and left leg. The result shown based on the real time simulation environment by using Webots Robotic Software. A simulation result shows that a NAO humanoid robot successfully walks in stable condition by following five different walking parameter setting. The humanoid robot is stable if and only if the normalized value of the ZMP is between 1 and -1