Mohd Zamzuri Ab Rashid

Development of fuzzy logic water bath temperature controller using MATLAB

In this paper, the development of a water bath temperature system to control the liquids temperature in the water bath will be presented. In order to develop the water bath temperature control system, MATLAB fuzzy logic toolbox will be utilized. The Fuzzy Logic Controller (FLC) is designed to control water temperature based on the input acquired from the thermal transducer sensor. The inference engines that are used are; Max-min (Mamdani) method and centre of gravity technique for defuzzification. The 4 × 4 matrix rules for the controller will be used in this project. In addition, the USB NI-DAQ card will be used as xPC target to link the MATLAB software and real time application. The real time output temperature is validated based on the simulations temperature which is initially set by user. It can be concluded the performance of real time study is in par with the simulation result.

Modelling and Analysis of All Terrain Vehicle (ATV) Using System Identification for Yaw Stability

This paper presents the modelling and analysis of path-following planning motion of an All-Terrain Vehicle (ATV) using system identification technique in term of yaw stability. The modelling is based on the single track and established by using Newtonian equation motion. Mathematical modelling is constructed in form of state space equation with the parameters used are measured through physical measurement of prototype ATV. Based on this model selection, the open loop system is simulated and the result will be validated by using system identification. Inertial Measurement Unit (IMU) sensor is used to collect and measure the data for the path-following planning. The analysis results for yaw stability of prototype ATV are validated by system identification method with step response approach. Both of the simulated and measured data is compared and the data is estimated to get the best fit for yaw estimation by using complimentary filter technique. From the result, the best fit for yaw estimation is 91.96% and considered as stabilized at steering angle of 45°.

Design and Development of Low Cost Certified Green Building for Non Residential Existing Building (NREB)

The Green Building Index (GBI) is one of rating tool which are provides a prospect for building developers and owners for designing and constructing a green and sustainable buildings. The proposed low cost GBI buildings provide many advantages such as energy savings, water savings, a healthier indoor environment, and better connectivity to public transport. Besides, adoption of recycling and greenery for the projects and can reduce the impact on the environment. However, the implementation to certify as Green Building Index has a lot of concerns such as cost constraint, know how constraints and etc. Therefore, in this paper, the design and development of low cost certified green building by fulfilling the Green Building Index (GBI) is proposed in order to ease the development of green building to have better life for human and environment in this world in term of energy efficiency performances.

Design and system parameter's validation of the unicycle mobile robot

Unicycle mobile robot is a robot that can move and maneuver on one wheel. The ability of this robot to stand in the upright position and move without falling down is considered a tough challenge for the researchers to conduct the investigation on it. The ideas of developing unicycle mobile robot are inspired from a human who rides a unicycle. In a real life, when a human rides a unicycle, he needs to balance his position or roll angle by moving his two arms, wrist and body in the unison manner. Meanwhile the pitch angle of the rider can be stabilized by pedalling the unicycle using the two legs back and forth, in order to control the speed and the position of the unicycles wheel. Besides that, the yaw angle of the unicycle is stabilized by rotating the left and the right hands synchronously. Thus, in this research, a unicycle mobile robot has been designed and fabricated. The parameter from the unicycles model is acquired and used as the input to its dynamic modelling which has been developed previously.

Improvement on Ride Comfort of Quarter-Car Active Suspension System Using Linear Quadratic Regulator

The goal of this paper is to investigate the performance of an active suspension system via linear quadratic regulator (LQR) control and proportional–derivative–integral (PID) control. This project presents the mathematical models of the two degrees of freedom of a quarter-car active suspension system. This project introduces the design of a controller performance used for an active suspension system. The equations of motion of the quarter-car active suspension system model are developed. In the passive suspension system, there are huge oscillations or vibrations that occur in the suspension system. This phenomenon will lead to uncomfortable ride among the passengers or the driver. Besides, it takes longer time to reduce the vibration. Therefore, a good controller design must be able to reduce the vibration and produce a fast settling time. This project is focused on designing a controller for active suspension system by using MATLAB and Simulink software for both PID and LQR controllers to enhance the performance of ride comfort. This research also aims to study the effect of disturbances such as road bump and holes to the response time of the vibration of the vehicle. The result shows that the response of LQR control gives the best output performances in minimizing the vibration and gives faster settling time than that of the PID control.

Design and Develop an Autonomous UAV Airship for Indoor Surveillance and Monitoring Applications

This project is about to develop an airship based on small size remotely controlled by human. The airship is one of Unmanned Airship Vehicle (UAV) which is can be apply in advertising, VIP security inspection, traffic monitoring and management and so on. The main purpose of this project is to design and develop an autonomous UAV airship for indoor surveillance and monitoring applications. The image will be captured from wireless camera where it mounted at a bottom of gondola. To determine the centroid points of the object are implemented in three phase edge detector, canny operator and threshold. The object will be display on Graphical User Interface (GUI) in 2D coordinated. In this project the systems able to detect only one object at one time.

Analysis of integrated sensors for unmanned underwater vehicle application

This paper presents an integrated sensor system to be applied in underwater vehicles based on 5-DOF Inertial Measurement Unit (IMU) sensor, MPX pressure sensor, and temperature sensor. The main idea of the research is to improve the performance of the integrated sensor system by using the MATLAB Simulink connected to MicroBox 2000/2000C for underwater vehicles applications. An integrated sensor or known as the smart sensor is a small component that designed to gather important data. These types of sensors combined or integrated with signal processing hardware in a single compact device. All sensors are placed in a hard casing made of steel with the dimensions of 0.10 m diameter, 0.85 m height and weight of 0.23 kg. The output of the sensors shows that; the offset error of accelerometer and gyroscopes are within 0.5 to 1.0 and 0.1 to 0.5 respectively. It is shown that the pressure occurs at 0.75s and the reading in volt increased rapidly until 0.5V and maintained at 0.5V for 1 s. With minimum implementation cost and improved performances of the integrated sensor, this research benefits offshore and underwater industries.