Ahmed Jaffar

Humanoid robot NAO: Review of control and motion exploration

Humanoids; a most intriguing subject to behold by both the engineers and the world at large. With the introduction of humanoid robot NAO by Aldebaran-Robotics in 2008, a performant biped robot is now available and affordable for research laboratories and the mass market. In this paper, an exploration of current trends in control methods of biped walks, behavior interface tools for motion control for NAO and imminent findings in both research areas are discussed. Future directions are for researchers to devise a unique controller with low power consumption without compromising the robots speed and robustness.

Hybrid-Actuated Finger Prosthesis with Tactile Sensing

Finger prostheses are devices developed to emulate the functionality of natural human fingers. On top of their aesthetic appearance in terms of shape, size and colour, such biomimetic devices require a high level of dexterity. They must be capable of gripping an object, and even manipulating it in the hand. This paper presents a biomimetic robotic finger actuated by a hybrid mechanism and integrated with a tactile sensor. The hybrid actuation mechanism comprises a DC micromotor and a Shape Memory Alloy (SMA) wire. A customized test rig has been developed to measure the force and stroke produced by the SMA wire. In parallel with the actuator development, experimental investigations have been conducted on Quantum Tunnelling Composite (QTC) and Pressure Conductive Rubber (PCR) towards the development of a tactile sensor for the finger. The viability of using these materials for tactile sensing has been determined. Such a hybrid actuation approach aided with tactile sensing capability enables a finger design as an integral part of a prosthetic hand for applications up to the transradial amputation level.

Resistivity characteristics of single miniature tactile sensing element based on pressure sensitive conductive rubber sheet

This paper presents the development of a tactile sensor using single miniature sensing element based on pressure sensitive conductive rubber and outlines the resistance measurements performance. This sensor is specially designed for a robotic hand developed at UiTM Faculty of Mechanical Engineering. Nevertheless, the low cost, low density and flexible material is suitable for most robotics hand designs. It exhibits piezoresistive like behavior whose resistance change with force/pressure enables its applications as tactile sensor. The operating principle and hardware architecture of the sensor is explained. It consists of an array of 16 sensing elements in rows and columns for data acquisition. The test results indicate significant drop of resistance with the increase of applied load.

A Survey on Lean Manufacturing Tools Implementation in Malaysian Food and Beverages Industry Using Rasch Model

This paper offers a preliminary study on Lean Tools (LT) implementation in Malaysian Food and Beverages Industry. A survey was carried out to determine the most common LT that are currently being implemented in this industry. Out of 1309, a total of 300 organizations have been randomly selected as respondents. The results were analyzed using Rasch Model, and the findings show that the organizations apply only six out of eighteen LT. From the variable map, Kaizen is the most preferable LT, while Single Minute Exchange of Die (SMED) is the least favorable LT. LT such as Just-In-Time (JIT), Value Stream Mapping (VSM) and Poka Yoke is still unfamiliar in current practice in this industry. This shows that, even though the organizations claim that they are Lean Manufacturing (LM) implementers, they are still at the infancy level. Finally, this is perhaps the first attempt in identifying the extent of LT implementation in Malaysian Food and Beverages Industry using Rasch Model.

Tensile strength properties of niobium alloyed austempered ductile iron on different austempering time

This study focused on tensile strength properties inclusive of ultimate tensile strength and elongation values of niobium alloyed ductile iron in as cast and austempered conditions. The tensile specimens were machined according to TS 138 EN 10002-1 standard. Austempering heat treatment was conducted by first undergoing austenitizing process at 900°C before rapidly quenched in salt bath furnace and held at 350°C for 1 hour, 2 hours and 3 hours subsequently. The findings indicated that austempering the samples for 1 hour had resulted in improvement of almost twice of the tensile strength in niobium alloyed ductile iron. Improvement of elongations values were also noted after 1 hour austempering times. Increasing the austempering holding times to 2 hour and 3 hours had resulted in decrement in both tensile strength and elongations values.

The experience of the Faculty of Mechanical Engineering, Universiti Teknologi MARA, Malaysia, with accreditation by the UK Institution of Mechanical Engineers

The Faculty of Mechanical Engineering Universiti Teknologi MARA, Malaysia, has sought accreditation from the UK Institution of Mechanical Engineers (IMechE) for its Bachelor of Engineering (Honours) Mechanical programme. To be accredited, the programme must satisfactorily incorporate the UK-SPEC general learning outcomes, which have to be mapped to the Facultys programme educational objectives and programme outcomes. The contents of the various courses comprising the programme have to be integrated to bring all the learning outcomes together and taught in a systematic approach to become a total system. In the project design, issues such as sustainable development, risk, health and safety, and professional ethics are areas of concern. This paper describes how IMechEs UK regulations and requirements are being met, and relates the Facultys experience with the accreditation process.

Case study: The methodology of Lean Manufacturing implementation

This paper presents a review on the actual implementation of Lean Manufacturing (LM) techniques at a manufacturing area. It focuses on the execution of flow from the beginning until the end of the implementation, types of analyses and tools applied, evaluation methods and how the company benefited from the implementation. The on-site study was conducted at an automotive assembly area, XYZ Sendirian Berhad. LM, using a set of tools, such as time study, single minute exchange of dies (SMED), standardized work, continuous flow manufacturing system (CFMS) and 5-Why analysis were successfully implemented. The flow of implementation activities was designed by referring to Toyotas 8-Step process. The results of this study showed a significant achievement in waste identification and elimination at the case study area. This successfully proves that the Toyota 8-Steps process could work well in any environment, provided the systematic and appropriate methods and tools are used. At the same time, it could also helps to organize and optimize the effectiveness of LM establishment to the company.

Implementation of Continuous Flow System in Manufacturing Operation

The Continuous Flow System (CFS) is a production system that focuses on one piece flow product at every process in the assembly line. The implementation of this CFS could lead to operational excellence in terms of productivity, space utilization and the number of workers. CFS can be considered as a lean manufacturing foundation and its effective implementation promises significant savings in operation. CFS is achieved through a series of associated kaizen activities at the identified working place. The kaizen activities include establishment of Standardized Work (SW), implementation of U-shaped line and establishment of Material Handling System (MHS). All these activities are carried with one ultimate goal; to eliminate identified waste at the work place. This is essential to any CFS implementation. This paper presents a series of kaizen activities that have been engaged in creating the continuous flow system at the identified assembly line. This is a case-based study which was conducted at a local auto-component company in Malaysia. Findings from the results show that the company has achieved high productivity, minimal space utilization as well as reduction in number of direct manpower. The outcome of this CFS implementation confirms that it has met the supposedly lean principles also known as the one piece flow. Therefore, the objective of this study is to highlight the implemented kaizen activities and its benefit in achieving the CFS of the case study.

Green Lean TQM Suppliers, Organization and Customers Management Practices in Malaysian Automotive Companies

Green Lean Total Quality (GLTQ) Suppliers, Organization and Customers Management System (SOCM) is a system comprises the interrelated linkages between suppliers; organization and customers in Environmental Management System (EMS) practices which are integrated to TQM with Lean Manufacturing (LM) principles. SOCM is essential especially in dealing with inefficient suppliers chain and customers management. The ultimate goal of this system is to focus on achieving total SOCM efficiency that uses EMS and Lean TQM System. A survey questionnaire was developed and distributed to 30 highly active automotive companies in Malaysia and the results analyzed by SPSS. The results suggest that the level of EMS SOCM implementation is low among the 1st tier automotive companies. This shows that LTQM SOCM is more implemented than EMS SOCM among suppliers. Based on the response given, it can be deduced that a high focus and concentration were given to managing suppliers. This is believed due to the LTQM effects on the product quality. It seems that EMS SOCM has no direct impact on the product quality. EMS SOCM mainly caters for the suppliers surrounding rather than that of the customers and final product. The proposed Green LTQM SOCM framework, established in this study based on the results obtained, is believed to offer a preliminary insight on the level of SOCM. Knowing their level, the companies can embark on a new journey to enhance their SOCM. The current proposed framework is a synergy of 4 awards practices and 5 systems. Future study can be conducted to access the status of SOCM in other companies and also extended to other industry.

XRD Evidence for Phase Structures of Niobium Alloyed Austempered Ductile Iron

This paper presents the changes on phase structures of niobium alloyed ductile iron after austempering process which started by austenitizing process at 900°C and held at 350°C for 1 hour, 2 hours and 3 hours in salt bath furnace. The phase structure were observed by light microscope, and then verified through X-Ray diffraction (XRD). The phase structure of as cast niobium alloyed ductile iron mainly consists of graphite nodules embedded in ferrite and pearlite phases with presence of niobium carbide. Austempering process resulted in the structure of graphite nodules embedded in ferrite platelets and bainitic structures. Increasing the austempering holding times had resulted in coarsening of the ferrite platelets structures and transformation from lower bainite to upper bainite structures.