Mohd Shakir Md Saat

Vector-based technique for distance computation in narrow phase collision detection

Distance computation between three-dimensional (3D) for narrow phase collision detection is always a common problem for researchers to produce high quality optimization with reasonable speed of intersection experiment. Given a set of objects with hundreds to thousands of polygons, finding the nearly exact distance between 3D objects are rather expensive and exhausted. In this paper, we presented our current work on performing distance computation between 3D objects based on vector-based searching using Dynamic Origin Point (DyOP). Our theoretical work suggested that by implementing DyOP, we could reduce the numbers of testing that will be undergone by the simulation and thus avoiding expensive computational cost.

Performance assessment of class-E inverter for capacitive power transfer system

Purpose This paper aims to present a new wireless power transfer technique using capacitive coupling. The capacitive power transfer (CPT) system has been introduced as an attractive alternative to the traditional inductive coupling method. The CPT offers benefits such as simple topology, fewer components, better electromagnetic interference (EMI) performance and robustness to surrounding metallic elements. Design/methodology/approach A class-E inverter together with and without inductor capacitor (LC) matching circuit has been utilised in this work because of its ability to perform the DC-to-AC inversion efficiently with significant reduction in switching losses. The validity of the proposed concept has been verified by conducting a laboratory experiment of the CPT system. Findings The performances for both systems are analysed and evaluated. A 9.7 W output power is generated through a combined interface [printed circuit board (PCB) plate] capacitance of 2.82 nF at an operating frequency of 1 MHz, with 97 per cent efficiency for 0.25 mm coupling gap distance. Originality value An efficient CPT system with class-E LC matching topology is proposed in this paper. With this topology, the zero-voltage switching can be achieved even if the load is different by properly designing the LC matching transformation circuit.

Musculoskeletal Robotics Modeling and Simulation

This paper presents the kinematics and dynamics of a musculoskeletal model inspired by humans/animals where the bones (links) are actuated by muscles (linear actuators). Starting from a single-link musculoskeletal structure, the kinematics were addressed to link the joint and muscle variables. From the kinematic constraints, dynamics of the structure were also presented. Later the 3D model of a two-link structure was constructed in ROCOS software to simulate the effect of gravity and environment (floor). In the simulations, the constraints were correctly defined as snapshots show the bones and muscle are intact before and after contact with environment.