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International Conference on Computer and Communication Engineering, ICCCE

作者： Haris Al Qodri Maarif Rini Akmeliawati Sara Bilal Intelligent Mechatronics System Research Unit (IMSRU) International Islamic University Malaysia Kuala Lumpur Malaysia

Malaysian Sign Language (MSL) is the main language that is commonly used by the hearing and speech impaired person in Malaysian. The SL (SL) involves hand movement, and hand gestures. In order to help people who are not familiar, but need to understand a particular SL, an automatic SL recognition system is highly required. The research in this area, especially for MSL, has been conducted by many researchers, but one of the main challenges in this research is the availability of suitable sign database for the recognition. The existing databases, especially which of MSL database, are provided often without a proper standard of image resolution, structure and compression that are sufficiently good for research purpose. To provide comprehensive information for the research on MSL, the MSL database is highly required. In this project, a MSL database is developed. The database is the first of the kind and developed for research purpose. In general, the structure of the MSL database is classified into groups that deal with the hand movement, hand gestures, and hand location. For the classification in our proposed database, the MSL is classified into One Hand, Two Hands, Static, and Dynamic. This classification is made to ease researchers in defining the research method for each type offhand signing.

关键词： Databases Handicapped aids Data structures Educational institutions Auditory system Lighting Cameras

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ANFIS -Based Navigation for HVAC Service Robot with Image Processing

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IOP Conference Series: Materials Science and Engineering 2013年第1期53卷

作者： Mohd Zoolfadli Md Salleh Nahrul Khair Alang Md Rashid Yasir Mohd Mustafah Mohd Zoolfadli is a member of Intelligent Mechatronic System Research Unit (IMS-RU) while Nahrul Khair Alang Md Rashid and Yasir Mohd Mustafah are with Autonomous Agent Research Group (AARG) of IIUM Department of Mechatronics Engineering International Islamic University Malaysia Gombak Selangor 50728 Malaysia

In this paper, we present an ongoing work on the autonomous navigation of a mobile service robot for Heat, Ventilation and Air Condition (HVAC) ducting. CCD camera mounted on the front-end of our robot is used to analyze the ducts openings (blob analysis) in order to differentiate them from other landmarks (blower fan, air outlets and etc). Distance between the robot and duct openings is measured using ultrasonic sensor. Controller chosen is ANFIS where its architecture accepts three inputs; recognition of duct openings, robot positions and distance while the outputs is maneuver direction (left or right).45 membership functions are created from which produces 46 training epochs. In order to demonstrate the functionality of the system, a working prototype is developed and tested inside HVAC ducting in ROBOCON Lab, IIUM.

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Design of a light tracking system using machine vision technique

Design of a light tracking system using machine vision techn...

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IEEE International Conference on mechatronics

作者： Kareem, Samir A. Abdul Akmeliawati, Rini Muhida, Riza Intelligent Mechatronics System Research Unit Dept. of Mechatronics Engineering International Islamic University Malaysia Jl. Gombak 53100 Kuala Lumpur Malaysia

ISBN: (纸本)9781612844350

A two degree of freedom (DOF) light tracking system is presented in this paper. It uses a web camera as a vision sensor, PC sound cards as output signal controllers, and two DC motors as a pan-tilt driver mechanism. The sound card is expected to produce a higher output signal in a PWM form to drive the motors. The motors will react accordingly when they receive the signals to ensure that the camera always focuses on the centroid of the light source. The system used image processing technique to detect and determine the location of the light source and was programmed to send PWM through the sound card to drive the motors to correct the error produced from the light movement. In MATLAB programming environment, a closed-loop control is implemented to provide interaction between camera and sound cards as devices to control the motors to track the light source. The system has been designed and tested with various locations of light source. The data which were obtained by experiments indicate the ability of the proposed controller. © 2011 IEEE.

关键词： Pulse width modulation

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Robust H-infinity controller synthesis using multi-objectives differential evolution algorithm (MODE) for two-mass-spring system

Robust H-infinity controller synthesis using multi-objective...

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International Conference on Modeling, Simulation and Applied Optimization

作者： Tijani, I.B. Akmeliawati, Rini Legowo, Ari Iwan, Mahmud Muthalif, A. G. Abdul Intelligent Mechatronics System Research Units Faculty of Engineering International Islamic University Malaysia 50728 Kuala Lumpur Malaysia

ISBN: (纸本)9781457700057

One of the major problems associated with H-infinity controller design is the challenges of weighting function parameters' tuning. For a given control problem, it is requires to select appropriate weighting function parameters to satisfy both the stability requirement and time domain specifications. The conflicting nature of these objectives has made such design exercise a tedious endeavor. In this study, the optimal-tuning of the H-infinity controller parameters using multi-objective differential evolution (MODE) technique is proposed, and apply for control of a two-mass-spring system which represents a typical benchmark robust control problem. The performance of the resulting robust controller is evaluated both on the nominal plant and perturbed plants with parameter variation. The simulation results indicate a good compromise between the robustness and time domain performance. © 2011 IEEE.

关键词： Optimization

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Animal sound activity detection using multi-class support vector machines

Animal sound activity detection using multi-class support ve...

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IEEE International Conference on mechatronics

作者： Astuti, W. Aibinu, A.M. Salami, M.J.E. Akmelawati, R. Muthalif, Asan G.A Intelligent Mechatronics System Research Group Department of Mechatronics Engineering International Islamic University Malaysia P.O. Box 10. 50728 Kuala Lumpur Malaysia

ISBN: (纸本)9781612844350

On March 11th 2011, the whole world was taken aback by another tragic experience of Tsunami triggered by a magnitude 9.8 earthquake in Japan. Just few days after that, on March 25th 2011, another earthquake of magnitude 6.8 hit Myanmar deaths and destructions. Despite the loss incurred on properties and human being, available data show that relatively few numbers of animals died during most natural disasters. Prior to the occurrence of these disasters, available reports shows that animals do migrate to higher level or leave the areas en masse ahead of the event. Other related account show that animal sometimes behaves in unusual ways prior to the occurrence of these natural disasters. These overwhelming evidences point to the fact that animals might have the ability to sense impending natural disaster precursor signals ahead of time. This paper discusses the preliminary results obtained from the use of support vector machine (SVM) and Mel-frequency cepstral coefficients (MFCC) in the development of animal sound activity detection (ASAD) which is an integral part in the development of earthquake and natural disaster prediction using unusual animal behavior. The use of MFCC has been proposed for the features extraction stage while SVM has been proposed for classification of the extracted features. Preliminary results obtained shows that the MFCC and SVM can be used for features extraction and features classification respectively. © 2011 IEEE.

关键词： Animals

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Parallel system using V-Shaped shape memory alloy actuator

Parallel system using V-Shaped shape memory alloy actuator

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SICE Annual Conference

作者： Ryota Ishibashi Takahiko Oda Kenji Tahara Hitoshi Kino Akira Kojima Division of Human mechatronics Systems Fuculty of System design Tokyo Metropolitan University Department of Mechanical Engineering Faculty of Engineering Kyushu University Faculty of Engineering Department of Intelligent Mechanical Engineering Fukuoka Institute of Technology

ISBN: (纸本)9781467322591

This paper proposed a type of tendon driven system using V-shaped SMA (shape-memory-alloy) actuator. In the proposed system, SMA actuators are bended at the end effector and the bended angles are controllable. Thus, the stiffness of the system can be adjusted by the bended angles. In addition, to control the end effector to the desired position, we developed a position control method based on the internal force using only the geometric constraints of the system. The validity of the proposed method was examined by some experiments.

关键词： Parallel system Stiffness control Shape Memory Alloy actuator

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Preliminary study for smoother vibrotactile flow generation on thin plates by using piezoelectric actuators

Preliminary study for smoother vibrotactile flow generation ...

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2011 IEEE World Haptics Conference, WHC 2011

作者： Kang, Jeonggoo Kim, Heewon Lee, Jongsuh Cho, Kwangsu Wang, Semyung Ryu, Jeha Human-Machine-Computer Interface Laboratory Department of Mechatronics GIST Gwangju Korea Republic of Intelligent System Design Laboratory Department of Mechatronics GIST Gwangju Korea Republic of Sungkyunkwan University Seoul Korea Republic of

ISBN: (纸本)9781457702976

This paper presents a preliminary study on a new vibrotactile rendering method which can make smoother directional vibrotactile flows on a thin plate. Both by actuating two piezoelectric actuators sequentially from one side to the opposite side and by controlling amplitude-modulated input excitation frequency from zero to the 1st mode of the resonant frequency of a thin plate, a user can feel a smoother directional vibrotactile flows on his/her palm as he/she touches the surface of the thin plate. Experimental results and a user study show that the proposed vibrotactile flow is smoother than the vibrotactile flow that can be generated by the traditional apparent tactile movement and phantom sensation generation methods. The smooth directional vibrotactile flow may be useful for identifying callers or give directional information in navigation maps in mobile devices. © 2011 IEEE.

关键词： Piezoelectric actuators

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Animal sound activity detection using multi-class support vector machines

Animal sound activity detection using multi-class support ve...

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International Conference on mechatronics (ICOM)

作者： W. Astuti A. M. Aibinu M. J. E Salami R. Akmelawati Asan G.A Muthalif Intelligent Mechatronics System Research Group Department of Mechatronics Engineering International Islamic University Malaysia Kuala Lumpur Malaysia

On March 11 th 2011, the whole world was taken aback by another tragic experience of Tsunami triggered by a magnitude 9.8 earthquake in Japan. Just few days after that, on March 25 th 2011, another earthquake of magnitude 6.8 hit Myanmar deaths and destructions. Despite the loss incurred on properties and human being, available data show that relatively few numbers of animals died during most natural disasters. Prior to the occurrence of these disasters, available reports shows that animals do migrate to higher level or leave the areas en masse ahead of the event. Other related account show that animal sometimes behaves in unusual ways prior to the occurrence of these natural disasters. These overwhelming evidences point to the fact that animals might have the ability to sense impending natural disaster precursor signals ahead of time. This paper discusses the preliminary results obtained from the use of support vector machine (SVM) and Mel-frequency cepstral coefficients (MFCC) in the development of animal sound activity detection (ASAD) which is an integral part in the development of earthquake and natural disaster prediction using unusual animal behavior. The use of MFCC has been proposed for the features extraction stage while SVM has been proposed for classification of the extracted features. Preliminary results obtained shows that the MFCC and SVM can be used for features extraction and features classification respectively.

关键词： Earthquakes Support vector machines Feature extraction Birds Kernel Mel frequency cepstral coefficient

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Design of a light tracking system using machine vision technique

Design of a light tracking system using machine vision techn...

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International Conference on mechatronics (ICOM)

作者： Samir A. Abdul Kareem Rini Akmeliawati Riza Muhida Intelligent Mechatronics System Research Unit Department of Mechatronics Engineering International Islamic University Malaysia Kuala Lumpur Malaysia

关键词： Cameras DC motors Light sources Image processing Pulse width modulation Tracking Data acquisition

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Robust H-infinity controller synthesis using multi-objectives differential evolution algorithm (MODE) for two-mass-spring system

Robust H-infinity controller synthesis using multi-objective...

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International Conference on Modeling, Simulation and Applied Optimization (ICMSAO)

作者： I. B. Tijani Rini Akmeliawati Ari Legowo Mahmud Iwan A. G. Abdul Muthalif Intelligent Mechatronics System Research Units Faculty of Engineering International Islamic University Malaysia Kuala Lumpur MALAYSIA

关键词： Robustness H infinity control Stability analysis Time domain analysis Genetic algorithms Tuning

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