Rosidah Sam

Quad-copter using ATmega328 microcontroller

This paper presents the design of Quad-Copter flying machine using Atmel microcontroller. The scope of this project involves both hardware design and software implementations. Potentiometer is used as an input device to produce analog signal. The analog signal is converted to digital form using Analog to Digital Converter (ADC) in Atmel microcontroller. The digital value is used by the microcontroller to generate Pulse Width Modulation (PWM) for the Electronic Speed Controller (ESC). ESC is a device that use with Brushless DC (BLDC) motor to control its speed. The project start with literature review where all the information for designing the control system of the quad rotor was gathered. The requirements of the control system of four motor in quad rotor are microcontroller, Electronic Speed Controller (ESC), Brushless DC (BLDC) motors, propellers and the potentiometer as the throttle.

Simultaneous localization and mapping based real-time inter-row tree tracking technique for unmanned aerial vehicle

This paper presents a review of previous work in the field of the unmanned autonomic vehicles in the agricultural field, particularly in the real-time inter-row tracking and localization techniques. A new method in row detection techniques based on simultaneous localization and mapping is proposed. The inter-row tracking technique differs from other available approaches done in terms of detection and navigation means. This technique is purposely for small-scaled unmanned aerial vehicle where substantial devices or equipments is unwelcome due to its enormous weight and size. Vision-based, laser-based and stereo vision-based techniques found to be an accurate row detection technique, however, proven to be impractical for on-board UAV detection and navigation implementation, as bulky computer as well as fast and robust processors is necessitated to perform all the massive computations and algorithmic tasks. In the way to maneuver the autonomic vehicles and robots to the admissible way points, the GPS receiver allows for precise in navigation and localization in the previous implementation. Unfortunately, it is impractical in applications where there are no GPS signals or receptions such as in the canopied environment like in the agriculture fields e.g. palm oil, rubber and papaya. Thus, the proposed new technique which applies an uncomplicated algorithmic sensory measurement at two visible landmarks, which are the trees, and uses them to predict the admissible way points for UAV navigation without carrying the burden cause by the substantial computers, monolithic computations and distortion of the GPS signals.

Design of an anthropomorphic robotic hand for power grip posture using SolidWorks

A robotic device that resembles, have the characteristics and dexterity of a human hand is called an anthropomorphic robot hand. This paper presents an overview of previous research in the area of anthropomorphic hand and a discussion of human hand movement focusing on power grip. Subsequently, this paper presents the result of a preliminary research that used SolidWorks to design an anthropomorphic hand. The main focus of the research presented herewith is to identify and design a suitable structure for anthropomorphic robotic hand to perform power grip. The preliminary results showed that a proper hand structure including the appropriate amount of force distribution will result in a stable power grip.

Fuzzification of rubber tree white root disease based on leaf's discolouration

This paper describes research work in developing an intelligent model for detecting white root disease stages by using fuzzy logic. In this work, classification of three stages of white root disease is based on discolouration of the trees leaf. These stages are healthy, medium & worse and each of them were tested with respect to vein, main vein and peteolute. The reflectance of the leaves discolouration sample is measured by using MCS600 Carl Zeiss spectrometer. Analysis and justification are done statistically for features extraction and selection as input for fuzzy system. From the statistical result there is strong evidence that the stages of the white root disease can be discriminated from each other. Input value for the fuzzy system, based on the selection of the result from statistic software. Two inputs have been selected to be the input for the fuzzy system which are main vein and vein. Overall performance of the system is 78.33% accuracy after being tested with 300 samples in order to distinguish healthy, medium and worse respectively.

Tree diameter measurement using single infrared sensor for non-stationary vehicle context in agriculture field

One of the important aspects in building an autonomous vehicle with the cognitive capability in agriculture field is the potentiality of it to recognize the trees or significant landmarks and map it for future navigation process. Therefore, it is crucial for a machine to detect the trees and keep tracking between them in order to perform the plantation activities autonomously. One of the challenges faced by this implementation is the need of a real-time tree detection technique which will not burden the processor as well as lightweight hardware that suits the needs of an autonomous aerial vehicle. Due to that, this paper presents a new and relatively simple tree diameter measurement technique using a high-performance and non-intrusive infrared sensor. The experiments are performed with a various coloured pole at a static velocity implementation to develop a promising technique that is useful and promising in this context.

A Bernoulli principle based flexible handling device for automation of food manufacturing processes

The application of automation for handling of non-rigid or semi rigid food products are limited due to the lack of a suitable or appropriate gripper. Most of the currently existing grippers are not suitable for handling food products in manufacturing processes due to the characteristics or texture of food which are often delicate, easily marked or bruised, adhesive and slippery. In this paper, a flexible, multi-functional gripper for handling variable size, shape and weight of unpacked food products is proposed and discussed. The prototype gripper operates based on Bernoulli principle of generating a highspeed flow between the gripper plate and the product surface thereby creating a vacuum that is used to lift and subsequently move the product. The basic working principle of the handling device together with the experimental results of the feasibility of the proposed device is presented. The experimental results suggest that the Bernoulli principle based handling device can be used to lift food of different texture and shape. However the device faces difficulty in lifting food with smooth surfaces.

Design and development of flexible end-effector based on Bernoulli principle

In this study, a flexible end-effector based on Bernoulli principle showing in good handling type of flat workpiece without any damage. End-effector is operating on the principle of generating a high-speed stream of air between end-effector and the surface of the product, thereby creating a vacuum that levitates product. By this creating end-effector by Bernoulli principle, an innovative approach lift up workpiece in a variable of size and weight. End-effector from this paper is about the lifting of workpiece object and understanding theory with different diameter of end-effector to be compare which is more efficient. It will design by SolidWorks software for 3D drawing and fabricate end effector by 3D-printer. A flexible end-effector has been developed in this project based on Bernoulli principle. The lifting force generated and the force exerted on the workpiece. The application of automation will include for handling the workpiece. Development of the end-effector will help industry for handling workpiece such as in food industry without getting damage which increases year by year to become the principal industry.

An embedded straight navigation system for inter-row tree tracking implementation in agricultural field

One of the unique features in the structured and well-organized agriculture field is the arrangement of the plants and crops in such long rows that leaves a small pathway in between them. This pathway is really important to facilitate the movement of the farmers or tractors in providing a maximum plant scouting and monitoring throughout the entire farm. Therefore, in this work, an embedded and automated navigation of the unmanned vehicle is developed to manipulate the minimal space in between the rows in order to navigate in the entire farm. A Bezier curve is applied to draft out the desired path and series of navigation schemes are deployed in order to maneuver the unmanned vehicle on the planned path as well as maintain its position to be in the middle of the path to avoid collision with the available trees or landmarks. Test results indicate that this work has demonstrated a simple and robust algorithm as well as low-level requirement for a small-scaled unmanned vehicle to travel between the crops in a straight navigation.

Design and analysis of a gate valve fluid flow using SolidWorks simulation software

This paper presents an outcome of a final year project of a design and analysis of a gate valve using SolidWorks which is a Simulation software. The scope of this project focused on two parts, i) learning how to use Solidworks as a tool for product development and ii) a gate valve design and analysis of its fluid flow. The gate valve was designed in detail in two and three dimensional models that consists of parts, assembly and drawings. The SolidWorks Flow Simulation was then used to test the effectiveness and limitation of the gate valve. Fluids were applied in the simulation to observe the reaction of the gate valve. The outcomes of the simulation showed that this gate valve has the ability to control the flow of liquids and is very durable. In addition the project proved that Solidworks is a tool that can be used effectively to design and simulate flow in gate valves.

Enhanced technique for cylindrical object diameter measurement via low-cost and innovated rotational non-intrusive sensor

Precise tree diameter estimation for a lightweight and intelligent vehicle such as unmanned aerial vehicle (UAV) in a commercial farm is still an unresolved problem. A lot of UAVs and the ground vehicles (UGV) are navigated across the farm by relying on the aided of the vision sensor as well as laser scanner. All of these methods require an extremely massive image computation, bulky package dimension and some of the components are pricey. This paper evaluates the morphological technique of an innovated infrared scanner technique for cylindrical object diameter measurement which is fundamentally comprised of a low-cost infrared sensor and digital servo motor. Filter algorithm, compensating for the ascertained midpoint of the object was also developed and tested. The method is tested on three different poles with diameters of 9 cm, 11.4 cm and 16.4 cm. It is found that the filtered method, compensating for midpoint data, reduced the error to 82.92% for 9 cm, 30.37% for 11.4 cm and 6.30% for 16.4 cm, respectively.