Badrul Aisham Md Zain

PID-Based Control of a Single-Link Flexible Manipulator in Vertical Motion with Genetic Optimisation

This paper presents an investigation into dynamic simulation and controller optimization based on genetic algorithms (GAs) for a single-link flexible manipulator system in vertical plane motion. The dynamic model of the system is derived using the Lagrange equation and discretised using the finite difference (FD) method. GA optimization is used to optimize the parameters of the proportional-integral-derivative (PID) based controllers for control of rigid-body and flexible motion dynamics of the system. The important point is to evaluate the range of PID parameter which used in the GAs programmed to find the best value of this parameter. Comparative performance assessment of the control approaches are presented and discussed in the time and the frequency domains.

Dynamic Modelling of a Single-Link Flexible Manipulator Using Parametric Techniques with Genetic Algorithms

This paper presents development of an approach with recursive least squares (RLS) and genetic algorithms (GAs) for modelling of single-link flexible manipulators. Investigations focus on modelling the system from input torque to hub-angle, hub-velocity and end-point acceleration outputs. Both GA and combined GA and RLS (GARLS) are used to model the system using the autoregressive moving average (ARMA) model structure with one-step-ahead prediction. The mean-squared error (MSE) of the output is used as the fitness function Results are presented using data collected from an experimental flexible manipulator rig, and a comparative assessment of the GA, RLS and GARLS approaches in modelling the system is presented and discussed.

Adaptive Cuckoo Search Algorithm with Two-Parent Crossover for Solving Optimization Problems

Cuckoo search algorithm CSA experiences an upsurge in popularity since its invention due to its effectiveness in solving optimization problems. In this paper, a new CSA was proposed, in which the two-parent crossover operator was integrated in order to alleviate the deficiency of lack of information exchange. In addition, an adaptive step size strategy was introduced. The resultant algorithm was validated on optimizing benchmarking functions and a real-world problem. The experimental analysis highlighted the faster convergence ability of the proposed algorithm to the optimal solution.

Modelling and Control of Fish Feeder System

Food and feeding become a major challenge in aquaculture development. The way adjustment of food delivery to pond is an important role to get the maximum return or profit to aquaculture entrepreneurs. This project presents an investigation about the fish feeding system, a system device to feed fish at predetermined amounts of food and time. Moreover, the system is designed with a computer monitored system in order to manage and control the system with simulation. This project is a simulation investigation into the development of PID controller using Matlab/Simulink software. The simulation development of the PID controller with the mathematical model of fish feeder system is done using trial and error method. The PID parameter is to be tested with a DC motor. As a result, the best value of PID controller is achieved when Kp = 100, Ki = 0.05 and Kd = 25.

Modelling and Control of Robotic Leg as Assistive Device

The ageing population (people older than 60 years old) is expected to constitute 21.8% of global population by year 2050. When human ages, bodily function including locomotors will deteriorate. Besides, there are hundreds of thousands of victims who suffer from multiple health conditions worldwide that leads to gait impairment. A promising solution will be the lower limb powered-exoskeleton. This study is to be a start-up platform to design a lower limb powered-exoskeleton for a normal Malaysian male, by designing and simulating the dynamic model of a 2-link robotic leg to observe its behaviour under different input conditions with and without a PID controller. Simulink in MATLAB software is used as the dynamic modelling and simulation software for this study. It is observed that the 2-links robotic leg behaved differently under different input conditions, and perform the best when it is constrained and controlled by PID controller. Simulink model is formed as a foundation for the upcoming researches and can be modified and utilised by the future researchers.

Assessment and Evaluation for Programme Learning Outcomes in Faculty of Mechanical and Manufacturing Engineering, Universiti Tun Hussein Onn Malaysia

Universiti Tun Hussein Onn Malaysia (UTHM) is the 15th of the 20 public universities established in Malaysia. UTHM consists of eight faculties. One of them is the Faculty of Mechanical and Manufacturing Engineering (FKMP). The programme offered – Bachelor of Mechanical Engineering with Honours (BDD), undergoes continuous auditing and accreditation by the Engineering Accreditation Council (EAC). To fulfill the requirement for accreditation, EAC requires the faculty to assess and evaluate the programme learning outcomes’ (PLOs) attainment of the graduates, such that all graduates are targeted to achieve the performance indicator (PI) upon graduation. This paper discusses the methods developed by the FKMP for PLOs’ measurement and evaluation. Two approaches are utilized in this regards, (i) the direct assessment based on students’ performance in courses, and (ii) the indirect assessment based the industrial and graduates’ perception. The PLOs’ attainment for graduates of cohort 2010-2012 are analysed in this study. Consolidation data shows that the PI for majority of the PLOs are achieved, indicating that the programme offered complies with the standard expected by different stakeholders.

Modelling and Simulation of Flexible Beam as Aerator to Generate Dissolved Oxygen in Water

This paper presents the simulation of the flexible aerator model as a new concept to generate dissolved oxygen. This method is implementing the flexible beam motion as a medium to circulate water and create wave. This paper is using the simulation to optimize the suitable parameters namely the length of flexible beam and the percentage of immerse in water. The best result of dissolved oxygen level were found during run the flexible beam aerator at 12 V with 0.65m length of flexible beam and immerses 25% in water. The flexible beam was successfully implemented as a new aerator concept where it is able to generate oxygen up to 8.6mg/L with the average Standard Oxygen Transfer Efficiency 1.84 kgO2/kWhr

Implementation of PLC System in Fish Feeding Rate Determination

This study is about the development of a control system design using Programmable Logic Controller (PLC) system which gives food to the fish with a blower method. To perform fish feeding system automatically the control system will include PLC system, touch screen, emergency button, terminal block, speed controller, relay NY-2N, and power supply 240V. The component of the input systems are autonics sensor includes counter clockwise sensor, clockwise sensor and distance pulse sensor. While the components of the output systems are forward/reverse motor and blower. The overall system and its components are tested with the reliability test to check the components’ performance. The result of reliability system shows that all LED components emits light signal when both direct connection circuit and PLC system is interfaced. The feeding time need to be increased as the fish weight increased. Keywords: [PLC system, feeding rate, fish pond ]

New Design Flexible Link Aerator to Generate Dissolved Oxygen in Water

This paper presents the findings of new design of flexible link plate as an aerator to generate dissolved oxygen. An aerator is one of water treatment methods. Using aerator as water treatment can improve dissolved oxygen rate in water. Low dissolved oxygen content can be fatal to certain aquatic species. The application of flexible links manipulators is worldwide trending in technologies nowadays. Thus, application of flexible link as an aerator has been study to improve the dissolved oxygen content in water and reduced cost of manufacturing for an aerator machine. Results from this study shows that the flexible link with proper shape and design is able to generate more dissolved oxygen rate which is good to increase the production rate in aquaculture sector. The new value of the calculated SAE is 2.7 kgO2/kWhr

Design Concept of Two Tank Reservoirs to Maintain pH Value for Tiger Prawn

Shrimp culture is the fastest growing sector of the aquaculture industry in Malaysia. In culturing tiger prawn, the pH level needed for water is around 7.0-8.5. Currently, prawn farmer in Malaysia still using a manual method to control the water pH level by adding chemical (Lime), in which, the process required constant monitoring and control by labor. Since the prawns are so sensitive on pH level, an automatic pH control system is required to maintain the water pH automatically and precisely. This research was conducted to design a system that can control and provide feedback on the changes of pH level and been implemented at the reservoir tank that can act as water storage tank and prawn pond. Control system and pH sensor are the important components in controlling the pH level. Input from pH sensor was processed by controller. Moreover, after an error is detected by controller, the correction will be delivered to the system as a feedback process. Nitric acid with concentration of 0.001M was added to 25 liter water in tank 1 so that the pH level is decreased to pH 3.00. Different concentrations were used for slaked lime; 0.5M, 0.4M. 0.3M, 0.2M and 0.1M, to increase the pH from acid to slightly alkaline in the range of pH value 7.00-8.50. Slaked lime was pumped to Tank by water pump and it will stop if the pH level reaches the setting level. The time for the system to recover from pH 3.00 to 7.00-8.50 was recorded. The results shows that slaked lime with the concentration 0.5M has the fastest recover time which was 29s follow by 0.4M in 69s, 0.3M in 92s, 0.2M in 151s and 0.1M in 252s, respectively.