Table of contents

PREFACE

6th International Conference on Mechatronics 2017 (ICOM'17), was held from 8th-9th August 2017 at International Islamic University Malaysia (IIUM) Gombak Campus, Kuala Lumpur, Malaysia. The present volume contains papers from a selection from the invited and oral presentations.

ICOM is the regular international conference series in Malaysia. It was initially held at Kuala-lumpur biannual from 2008. ICOM is designed to bring together scientists, engineers researchers from a variety of disciplines engaged in applying platform for exchange of ideas on advances of mechatronics and their applications as well as to foster research network and worldwide collaboration. The scope of this conference ranges from basic research to Advanced instrumentation and control, and Robotics and automation studies. It is recognized as one of the comprehensive international conferences in the field of mechatronics engineering. An increasing number of young researchers present and exchange their innovative ideas on this friendly and professional platform, which has made ICOM a unique meeting in Kuala-Lumpur.

List of Editors, Conference Chairs, Conference Committees, International Advisory Board, Keynote Speakers are available in this pdf.

All papers published in this volume of IOP Conference Series: Materials Science and Engineering have been peer reviewed through processes administered by the proceedings Editors. Reviews were conducted by expert referees to the professional and scientific standards expected of a proceedings journal published by IOP Publishing.

Non-destructive testing (NDT) techniques are used in industry to evaluate the properties of a material, component or structure without causing any permanent damage. Among the techniques, pulsed eddy current (PEC) NDT is regarded as a new technique where a broadband pulse excitation is used, as opposed to single frequencies employed in conventional eddy current NDT. In this study, a 2D axisymmetric electromagnetic model of a PEC probe has been developed and it has been used to study the effects of the excitation coil diameter on the performance of PEC probes in sample thickness measurement. A PEC system has also been built to validate the model. Aluminium plates are used as the sample and they can be stacked up to replicate thickness from 1 mm to 10 mm. The results show that there is a very good correlation between the simulation and experimental results, with an average error of less than 10%. The results also suggest that the larger the diameter of the excitation coil, the deeper the penetration and therefore the larger the thickness measurement range. It has also been shown that although the larger diameters have deeper penetration, the smallest diameter has the highest sensitivity if normalization is not used. These conclusions indicate that coil diameter is an important parameter in a PEC probe design for thickness measurement applications.

The implementation research and analyze address blockchain on this bitcoin will have the results that refers to making address bitcoin a safe and boost security of address the bitcoin. The working mechanism of blockchain in making address bitcoin which is already in the blockchain system.

The present study discusses the workings of blockchain bitcoin in the transactions sector, on the development of today's emerging computers in the financial sector of blockchain bitcoin traction. In this case the author analyzes how the transaction is running, as well as how blockchain bitcoin is doing work in transactions on the system to make transactions. Transaction is a data structure that encodes the transfer of values between users with in a bitcoin system. Every transaction is a public entry in this bitcoin blockchain. And become a large transaction bookkeeping global.

Recitation of the Holy Quran with the correct Tajweed is essential for every Muslim. Islam has encouraged Quranic education since early age as the recitation of the Quran correctly will represent the correct meaning of the words of Allah. It is important to recite the Quranic verses according to its characteristics (sifaat) and from its point of articulations (makhraj). This paper presents the identification and classification analysis of Quranic letters pronunciation for both male and female reciters, to obtain the unique representation of each letter by male as compared to female expert reciters. Linear Discriminant Analysis (LDA) was used as the classifier to classify the data with Formants and Power Spectral Density (PSD) as the acoustic features. The result shows that linear classifier of PSD with band 1 and band 2 power spectral combinations gives a high percentage of classification accuracy for most of the Quranic letters. It is also shown that the pronunciation by male reciters gives better result in the classification of the Quranic letters.

Military systems, outer space exploration and even in medical diagnosis and treatment used magnetic field detection. Low magnetic field detection is particularly important in tracking of magnetic. Traditional magnetometer tends to be bulky that hinders its inclusion into micro-scaled environment. This concern has brought the magnetometer into the trend of device miniaturization. Miniaturized magnetometer is usually fabricated using conventional microfabrication method particularly surface micromachining in which micro structures are built level by level starting from the surface of substrates upwards until completion of final structure. Although the miniaturization of magnetometer has been widely researched and studied, the process however is not. Thus, the process governing the fabrication technique is studied in this paper. Conventional method of fabrication is known as surface micromachining. Besides time consuming, this method requires many consecutive steps in fabrication process and careful alignment of patterns on every layer which increase the complexity. Hence, studies are done to improve time consuming and reliability of the microfabrication process. The objective of this research includes designing micro scale magnetometer and complete device fabrication processes. A micro-scale search coil magnetometer of 15 windings with 600μm thickness of wire and 300μm distance between each wire has been designed.

This paper presents recent mechatronics technology that can help to implement predictive maintenance by combining intelligent and predictive maintenance instrument. Vibration Fault Simulation System (VFSS) is an example of mechatronics system. The focus of this study is the prediction on the use of critical machines to detect vibration. Vibration measurement is often used as the key indicator of the state of the machine. This paper shows the choice of the appropriate strategy in the vibration of diagnostic process of the mechanical system, especially rotating machines, in recognition of the failure during the working process. In this paper, the vibration signature analysis is implemented to detect faults in rotary machining that includes imbalance, mechanical looseness, bent shaft, misalignment, missing blade bearing fault, balancing mass and critical speed. In order to perform vibration signature analysis for rotating machinery faults, studies have been made on how mechatronics technology is used as predictive maintenance methods. Vibration Faults Simulation Rig (VFSR) is designed to simulate and understand faults signatures. These techniques are based on the processing of vibrational data in frequency-domain. The LabVIEW-based spectrum analyzer software is developed to acquire and extract frequency contents of faults signals. This system is successfully tested based on the unique vibration fault signatures that always occur in a rotating machinery.

Utilization of Thermopile sensor at an early stage of human detection is challenging as there are many things that produce thermal heat other than human such as electrical appliances and animals. Therefrom, an algorithm for early presence detection has been developed through the study of human body temperature behaviour with respect to the room temperature. The change in non-contact detected temperature of human varied according to body parts. In an indoor room, upper parts of human body change up to 3°C whereas lower part ranging from 0.58°C to 1.71°C. The average changes in temperature of human is used as a conditional set-point value in the program algorithm to detect human presence. The current position of human and its respective angle is gained when human is presence at certain pixels of Thermopile's sensor array. Human position is estimated successfully as the developed sensory system is tested to the actuator of a stand fan.

In the department of engineering, students are required to fulfil at least 80 percent of class attendance. Conventional method requires student to sign his/her initial on the attendance sheet. However, this method is prone to cheating by having another student signing for their fellow classmate that is absent. We develop our hypothesis according to a verse in the Holy Qur'an (95:4), "We have created men in the best of mould". Based on the verse, we believe each psychological characteristic of human being is unique and thus, their speech characteristic should be unique. In this paper we present the development of speech biometric-based attendance system. The system requires user's voice to be installed in the system as trained data and it is saved in the system for registration of the user. The following voice of the user will be the test data in order to verify with the trained data stored in the system. The system uses PSD (Power Spectral Density) and Transition Parameter as the method for feature extraction of the voices. Euclidean and Mahalanobis distances are used in order to verified the user's voice. For this research, ten subjects of five females and five males were chosen to be tested for the performance of the system. The system performance in term of recognition rate is found to be 60% correct identification of individuals.

Object detection and tracking is a field of research that has many applications in the current generation with increasing number of cameras on the streets and lower cost for Internet of Things(IoT). In this paper, a traffic intensity monitoring system is implemented based on the Macroscopic Urban Traffic model is proposed using computer vision as its source. The input of this program is extracted from a traffic surveillance camera which has another program running a neural network classification which can identify and differentiate the vehicle type is implanted. The neural network toolbox is trained with positive and negative input to increase accuracy. The accuracy of the program is compared to other related works done and the trends of the traffic intensity from a road is also calculated. relevant articles in literature searches, great care should be taken in constructing both. Lastly the limitation and the future work is concluded.

This paper presents the implementation of a control system to control cooperative manipulators to hold deformable objects. The aim is to hold the deformable object without having information on the shape and stiffness of the deformable object beforehand. The prototype of a pair of manipulators has been designed and built to test the controller. A force sensor and a rotary encoder are used to give feedback to the controller, which controls the DC motor actuators accordingly. A position proportional-integral-derivative (PID) controller technique has been applied for one of the manipulators and a PID force control technique is applied to the other. Simulations and experimental tests have been conducted on models and the controller has been implemented on the real plant. Both simulation and test results prove that the implemented control technique has successfully provided the desired position and force to hold the deformable object with maximum experimental errors of 0.34mm and 50mN respectively.

Aircraft blackbox is a device used to record all aircraft information, which consists of Flight Data Recorder (FDR) and Cockpit Voice Recorder (CVR). Cockpit Voice Recorder contains conversations in the aircraft during the flight.Investigations on aircraft crashes usually take a long time, because it is difficult to find the aircraft blackbox. Then blackbox should have the ability to send information to other places. Aircraft blackbox must have a data security system, data security is a very important part at the time of information exchange process. The system in this research is to perform the encryption and decryption process on Cockpit Voice Recorder by people who are entitled by using Dragon Stream Cipher algorithm. The tests performed are time of data encryption and decryption, and avalanche effect. Result in this paper show us time encryption and decryption are 0,85 seconds and 1,84 second for 30 seconds Cockpit Voice Recorder data witn an avalanche effect 48,67 %.

Web proxy cache technique reduces response time by storing a copy of pages between client and server sides. If requested pages are cached in the proxy, there is no need to access the server. Due to the limited size and excessive cost of cache compared to the other storages, cache replacement algorithm is used to determine evict page when the cache is full. On the other hand, the conventional algorithms for replacement such as Least Recently Use (LRU), First in First Out (FIFO), Least Frequently Use (LFU), Randomized Policy etc. may discard important pages just before use. Furthermore, using conventional algorithm cannot be well optimized since it requires some decision to intelligently evict a page before replacement. Hence, most researchers propose an integration among intelligent classifiers and replacement algorithm to improves replacement algorithms performance. This research proposes using automated wrapper feature selection methods to choose the best subset of features that are relevant and influence classifiers prediction accuracy. The result present that using wrapper feature selection methods namely: Best First (BFS), Incremental Wrapper subset selection(IWSS)embedded NB and particle swarm optimization(PSO)reduce number of features and have a good impact on reducing computation time. Using PSO enhance NB classifier accuracy by 1.1%, 0.43% and 0.22% over using NB with all features, using BFS and using IWSS embedded NB respectively. PSO rises J48 accuracy by 0.03%, 1.91 and 0.04% over using J48 classifier with all features, using IWSS-embedded NB and using BFS respectively. While using IWSS embedded NB fastest NB and J48 classifiers much more than BFS and PSO. However, it reduces computation time of NB by 0.1383 and reduce computation time of J48 by 2.998.

Autonomous unmanned aerial vehicle (UAV) system is depending on state estimation feedback to control flight operation. Estimation on the correct state improves navigation accuracy and achieves flight mission safely. One of the sensors configuration used in UAV state is Attitude Heading and Reference System (AHRS) with application of Extended Kalman Filter (EKF) or feedback controller. The results of these two different techniques in estimating UAV states in AHRS configuration are displayed through position and attitude graphs.

This paper presents the findings of modelling, control and analysis of the spherical rolling robot based on pendulum driven within the simulation environment. The spherical robot is modelled using Lagrange function based on the equation of rolling motion. PD-type Fuzzy logic controller (FLC) was designed to control the position of the spherical robot where 25 rules were constructed to control the rolling motion of spherical robot. It was then integrated with the model developed in Simulink-Matlab environment. The output scaling factor (output gain) of the FLC was heuristically tuned to improve the system performance. The simulation results show that the FLC managed to eliminate the overshoot response and demonstrated better performance with 29.67% increasing in settling time to reach 0.01% of steady state error.

Bench–top helicopter is a laboratory scale helicopter that usually used as a testing bench of the real helicopter behavior. This helicopter is a 3 Degree of Freedom (DOF) helicopter which works by three different axes wshich are elevation, pitch and travel. Thus, fuzzy logic controller has been proposed to be implemented into Quanser bench-top helicopter because of its ability to work with non-linear system. The objective for this project is to design and apply fuzzy logic controller for Quanser bench-top helicopter. Other than that, fuzzy logic controller performance system has been simulated to analyze and verify its behavior over existing PID controller by using Matlab & Simulink software. In this research, fuzzy logic controller has been designed to control the elevation angle. After simulation has been performed, it can be seen that simulation result shows that fuzzy logic elevation control is working for 4°, 5° and 6°. These three angles produce zero steady state error and has a fast response. Other than that, performance comparisons have been performed between fuzzy logic controller and PID controller. Fuzzy logic elevation control has a better performance compared to PID controller where lower percentage overshoot and faster settling time have been achieved in 4°, 5° and 6° step response test. Both controller are have zero steady state error but fuzzy logic controller is managed to produce a better performance in term of settling time and percentage overshoot which make the proposed controller is reliable compared to the existing PID controller.

In microwave frequency, a spiral resonator can act as either frequency reject or acceptor circuits. A planar logarithmic spiral resonator bandstop filter has been developed based on this property. This project focuses on the rejection property of the spiral resonator. The performance analysis of the exhibited filter circuit has been performed by using scattering parameters (S-parameters) technique in the ultra-wideband microwave frequency. The proposed filter is built, simulated and S-parameters analysis have been accomplished by using electromagnetic simulation software CST microwave studio. The commercial microwave substrate Taconic TLX-8 has been used to build this filter. Experimental results showed that the -10 dB rejection bandwidth of the filter is 2.32 GHz and central frequency is 5.72 GHz which is suitable for ultra-wideband applications. The proposed design has been full of good compliance with the simulated and experimental results here.

The traditional Closed-circuit Television (CCTV) system requires human to monitor the CCTV for 24/7 which is inefficient and costly. Therefore, there's a need for a system which can recognize human activity effectively in real-time. This paper concentrates on recognizing simple activity such as walking, running, sitting, standing and landing by using image processing techniques. Firstly, object detection is done by using background subtraction to detect moving object. Then, object tracking and object classification are constructed so that different person can be differentiated by using feature detection. Geometrical attributes of tracked object, which are centroid and aspect ratio of identified tracked are manipulated so that simple activity can be detected.

Landslide is one of natural hazard that is not unfamiliar disaster in Malaysia. Malaysia has experienced this disaster many times since 1969. This natural hazard has become a major research concern for Malaysian government when many people were injured badly and even had been killed. Many previous research works published in the open literature aimed at designing a system that could detect landslide in early stage before the landslide becomes catastrophic. This paper presents the early works on a major work-in-progress landslide early warning system for Malaysian environment. The aim of this system is to develop the most efficiently reliable cost-effective system in which slight earth movements are monitored continuously. The challenge this work aims at is to work with a low budget system that produces efficient performance. Hence, the material used is off-the-shelf. Early design optimization results of the vibration sensor used is quite promising detecting the slightest faint tremors, which are amplified using the best vibration chamber available. It is shown that the choice of proper pipe length and diameter dimensions in combination to a gravel to exaggerate the produced higher sensitivity level noise of 5 dB.

This study presents the performance of a prototype miniaturised water flow and water level monitoring sensor designed towards supporting flood disaster early warning systems. The design involved selection of sensors, coding to control the system mechanism, and automatic data logging and storage. During the design phase, the apparatus was constructed where all the components were assembled using locally sourced items. Subsequently, under controlled laboratory environment, the system was tested by running water through the inlet during which the flow rate and rising water levels are automatically recorded and stored in a database via Microsoft Excel using Coolterm software. The system is simulated such that the water level readings measured in centimeters is output in meters using a multiplicative of 10. A total number of 80 readings were analyzed to evaluate the performance of the system. The result shows that the system is sensitive to water level rise and yielded accurate measurement of water level. But, the flow rate fluctuates due to the manual water supply that produced inconsistent flow. It was also observed that the flow sensor has a duty cycle of 50% of operating time under normal condition which implies that the performance of the flow sensor is optimal.

Electrical stimulation (ES) and also known as neuromuscular electrical stimulation (NMES) and transcutaneous electrical stimulation (TES) involves the use of electrical current to stimulate the nerves or nerve endings that innervate muscle beneath the skin. Electrical stimulation may be applied superficially on the skin (transcutaneously) or directly into a muscle or muscles (intramuscularly) for the primary purpose of enhancing muscle function. The basic theoretical premise is that if the peripheral nerve can be stimulated, the resulting excitation impulse will be transmitted along the nerve to the motor endplates in the muscle, producing a muscle contraction. In this work, the effect of mere electrical stimulation to the muscle bulk and strength are tested. This paper explains how electrical stimulation can affect the muscle bulk, muscle size, muscle tone, muscle atrophy and muscle strength. The experiment and data collection are performed on 5 subjects and the results obtained are analyzed. This research aims to understand the full potential of electrical stimulation and identifying its possible benefits or disadvantages to the muscle properties. The results indicated that electrical stimulation alone able to improve muscle properties but with certain limits and precautions which might be useful in rehabilitation programme.

The magnetorheological (MR) fluid bypass damper fluid flow through a bypass by utilizing an external channel which allows the controllability of MR fluid in the channel. The Bypass MR damper (BMRD) contains a rectangular bypass flow channel, current controlled movable piston shaft arrangement and MR fluid. The static piston coil case is winding by a coil which is used inside the piston head arrangement. The current controlled coil case provides a magnetic flux through the BMRD cylinder for controllability. The high strength of alloy steel materials are used for making piston shaft which allows magnetic flux propagation throughout the BMRD cylinder. Using the above design materials, a Bypass MR damper is designed and tested. An excitation of current is applied during the experiment which characterizes the BMRD controllability. It is shown that the BMRD with external flow channel allows a high controllable damping force using an excitation current. The experimental result of damping force-displacement characteristics with current excitation and without current excitation are compared in this research. The BMRD model is validated by the experimental result at various frequencies and applied excitation current.

Psychiatrist currently relies on questionnaires and interviews for psychological assessment. These conservative methods often miss true positives and might lead to death, especially in cases where a patient might be experiencing suicidal predisposition but was only diagnosed as major depressive disorder (MDD). With modern technology, an assessment tool might aid psychiatrist with a more accurate diagnosis and thus hope to reduce casualty. This project will explore on the relationship between speech features of spoken audio signal (reading) in Bahasa Malaysia with the Beck Depression Inventory scores. The speech features used in this project were Power Spectral Density (PSD), Mel-frequency Ceptral Coefficients (MFCC), Transition Parameter, formant and pitch. According to analysis, the optimum combination of speech features to predict BDI-II scores include PSD, MFCC and Transition Parameters. The linear regression approach with sequential forward/backward method was used to predict the BDI-II scores using reading speech. The result showed 0.4096 mean absolute error (MAE) for female reading speech. For male, the BDI-II scores successfully predicted 100% less than 1 scores difference with MAE of 0.098437. A prediction system called Depression Severity Evaluator (DSE) was developed. The DSE managed to predict one out of five subjects. Although the prediction rate was low, the system precisely predict the score within the maximum difference of 4.93 for each person. This demonstrates that the scores are not random numbers.

The limitation in the performance of electric actuated firefighting robots in high-temperature fire environment has led to research on the alternative propulsion system for the mobility of firefighting robots in such environment. Capitalizing on the limitations of these electric actuators we suggested a gas-actuated propulsion system in our earlier study. The propulsion system is made up of a pneumatic motor as the actuator (for the robot) and carbon dioxide gas (self-generated from dry ice) as the power source. To satisfy the consumption requirement (9cfm) of the motor for efficient actuation of the robot in the fire environment, the volume of carbon dioxide gas, as well as the corresponding mass of the dry ice that will produce the required volume for powering and actuation of the robot, must be determined. This article, therefore, presents the computational analysis to predict the volumetric requirement and the dry ice mass sufficient to power a carbon dioxide gas propelled autonomous firefighting robot in a high-temperature environment. The governing equation of the sublimation of dry ice to carbon dioxide is established. An operating time of 2105.53s and operating pressure ranges from 137.9kPa to 482.65kPa were achieved following the consumption rate of the motor. Thus, 8.85m³ is computed as the volume requirement of the CAFFR while the corresponding dry ice mass for the CAFFR actuation ranges from 21.67kg to 75.83kg depending on the operating pressure.

Spasticity is common symptom presented amongst people with sensorimotor disabilities. Imbalanced signals from the central nervous systems (CNS) which are composed of the brain and spinal cord to the muscles ultimately leading to the injury and death of motor neurons. In clinical practice, the therapist assesses muscle spasticity using a standard assessment tool like Modified Ashworth Scale (MAS), Modified Tardiue Scale (MTS) or Fugl-Meyer Assessment (FMA). This is done subjectively based on the experience and perception of the therapist subjected to the patient fatigue level and body posture. However, the inconsistency in the assessment is prevalent and could affect the efficacy of the rehabilitation process. Thus, the aim of this paper is to describe the methodology of data collection and the quantitative model of MAS developed to satisfy its description. Two subjects with MAS of 2 and 3 spasticity levels were involved in the clinical data measurement. Their level of spasticity was verified by expert therapist using current practice. Data collection was established using mechanical system equipped with data acquisition system and LABVIEW software. The procedure engaged repeated series of flexion of the affected arm that was moved against the platform using a lever mechanism and performed by the therapist. The data was then analyzed to investigate the characteristics of spasticity signal in correspondence to the MAS description. Experimental results revealed that the methodology used to quantify spasticity satisfied the MAS tool requirement according to the description. Therefore, the result is crucial and useful towards the development of formal spasticity quantification model.

Fire alarm systems have become increasingly an important lifesaving technology in many aspects, such as applications to detect, monitor and control any fire hazard. A large sum of money is being spent annually to install and maintain the fire alarm systems in buildings to protect property and lives from the unexpected spread of fire. Several methods are already developed and it is improving on a daily basis to reduce the cost as well as increase quality. An integrated Fire Detection and Alarm (FDA) systems with building automation was studied, to reduce cost and improve their reliability by preventing false alarm. This work proposes an improved framework for FDA system to ensure a robust intelligent network of FDA control panels in real-time. A shortest path algorithmic was chosen for series of buildings connected by fiber optic network. The framework shares information and communicates with each fire alarm panels connected in peer to peer configuration and declare the network state using network address declaration from any building connected in network. The fiber-optic connection was proposed to reduce signal noises, thus increasing large area coverage, real-time communication and long-term safety. Based on this proposed method an experimental setup was designed and a prototype system was developed to validate the performance in practice. Also, the distributed network system was proposed to connect with an optional remote monitoring terminal panel to validate proposed network performance and ensure fire survivability where the information is sequentially transmitted. The proposed FDA system is different from traditional fire alarm and detection system in terms of topology as it manages group of buildings in an optimal and efficient manner.Introduction

The purpose of the paper is to discuss a comparative evaluation of performance of two different controllers i.e. Proportional-Derivative Controller (PD) and Linear Quadratic Regulation (LQR) in Quadrotor dynamic system that is under-actuated with high nonlinearity. As only four states can be controlled at the same time in the Quadrotor, the trajectories are designed on the basis of the four states whereas three dimensional position and rotation along an axis, known as yaw movement are considered. In this work, both the PD controller and LQR control approach are used for Quadrotor nonlinear model to track the trajectories. LQR control approach for nonlinear model is designed on the basis of a linear model of the Quadrotor because the performance of linear model and nonlinear model around certain nominal point is almost similar. Simulink and MATLAB software is used to design the controllers and to evaluate the performance of both the controllers.

Stroke is amongst the leading causes of deprivation of one's ability in carrying out activities of daily living. It has been reported from literature that, the functional recovery of stroke patients are rather poor, unless frequent rehabilitative therapy is assumed on the affected limb. Recent trends of rehabilitation therapy have also shifted towards allowing more participation of the patient in the therapy session rather than simple passive treatments as it has been demonstrated to be non-trivial in promoting neural plasticity to expedite motor recovery process. Therefore, the employment of rehabilitation robotics is seen as a means of mitigating the limitations of conventional rehabilitation therapy. It enables unique methods for promoting patient engagement by providing patients assistance only as needed basis. This paper attempts on reviewing assist-as-needed control strategy applied on upper-limb robotic rehabilitation devices.

Anytime, anywhere access for real-time intelligence by Internet of Things (IoT) is changing the way that the whole world will operate as it moves toward data driven technologies. Over the next five years, IoT related devices going to have a dramatic breakthrough in current and new applications, not just on increased efficiency and cost reduction on current system, but it also will make trillion-dollar revenue generation and improve customer satisfaction. IoT communications is the networking of intelligent devices which enables data collection from remote assets. It covers a broad range of technologies and applications which connect to the physical world while allowing key information to be transferred automatically. The current terrestrial wireless communications technologies used to enable this connectivity include GSM, GPRS, 3G, LTE, WIFI, WiMAX and LoRa. These connections occur short to medium range distance however, none of them can cover a whole country or continent and the networks are getting congested with the multiplication of IoT devices. In this study, we discuss a conceptual design of a nanosatellite constellation those can provide a space-based communication platform for IoT devices for near Equatorial countries. The constellation design i.e. the orbital plane and number of satellites and launch deployment concepts are presented.

Electric vehicles (EVs) are being developed and considered as the future transportation to reduce emission of toxic gas, cost and weight. The battery pack is one of the main crucial parts of the electric vehicle. The power optimization of the battery pack has been maintained by developing a two phase evaporative thermal management system which operation has been controlled by using a wireless battery management system. A large number of individual cells in a battery pack have many wire terminations that are liable for safety failure. To reduce the wiring problem, a wireless battery management system based on ZigBee communication protocol and point-to-point wireless topology has been presented. Microcontrollers and wireless modules are employed to process the information from several sensors (voltage, temperature and SOC) and transmit to the display devices respectively. The WBMS multistage charge balancing system offering more effective and efficient responses for several numbers of series connected battery cells. The concept of double tier switched capacitor converter and resonant switched capacitor converter is used for reducing the charge balancing time of the cells. The balancing result for 2 cells and 16 cells are improved by 15.12% and 25.3% respectively. The balancing results are poised to become better when the battery cells are increased.

Time and performance of a mobile robot are very important in completing the tasks given to achieve its ultimate goal. Tasks may need to be done within a time constraint to ensure smooth operation of a mobile robot and can result in better performance. The main purpose of this research was to improve the performance of a mobile robot so that it can complete the tasks given within time constraint. The problem that is needed to be solved is to minimize the time interval between sensor detection and actuator response. The research objective is to analyse the real time operating system performance of sensors and actuators on one microcontroller and on two microcontroller for a mobile robot. The task for a mobile robot for this research is line following with an obstacle avoidance. Three runs will be carried out for the task and the time between the sensors senses to the actuator responses were recorded. Overall, the results show that two microcontroller system have better response time compared to the one microcontroller system. For this research, the average difference of response time is very important to improve the internal performance between the occurrence of a task, sensors detection, decision making and actuator response of a mobile robot. This research helped to develop a mobile robot with a better performance and can complete task within the time constraint.

At present, two important processes, namely CNC machining and rapid prototyping (RP) are being used to create prototypes and functional products. Combining both additive and subtractive processes into a single platform would be advantageous. However, there are two important aspects need to be taken into consideration for this process hybridization. First is the integration of two different control systems for two processes and secondly maximizing workpiece alignment accuracy during the changeover step. Recently we have developed a new hybrid system which incorporates Fused Deposition Modelling (FDM) as RP Process and CNC grinding operation as subtractive manufacturing process into a single setup. Several objects were produced with different layer thickness for example 0.1 mm, 0.15 mm and 0.2 mm. It was observed that pure FDM method is unable to attain desired dimensional accuracy and can be improved by a considerable margin about 66% to 80%, if finishing operation by grinding is carried out. It was also observed layer thickness plays a role on the dimensional accuracy and best accuracy is achieved with the minimum layer thickness (0.1 mm).

Lift, the force component that is perpendicular to the line of flight, is generated when a small aircraft moves through the air. With the help of the sets of flaps and slats on its wing, the pilot controls his aircraft manoeuvring in the air. In this study, we preferred to cut the drawbacks of the flaps system by introducing the electrohydrodynamic actuator. Widely known as plasma actuator, it is able to improve the induced lift force as well as the efficiency of a small aircraft system. A dielectric-barrier-discharge actuator using a 6 kV AC power supply was developed and tested on a NACA 0015 airfoil using copper as the electrodes and kapton as its dielectric component. The experimental results showed that it was successful in presenting a positive effect of the plasma actuator on the lift coefficient of the airfoil at smaller angle of attack, where enhancements ranged between 0.7% and 1.8%. However, at a higher angle, the results were not as swayed as it was desired since the energy exerted by the plasma actuator on the lift performance of the airfoil was inadequate. Further tests are needed using higher rated voltage supply and other equipment to improve the capability of the actuator in refining the aerodynamic performance of the airfoil.

IoT aims to interconnect sensors and actuators built into devices (also known as Things) in order for them to share data and control each other to improve existing processes for making people's life better. IoT aims to connect between all physical devices like fridges, cars, utilities, buildings and cities so that they can take advantage of small pieces of information collected by each one of these devices and derive more complex decisions. However, these devices are heterogeneous in nature because of various vendor support, connectivity options and protocol suit. Heterogeneity of such devices makes it difficult for them to leverage on each other's capabilities in the traditional IoT architecture. This paper highlights the effects of heterogeneity challenges on connectivity, interoperability, management in greater details. It also surveys some of the existing solutions adopted in the core network to solve the challenges of massive IoT deployments. Finally, the paper proposes a new architecture based on NFV to address the problems.

Edible oil is most often plant-based oils that have been extracted from various seeds. There are cases where the fully virgin edible oil was found to be a fraud. The adulterated edible oil indicates the intentional, fraudulent addition of extraneous, improper or cheaper ingredients puts into the oil or the dilution or removal of some valuable ingredient of the oil in order to increase profits. Hence, decrease the reliability of the Malaysian food product quality. This research was done by using the method of time of flight obtained using the Texas Instrument board, TDC1000-TDC7200 EVM connected to an ultrasonic transducer with 1 MHz frequency. The authors measured the time of flight and temperatures controlled from 20°C to 40°C of five vegetable oils (olive oil, sunflower oil, corn oil, coconut oil, and mustard oil). The value is observed and compared with other research from the literature review. From the study, time of flight values decreases exponentially while speed of sound value increases. This relationship will be useful in spectrum unfolding method to investigate the adulteration in different type of edible oil.This research outcome is to investigate the quality value of the different type of edible oil while eliminates the issues where the quality of Malaysian food product is not reliable.

This paper presents system identification to obtain the closed-loop models of a couple of cooperative manipulators in a system, which function to hold deformable objects. The system works using the master-slave principle. In other words, one of the manipulators is position-controlled through encoder feedback, while a force sensor gives feedback to the other force-controlled manipulator. Using the closed-loop input and output data, the closed-loop models, which are useful for model-based control design, are estimated. The criteria for model validation are a 95% fit between the measured and simulated output of the estimated models and residual analysis. The results show that for both position and force control respectively, the fits are 95.73% and 95.88%.

Fraud cases involving adulteration of extra virgin olive oil has become significant nowadays due to increasing in cost of supply and highlight given the benefit of extra virgin olive oil for human consumption. This paper presents the effects of temperature variation on spectral formed utilising pulse-echo technique of ultrasound signal. Several methods had been introduced to characterize the adulteration of extra virgin olive oil with other fluid sample such as mass chromatography, standard method by ASTM (density test, distillation test and evaporation test) and mass spectrometer. Pulse-echo method of ultrasound being a non-destructive method to be used to analyse the sound wave signal captured by oscilloscope. In this paper, a non-destructive technique utilizing ultrasound to characterize extra virgin olive oil adulteration level will be presented. It can be observed that frequency spectrum of sample with different ratio and variation temperature shows significant percentages different from 30% up to 70% according to temperature variation thus possible to be used for sample characterization.

Metamaterial has received great attention due to their novel electromagnetic properties. It consists of artificial metallic structures with negative permittivity (ɛ) and permeability (µ). The average cell size of metamaterial must be less than a quarter of wavelength, hence, size reduction for the metamaterial antenna is possible. In addition, metamaterial can be used to enhance the low gain and efficiency in conventional patch antenna, which is important in wireless communication. In this paper, dual band microstrip patch antenna design using metamaterial for mobile GSM and WiMax application is introduced. The antenna structure consists of microstrip feed line connected to a rectangular patch. An array of five split ring resonators (SRRs) unit cells is inserted under the patch. The presented antenna resonates at 1.8 GHz for mobile GSM and 2.4 GHz for WIMAX applications. The return loss in the FR4 antenna at 1.8 GHz is -22.5 dB. Using metamaterial the return loss has improved to -25 dB at 2.4 GHz and -23.5 dB at 1.8 GHz. A conventional microstrip patch antenna using pair of slots is also designed which resonates at 1.8 GHz and 2.4 GHz. The return loss at 1.8 GHz and 2.4 GHz were -12.1 dB and -21.8 dB respectively. The metamaterial antenna achieved results with major size reduction of 45%, better bandwidth and better returns loss if it is compared to the pair of slots antenna. The software used to design, simulate and optimize is CST microwave studio.

The significance of high gain directional antennas stems from the need to cope up with the everyday progressing wireless communication systems. Due to low gain of the widely used microstrip antenna, combining multiple antennas in proper geometry increases the gain with good directive property. Over other array forms, this paper uses concentric circular array configuration for its compact structure and inherent symmetry in azimuth. This proposed array is composed of 9 elements on FR-4 substrate, which is designed for WLAN applications at 5.8GHz. Antenna Magus software is used for synthesis, while CST software is used for optimization. The proposed array is designed with optimum inter-element spacing and number of elements achieving a high directional gain of 15.7 dB compared to 14.2 dB of available literature, with a high reduction in side lobe level of -17.6 dB.

Nowadays, the media have reported an increasing number of cases where children are accidentally being trapped in vehicles while they parents and guardians are away attending to other matters. In this paper we discuss the feasibility of applying Mechatronics to improve the safety of children in vehicles with the ultimate goal of developing a means for parents,guardians and authorities to be informed if ever there is a child trapped in a vehicle and in need of urgent assistance. We have also presented some preliminary experiments we have carried out for a safety alert system which is currently being developed in our lab.

Obstacle detection and avoidance is desirable for UAVs especially lightweight micro aerial vehicles and is challenging problem since it has payload constraints, therefore only limited sensor can be attached the vehicle. Usually the sensors incorporated in the system is either type vision based (monocular or stereo camera) or Laser based. However, each of the sensor has its own advantage and disadvantage, thus we built the obstacle detection and avoidance system based multi sensor (monocular sensor and LIDAR) integration. On top of that, we also combine SURF algorithm with Harris corner detector to determine the approximate size of the obstacles. In the initial experiment conducted, we successfully detect and determine the size of the obstacles with 3 different obstacles. The differences of length between real obstacles and our algorithm are considered acceptable which is about -0.4 to 3.6.

Performances of earth-to-satellite microwave links operating in Ku, Ka, and V-bands are degraded by the environment and strongly attenuated by rain. Rain attenuation is the most significant consideration and challenge to design a reliable earth-to-satellite microwave links for these frequency bands. Hence, it is essential for satellite link designer to take into account rain fade margin accurately before system implementation. Rain rate is the main measured parameter to predict of rain attenuation. Rainfall statistical data measured and recorded in Libya for the period of 30 years are collected from 5 locations. The prediction methods require one minute integration time rain intensity. Therefore, collected data were analyzed and processed to convert into one–minute rain rate cumulative distribution in Libya. The model proposed by ITU-R is used to predict and investigate rain fade based on converted 1-minute rain rate data. Rain fade predicted at two locations are used for performance analysis in terms of link spectral efficiency and throughput. V-band downlink shows that 99.99% availability is possible in all the Southern part stations in Libya at 0.29 bps/Hz spectral efficiency and 20.74 Mbps throughput when 72 MHz transponder band width is used which is not feasible in Northern part. Results of this paper will be a very useful resource to design highly reliable earth-to-satellite communication links in Libya.

The speech recognition system is a front end and a back-end process that receives an audio signal uttered by a speaker and converts it into a text transcription. The speech system can be used in several fields including: therapeutic technology, education, social robotics and computer entertainments. In most cases in control tasks, which is the purpose of proposing our system, wherein the speed of performance and response concern as the system should integrate with other controlling platforms such as in voiced controlled robots. Therefore, the need for flexible platforms, that can be easily edited to jibe with functionality of the surroundings, came to the scene; unlike other software programs that require recording audios and multiple training for every entry such as MATLAB and Phoenix. In this paper, a speech recognition system for Malay language is implemented using Microsoft Visual Studio C#. 90 (ninety) Malay phrases were tested by 10 (ten) speakers from both genders in different contexts. The result shows that the overall accuracy (calculated from Confusion Matrix) is satisfactory as it is 92.69%.

Human sensory systems are limited in many different regards, yet they are great sources of inspiration for development of technologies that help humans to overcome their restraints. This paper signifies the capability of our developed electronic nose in rapid lard identification. The developed device, known as E-Nose, mimics human's olfactory system's technique to identify a particular substance. Lard is a common pig derivative which is often used as a food additive, emulsion or shortening. It's also commonly used as an adulterant or as an alternative for cooking oils, margarine and butter. This substance is prohibited to be consumed by Muslims and Orthodox Jews for religious reasons. A portable reliable device with an ability to identify lard rapidly can be convenient to users concerned about lard adulteration. The prototype was examined using K-Nearest Neighbors algorithm (KNN), Support Vector Machine (SVM), Bagged Trees and Simple Tree, and can identify lard with the highest accuracy of 95.6% among three types of fat (lard, chicken and beef) in liquid form over a certain range of temperature using KNN.