7 Articles Published

1. A NEW MATHEMATICAL MODEL FOR MAPPING INDOOR ENVIRONMENT

Authors: ABDUL RAHMAN RAMLI , ARASH TOUDESHKI , ATA JAHANGIR MOSHAYEDI , SITI A AHMAD

Abstract: This paper presents a mathematical model as a new approach to object mapping, the system is proscribed to indoor and applied to approach a landmark. The contribution of this paper is to propose a new mathematical model for object mapping, the landmark is captured at varying distant points, the Scale invariant Feature Transform (SIFT) to extract object options, at the side of their uncertainty, from camera sensors. The (SIFT) features are invariant to image scaling, translation, and rotation, and partially invariant to illumination changes and affine or 3D projection, which is suitable for our application. As image options do not seem to be noise-free, the error analysis of the landmark positions and a preprocessing to obtained information which is incorporated into a model, using curve fitting techniques. Predictions createdby our model square measure well and correlate with experimental knowledge. This has eliminated correspondence Problem also known as a data association problem.

Keywords: —mapping, feature extraction, fiiting, threshold, clusters, landmark, SLAM

Pages: 1 - 4 | DOI: 10.15224/978-981-07-6261-2-59

2. FUNCTIONAL REQUIREMENTS OF MOBILE APPLICATION FOR FISHERMEN

Authors: AKANMU SEMIU AYOBAMI , WAN ROZAINI SHEIKH OSMAN\

Abstract: Unusable information technology products and its unacceptability have been traced to the inability of the tech products to meet the needs and desire of the users, for whom the products are provided. Malaysia government has also been recording same users’ neglect on information technological infrastructure provided despite huge amount of money invested on the ICT project, most especially for the rural dwellers. The major reason of this users’ unacceptability have been traced to lack of proactive users’ requirements gathering. To address this in the intending development of mobile application for fishermen; who are also members of the target group to be provided mobile technologies by the Malaysian government, this study aims to validate the functional requirements of mobile applications for fishermen using a Qualitative-based users’ participatory design methodology. The result of the study shows that fishermen’sability to get weather updates, water safety information, track of storm and

Keywords: user-centered, mobile application, functional requirements, fishermen

Pages: 5 - 9 | DOI: 10.15224/978-981-07-6261-2-60

3. INVESTIGATION ON DATA CONCURRENCY FOR SENSORY FUSION IN HUMANOID ROBOT

Authors: ASHOK KUMAR RAMADOSS , K.MARIMUTHU

Abstract: We believe that a robot should model and recognize a set of grounded responses that are built from knowledge about the nature of the interaction situation, and should also be able to ground responses that are found by semantics-free contingency detection.To carry out Research on Humanoid Robot effectively first in the absence of hardware support then building a Humanoid Robot for achieving data concurency by integerating data by the fusion of sensory datas in the humanoid robot .Multi Sensor fusion Studies for Dynamics nad Kinematics therrby achieving Data Concurrency by sensory data integeration by sensor fusion for range detecting by vision and navigation using simulink model and humanoid robot prototype. Within the current framework, we can model and recognize grounded responses as events. As future work, we will investigatehow to attribute semantics to ungrounded responses through iterative interactions and finaly by sensor fusion.In this Research, we could present a simple and rel

Keywords: believe, robot, mode

Pages: 10 - 14 | DOI: 10.15224/978-981-07-6261-2-61

4. DESIGN OF FOUR DEGREES OF FREEDOM MANIPULATOR WITH HAND SHAPED GRIPPER USING MUSCLE WIRES

Authors: EBALL AHMAD , METEB ALTAF

Abstract: Muscle wires or shape-memory alloy is an alloy that \"remembers\" its original, cold-forged shape: returning to the pre-deformed shape when heated. This material is a lightweight, solid-state alternative to conventional actuators such as hydraulic, pneumatic, and motor-based systems. Shape-memory alloys have applications in industries, medicine and aerospace. In This paper details of the design of an intelligent small scale manipulator for industrial applications (Pick and Place) will be designed using the new concept of muscle wires. Those wires will act like actuators but with less electrical consumption and lighter weight. The system will be designed using solid works . The manipulator will have four degrees of freedom and Hand Shaped gripper. It will be used in the local small industries for sorting or pick and plqace porpoises. The added value of this system will be to enhance the capability of the local Saudi industry in producing their own manipulators from off shelf components

Keywords: robotics manipulator,musclewires, grippe

Pages: 15 - 18 | DOI: 10.15224/978-981-07-6261-2-62

5. LOW COST SERVING ROBOT USING FUZZY LOGIC TECHNIQUE

Authors: INA ZURAINA BT ZAINAL ABIDIN , MOHD FAIZZUAN BIN MOHAMAD , NOHAIDDA BINTI SARIFF

Abstract: A food and beverages serving robot using fuzzy logic technique is presented in this paper. The utilisation of fuzzy logic technique\'s objective is to improve the performances and behaviors of these service robot in performing a line following technique to go to a group of workers in a targeted cubical office. A PIC16F877A is used as a controller and RF 315MHz transmitter and receiver are used to communicate between the user and the controller. The program was created by using the MPLAB IDE software. By using an optimal setting of Pulse Width Modulation (PWM), the performances of the robot were analyzed by recording the time and speed taken by the robot to complete the task with and without the utilisation of fuzzy logic. Both of the data is compared and discussed. The results shows that the line follower robot can reach the destination with minimum of time and smoothly with the fuzzy logic approach.

Keywords: Service Robot, Fuzzy Logic, PIC16F877A, DC Motor, PWM

Pages: 19 - 23 | DOI: 10.15224/978-981-07-6261-2-63

6. FUZZY SLIDING MODE CONTROL DESIGN FOR SYNCHRONIZATION OF CHAOTIC SYSTEM

Authors: BUDIMAN AZZALI BASIR , MOHAMMAD NOH AHMAD

Abstract: This paper presents the studied of sliding mode control for a class of chaotic system via Takagi Sugeno fuzzy model approach. The method utilized the concept of state feedback control and Lyapunov functional approach to determine the condition of asymptotically stability. The condition for asymptotically stability and the reaching condition are presented in the forms of linear matrix inequalities (LMI), thus the globalasymptotically stability of fuzzy sliding mode control via Takagi Sugeno fuzzy model approach for a class of chaotic system is determined. An example is presented to shows the feasibility and the functionality of the proposed method.

Keywords: Chaotic System, Sliding Mode Control, T-S Fuzzy Model, LMI.

Pages: 28 - 31 | DOI: 10.15224/978-981-07-6261-2-64

7. TAKAGI SUGENO FUZZY MODEL BASED CONTROLLER DESIGN OF CART-BALL SYSTEM

Authors: BUDIMAN AZZALI BASIR , MOHAMMAD NOH AHMAD

Abstract: This paper presents the results of a fuzzy model based controller design via PDC type Takagi-Sugeno (T-S) of cart-ball system. The control aim is to balance the ball at arc center position at any given position of the cart. A fuzzy model based controller is designed based on T-S fuzzy controller via parallel distribution control (PDC) to achieve the control objective. The nonlinear mathematical model for the cart-ball system in this paperis represents by T-S fuzzy models and using PDC type controller as the control law.Based on fuzzy Lyapunov function approach, the stability condition of open loop fuzzy system and the stabilization of closed loop fuzzy system are obtained by solving a set linear matrix inequalities (LMIs). The effectiveness and the feasibility of the PDC type Takagi-Sugeno (T-S) fuzzy control is demonstrated and studied using MATLAB/Simulink software.

Keywords: Cart-Ball System, T-S Fuzzy Model, PDC, LMI

Pages: 28 - 31 | DOI: 10.15224/978-981-07-6261-2-65