Amran Mohd Zaid

Heat exchanger's shell and tube modeling for intelligent control design

The shell and tube of heat exchanger is a medium where heat transfer process occurred. The accuracy of the heat exchanger depends on the performance of both elements. Therefore, both components need to be controlled in order to achieve a substantial result in the process. For this purpose, the actual dynamics of both shell and tube of the heat exchanger is crucial. This paper discusses two methods used in deriving the mathematical modeling of the system. First, physical dynamic modeling is obtained using physics and dynamics laws where actual parameters of the shell and tube are considered. Secondly, the model is determined by applying non-parametric system identification based on experimental response on the heat exchanger. Two models are used to design the shell and tube intelligent control. The intelligent control type is a Fuzzy Proportional Derivative (FPD) control. The experiment results shows that the shell and tube heat exchanger model develop using its physical parameters and controlled with FPD controller give better response, it means it can used as a model and controller of the shell and tube heat exchanger.

Intelligent system identification for an axis of car passive suspension system using real data

This paper presents an intelligent system identification using multilayer perceptron neural network algorithm for an axis car passive suspension model. Nonlinear AutoRegressive with eXogenous input (NARX) model were assumed for the system in order to determine the multilayer perceptron neural network structure. The intelligent system identifcation contructed for NARX model used real input output data acquired by driving a car on a special road event. The results show that the method proposed is suitable for modeling a quarter car passive suspension systems.

Development of hand exoskeleton for rehabilitation of post-stroke patient

Degenerative muscle diseases characterized by loss of strength in human hand significantly affect the physical of affected individuals. A soft assistive exoskeleton glove is designed to help post-stroke patient with their rehabilitation process. The glove uses soft bending actuator which has a rubber like tender characteristic. Due to its rubber like characteristic, flexion of finger can be achieved easily through pneumatic air without considering other hand motions. The application involves a post-stroke patient to wear the soft exoskeleton glove on his paralyzed hand and control the actuation of the glove by using pneumatic air source. The fabrication of the soft bending actuator involves silicone rubber Mold Star® 15 SLOW which falls within the soft category of shore A hardness scale. The soft bending actuator is controlled by Arduino Mega 2560 as main controller board and relay module is used to trigger the 3/2-way single solenoid valve by switching on the 24VDC power supply. The actuation of the soft...

UTHM HAND: Kinematics behind the Dexterous Anthropomorphic Robotic Hand

This paper describes a novel wireless robotic hand system. The system is operated under master-slave configuration. A human operator tele-operates the slave robotic hand by wearing a master glove embedded with BendSensors. Bluetooth has been chosen as the communication medium between master and slave. The master glove is designed to acquire the joint angles of the operator’s hand and send to slave robotic hand. The slave robotic hand imitates the movement of human operator. The UTHM robotic hand comprises of five fingers (four fingers and one thumb), each having four degrees of freedom (DOF), which can perform flexion, extension, abduction, adduction and also circumduction. For the actuation purpose, pneumatic muscles and springs are used. The paper exemplifies the design for the robotic hand and provides the kinematic analysis of all the joints of the robotic hand. It also discusses different robotic hands that have been developed before date.

An Overview of Anthropomorphic Robot Hand and Mechanical Design of the Anthropomorphic Red Hand – A Preliminary Work

This paper provides a brief overview of the design of the past and current of anthropomorphic robot hands. The paper also introduces a new mechanical design of the anthropomorphic robotic hand known as the Red Hand. The Red Hand must be able to emulate the capability of the human hand by providing similar degrees of freedom (DOFs), ranges of motion, link and sizes. The provision of the Red Hand is important as a platform to study active compliance control. Generally, the Red Hand possesses four fingers and one thumb, with a total number of 15 degrees of freedom. The fingers are actuated by the Brushless DC Motor, with integrated speed controller. Two different force sensors namely the Tactile Pressure Sensing (TPS) and the Force-Sensitive Resistor (FSR) are considered for the Red Hand to produce active compliance control.