Mohamad Fauzi Zakaria

Design and development of control system for Internet-based telerobotics

This paper presents ways to design the basic development of control system for a prototype Internet-based telerobotics using a fixed type robot by considering the philosophy of design. There are three issues should be considered before telerobot control system is developed. They are operation safety and error issues, response time issues and continuous control issues. After that, the telerobotics system is developed depend on the design approach, system architecture and control scheme. In this project, robot control system has developed by using C++ programming language, whereas Java programming language has been used to program the camera image feedback. These systems are combined together by using HTML technology. Finally, this telerobot system has been successful done and allowed the user to manipulate a robotics arm, through the Web browser interface, to perform simple tasks such as moving small plate of steel.

Bus driving assistance system for town area by using ATmega328P microcontroller

Recently, several bus accidents happened because of bus driver’s behavior. In fact, there is no dedicated tool for assisting them to drive safely. This project gives solutions to this by assisting the driver, according to the speed and acceleration of the bus. These data are collected by using a motion processing unit (MPU-6050) and a global positioning system (GPS) and then indicate the driving mode status on the LEDs. All data and status are recorded in a secure digital (SD) card for the authority or the bus company to analyze the driving behavior of a bus driver. This system has been successfully developed and tested in two different areas which includes the UTHM main campus and the road from Parit Raja to Batu Pahat.

Modeling and Simulation for One Leg of Quadruped Robot Trajectory

In legged robot movement planning, the leg must be carefully design before trajectory analysis can be done. The objective of this paper is to develop a 3 DOF leg which will be used in quadruped robot. In addition, forward kinematic and comparison between real and simulation of the leg is presented. To achieve the objective, SolidWorks 2013 x64 Edition is used to develop the 3D modeling of the leg while SimMechanics with First Generation Format was applied to export the models to Simulink. For the comparison purposes, real model of 3 DOF leg with Arduino Pro Mini 328 - 5V/16MHz as a microcontroller to control the rotation of three servomotors was constructed. With MIT AI2 Companion software, android apps is developed to send signal to rotate each servomotor wirelessly. The zero position of the leg robot has been determined and the maximum rotation range of each servomotor. This is very important in determination of D-H Parameters which allow the resolving of kinematics problems. It is found that specific rotations of each servomotor provide the trajectory pattern of the leg which is compared through Simulink and real model. Nevertheless, there are errors between simulation and real position of the robot leg due to the open loop system.

Neuro Model Approach for a Quarter Car Passive Suspension Systems

The road handling, load carrying and passenger comfort are three intension factors on car suspension’s system. They should be compromised to achieve the good the car suspension dynamics. To fulfill the requirement, the car suspension system must be controlled and analyzed. To design and analyze the suspension controller, the realistic dynamics model of car suspension is needed. In this paper, the car suspension is assumed as a quarter car and has a model structure as a neural network structure. The model is assumed consist of nonlinear properties that are contributed by spring stiffness and damping elements of suspension system. The tire is assumed has linear properties and represented by spring stiffness element and damping element. The model responses are generated in simulation term. The random type of artificial road surface signal as an input variable is used in this simulation. The results show that the trend of neuro model have the same with the response of a quarter car nonlinear model from dynamic derivation. It means that the developed neuro model structure capable to represent the nonlinear model of a quarter car passive suspension system dynamics.