Elmi Abu Bakar

Development of slider-crank based pole climbing robot

In this paper, a slider-crank based pole climbing robot will be discussed. The robot is designed to climb a pole of perimeter 35cm upward and downward, and its weight is limited to 3kg. It utilizes the combination of slider-crank mechanism for its climbing module and modular mechanism for its gripping module. In this work, the overall climbing motion can be completed in 6 steps. The benefits of this robot are low cost, simple mechanism, easy to control and fabricate. The robot has been built and successfully tested on a PVC tube of diameter 35cm. The average upward and downward climbing speed of the developed robot is 0.375cm/s and 0377cm/s respectively.

Identification of river hydromorphological features using Viola-Jones Algorithm

In this paper, a quadcopter equipped with a camera was used to capture images from a river. These captured images were used as training data in the detection program used to detect the hydromorphological features in the area of the river such as trees, roofs, roads and the shore. The Viola-Jones Algorithm was used in order to detect, identify and recognize hydromorphological features due to its speed and simplicity of implementation. Testing was done using different images to verify the effectiveness of detection. System evaluation and success of the appropriateness of the Viola-Jones Algorithm was determined using the percentage of correct detected features in the image. The study showed that the Viola-Jones has shown that it is effective in detecting some features due to the complexity of the hydromorphological images.

Development of Pole-Like Tree Spiral Climbing Robot

This paper presents a tree climbing robot which moves spirally around a pole-like tree of having a circumference of around 40 cm. The aim of this work is to ease the work of inducing Aquilaria trees. The designed robot is able to climb with overall weight of the robot can carry is limit to 10 kg. The robot utilizes the wheel mechanism as the locomotion of the robot. Driving module uses two DC motors, and the robot also uses a set of springs and castor balls as a supporting mechanism. To achieve the robot spiral climbing morphology, two DC motors are used as the steering module. At the current stage of development, the angle of climbing is controlled manually by DIP-switches. The advantages of this robot are low cost, uses simple mechanism, easy to control and fabricate. The robot has been built and successfully tested on a tree trunk and PVC tube. Experiment has been carried out to evaluate the speed performances of the prototype. Results indicate that the robot is able to climb in spiral motion with largest error recorded at 13.9%.

Statistical Analysis of the Machining Parameters in Drilling of Carbon Fibre Reinforced Plastics (CFRP) Composite with Various Drill Types

In contrast to the machining of metallic materials, drilling of the fiber reinforced composite materials presented unique challenges as its cutting behavior differs in several aspects. This work presents an analysis to determine the drilling characteristics in carbon fiber reinforced plastics (CFRP) composite using HSS twist drill, HSS brad drill and carbide dagger drill. The study is based on Taguchi’s method and analysis of variance (ANOVA). The experiments were conducted to quantify the statistical contributions of the spindle speed and feed rate for those three drills. The results indicated that the feed rate is recognized to make the most significant contribution to the thrust force, which reflects the hole quality and tool wear. In overall, brad drill promoted better hole quality at the exit side. A low thrust force, insignificant hole defect and hence, better drill condition was obtained with this drill at a cutting speed of 800 rpm and feed rate of 0.04 mm/rev.

Feature Identification and Filtering for Engine Misfire Detection (EMD) Using Zirconia Oxygen Sensor

Vehicles as transportation are popular and mainly use among peoples around the world for various kind of purpose either personal or not. Over hundreds of year internal combustion engines widely used because of high efficiency and low maintenance compare to new technology which are using cells of battery. Nevertheless, emission cause of incomplete combustion such engine misfire normally occurs as well. For instances, some mechanical, sensors or actuators failure and environmental condition contribute to the engine misfire. The importance of engine misfire detection (EMD) is to ensure engine emissions not harmful to the environments and avoid damage of catalytic converter. By using low cost narrowband oxygen sensor to acquire air to fuel ratio (AFR) signal behavior under misfire condition and analyst by digital signal processing method using Discrete Fourier Transform (DFT) algorithm for Digital Butterworth Filter designation is discussed in this paper.

Pose Estimation using 1D Fourier Transform and Euclidean Distance Matching of CAD Model and Inspected Model Part

This paper present pose estimation relation of CAD model object and Projection Real Object (PRI). Image sequence of PRI and CAD model rotate on z axis at 10 degree interval in simulation and real scene used in this experiment. All this image is go through preprocessing stage to rescale object size and image size and transform all the image into silhouette. Correlation of CAD and PRI image is going through in this stage. Magnitude spectrum shows a reliable value in range 0.99 to 1.00 and Phase spectrum correlation shows a fluctuate graph in range 0.56 - 0.97. Euclidean distance correlation graph for CAD and PRI shows 2 zone of similar value due to almost symmetrical object shape. Processing stage of retrieval inspected PRI image in CAD database was carried out using range phase spectrum and maximum magnitude spectrum value within ±10% tolerance. Additional processing stage of retrieval inspected PRI image using Euclidean distance within ±5% tolerance also carried out. Euclidean matching shows a reliable result compared to range phase spectrum and maximum magnitude spectrum value by sacrificing more than 5 times processing time.

Defect Detection of Fiberglass Composite Laminates (FGCL) with Ultrasonic A-Scan Signal Measurement

Fiberglass composite laminates are widely used in many industries, due to its advantages of high specific strength and high specific modulus. Invisible defect such as delamination and inclusion may cause composite structural failure. Therefore, several research on ultrasonic testing for composite material defect detection have been done for the past few years. However, improper parameter setup may lead to significant error to determine the behavior of defects. In this paper, the intensive study on defect detection with ultrasonic single crystal immersion transducer has been conducted. In general, the defects detection thru acquired signal is determine the behavior of defects through the certain ultrasonic parameter setup such as sound velocity, pulse width, gain, sampling rate and transducer distance with specimen surface. Furthermore, an A-scan signal interpretation for FGCL defect detection is demonstrated and illustrated. This research is focusing on for FGCL with maximum thickness up to 10 mm in ambient temperature. The result shows an appropriate ultrasonic parameter will result better signal interpretation analysis.

Accelerometer Performance for Maker Faire Quadrotor with Kalman Filtering Using PID Controller

This paper presents a study on quadrotor using PID controller together with the application of Kalman Filter. Purpose of this project is to study effect of separate Kalman filter in overcoming the signal noise and gyro drift in the attitude sensors and simulate the PID controller which controlling the quadrotor dynamics through damping the vehicle oscillation. In this research, simulation of Kalman Filter in filtering the noise from the inertial moment unit (IMU) and PID controller in damping on unstable oscillation has been conducted to observe the performance of the quadrotor.

Study on multi tasks of line following differential wheeled mobile robot for in-class project

This paper describes a practical study of basic line follower wheeled mobile robot implemented during practical class for mechanical engineering students. The basic mobile robot from DIY KITS is used as an introductory-level differential wheeled mobile robot (DWMR) for students to get started in building mobile robot. The mini mobile robot controller, MC40A, combined with LSS05 auto-calibrate line sensor will develop the line follower DWMR. The sensor indication and DWMR wheel reaction is presented in this paper based on the black line follower mode. Several tracks are designed for multi tasking line follower DWMR to obtain the performance of line follower characteristics.

Inspection of ultrasonic welding for thermoplastic materials joining

In manufacturing industries, inspection process is the most vital process in production line in order to certify the quality of the product. At the end of every production line, there would be one quality assurance section to do the inspection. Sometimes quality inspection is not just needed at the end of the production line, it is also needed at specific area or at the process where usually problem occurs that denotes to bad quality product. This phenomenon frequently occurs in joining thermoplastic materials which used ultrasonic welding. Ultrasonic welding had increasing popularity as it offers a continued safe operation, faster and also low cost as it able to join weld part less than one second. Despite of its advantages in joining parts, ultrasonic welding is one of process that needs a special care and its own inspection process since it leads to major reject products because of its bad quality welding. Conventional inspection for ultrasonic welding joining usually used a destructive testing method, for an example pull/ push test. This testing will brings to waste in time and material cost. In order to encounter this matter, non destructive testing using ultrasonic testing is used in this research. It is been done by detecting the signal of ultrasonic welding vibration during the ultrasonic welding process of thermoplastic materials joining. This obtained signal will then be analyzed to acquire the abnormalities within the signal which represents the defects between the joint, thus concludes the quality of the product.