Control Engineering in Robotics and Industrial Automation: Malaysian Society for Automatic Control Engineers (MACE) Technical Series 2018 (Studies in Systems, Decision and Control, 371)

Preface
Contents
Notation for MACE Technical Series 2018
	Design and Control of a 3D Robot-Assisted Rehabilitation Device for Post-Stroke
	Wet Scrubber Design
	Development of Intelligent Controller for Pollution Monitoring and Control
	Optimal Tuning of Fractional-Order PID Controller for Electric Power-Assisted Steering (EPAS) System Using Particle Swarm Optimization (PSO)
	Forward Navigation for Autonomous Unmanned Vehicle in Inter-Row Planted Agriculture Field
	Hardware Design and Development of Contactless Sensor System for Piano Playing
	The Validation of Virtual Impact Tests Using LabVIEW Instrumentation Techniques
	Instrumentation in Underwater Environment
	BER Performance Evaluation of M-PSK and M-QAM Schemes in AWGN, Rayleigh and Rician Fading Channels
	Camera Calibration and Video Stabilization Framework for Robot Localization
Introduction
Design and Control of a 3D Robot-Assisted Rehabilitation Device for Post-Stroke
	1 Introduction
	2 Background
	3 System Description
		3.1 System Modeling—Forward Kinematics
		3.2 System Modeling—Inverse Kinematics
		3.3 System Modeling—Velocity Kinematics: The Jacobian
		3.4 System Modeling—the Robot Dynamics
		3.5 Control Architecture—Sensors and Actuation System
		3.6 Control Architecture—Control Hardware
		3.7 Control Architecture—Feedback Control Linearization Strategy
		3.8 Control Architecture—Adaptive Control
	4 Results and Discussion
		4.1 Trajectory Generation and Position Control
		4.2 Force Tracking
	5 Conclusion
	References
Wet Scrubber Design
	1 Introduction
	2 Wet Scrubber Design
		2.1 Sizing the Scrubber System
		2.2 Determining of the Scrubber Wall Thickness
		2.3 Determination of Quantity of Water Used in Scrubbing
		2.4 Number of Nozzles in the Scrubber System
		2.5 Pipe Network Design
		2.6 Determination of Duct Diameter
		2.7 Hood Design
		2.8 Head Losses Within the Pipe Network
		2.9 Rate of Energy Gained by the Scrubbing Liquid
		2.10 Mechanical Power Delivered to the Pump
		2.11 Temperature Rise of the Scrubbing Liquid
	3 Hydraulic Similitude Design of the Scrubber System
		3.1 Similitude Model and Scaling
	4 Optimization of the Design Using Computational Fluid Dynamics
		4.1 Gas and PM Model Description
		4.2 CFD Pre-processing Stage
		4.3 CFD SetUp and Solution Stage
		4.4 CFD Post-processing Stage
		4.5 Results Analysis
	5 Conclusion
	References
Development of Intelligent Controller for Pollution Monitoring and Control
	1 Introduction
	2 Choice of DSP Chip
		2.1 Architecture
		2.2 Arithmetic Format
		2.3 Speed
		2.4 Memory
		2.5 Data Width
		2.6 Power Consumption and Management
		2.7 Cost
	3 Features of the Selected DSP Chip
	4 System Description and Intelligent Controller Development
		4.1 Mathematical Model of Wet Scrubber System
		4.2 Intelligent Controllers
		4.3 Neuro Fuzzy
		4.4 ANFIS Controller Development
	5 Simulation Results
		5.1 Fuzzy Logic Controller
		5.2 ANFIS Controller
		5.3 Real-Time Implementation of the Proposed System
	6 Experimental Result and Discussion
	7 Conclusion
	References
Swarm Robotics Behaviors and Tasks: A Technical Review
	1 Introduction
	2 Review Outlines
	3 Hardware and Software Platform
		3.1 Hardware Platform
		3.2 Software Platform
	4 Low-Level Task
		4.1 Aggregation
		4.2 Dispersion
		4.3 Self-reconfigurable and Self-assembly
		4.4 Pattern Formation and Flocking
		4.5 Robot–Environment Interaction
		4.6 Task Allocation
		4.7 Robot Learning
	5 High-Level Tasks
		5.1 Collective Searching and Localization
		5.2 Collective Mapping
		5.3 Collective Foraging
		5.4 Collective Transport
		5.5 Collective Manipulation
		5.6 Collective Tracking
	6 Challenges and the Way Forward
		6.1 Challenges
		6.2 The Way Forward
	7 Conclusion
	References
Optimal Tuning of Fractional-Order PID Controller for Electric Power-Assisted Steering (EPAS) System Using Particle Swarm Optimization (PSO)
	1 Introduction
		1.1 System Modeling
	2 EPAS Controller
	3 Assist Characteristic Curves
	4 Fractional-Order PID Controllers (FOPID)
	5 PSO Algorithm
	6 Simulation Results
	7 Controlled System in Different Speeds and Different Driver Torques
	8 Conclusion
	References
Forward Navigation for Autonomous Unmanned Vehicle in Inter-Row Planted Agriculture Field
	1 Introduction
	2 Conceptual Framework
	3 Methodology
		3.1 Bezier Curve-Based Path Planning
		3.2 Optimized Bezier Curve-Based Trajectory Planning
	4 Result and Discussion
	5 Conclusion
	References
Hardware Design and Development of Contactless Sensor System for Piano Playing
	1 Introduction
	2 Methods for Contactless Capacitive Tracking
	3 Electrode and Experimental Design
	4 RC Oscillator
	5 Electrode Design
	6 Conclusion
	References
The Validation of Virtual Impact Tests Using LabVIEW Instrumentation Techniques
	1 Introduction
	2 Conventional Analytical Methods
		2.1 Hertz Contact Law
		2.2 Levy Solution
	3 Data Acquisition System and LabVIEW Instrumentation Techniques
		3.1 Elements of a Data Acquisition System
		3.2 Piezoelectric Accelerometer
		3.3 Signal Conditioning
		3.4 National Instrumentation—DAQ Hardware
		3.5 LabVIEW Instrumentation Techniques
	4 Hammer Drop Test
	5 Virtual Impact Test
	6 The Impact Responses of the Steel Plates
		6.1 Contact Force
		6.2 Hammer Impaction
		6.3 Dynamic Displacement of Steel Plates Due to Impact Force
	7 Conclusions
	References
Instrumentation in Underwater Environment
	1 Introduction
	2 Noise Measurement
		2.1 Introduction
		2.2 Instrumentation and Methodology for Measurement of Noise
		2.3 Units for Measuring Noise
		2.4 Parameters for Estimating Noise
	3 Sound Measurement
		3.1 Introduction
		3.2 Standardization of Underwater Acoustic Terminology and Measurements
		3.3 Measuring the Underwater Radiated Sound of Dredgers
	4 Distance and Direction Measurements
		4.1 Introduction
		4.2 Basic Principle
		4.3 Position and Direction Measurement Calculation
	5 Fish Population Estimation
		5.1 Introduction
		5.2 Underwater Video Measurement
		5.3 Fish Tagging and Marking Techniques
		5.4 Depletion Estimates
		5.5 Underwater Sonar and Laser Measuring
		5.6 Comparing Laser and Sonar Systems
	6 Mine Detection
		6.1 Relevant Parameters
		6.2 Stakeholder Analysis
		6.3 Detection of Mine
		6.4 Mine Detection Technique
	7 Using Symbolic Pattern Analysis
	8 Conclusion
	References
BER Performance Evaluation of M-PSK and M-QAM Schemes in AWGN, Rayleigh and Rician Fading Channels
	1 Introduction
	2 Proposed Method
	3 Results and Simulation
	4 Conclusion
	References
Camera Calibration and Video Stabilization Framework for Robot Localization
	1 Introduction
	2 Overview
		2.1 Laser Range Finder
		2.2 Sensor Network
		2.3 Vision Localization Based on Images from Camera
	3 Dataset Structure for Robot Localization
		3.1 Dataset for Evaluations and Comparison from Humanoid Robot and Goal
		3.2 Evaluation of Robot Localization
	4 Proposed Framework for Humanoid Robot Localization
		4.1 Proposed Experimental Setup for Framework for Humanoid Robot Localization
	5 Results Localization Following by Stereo and Mono Vision Method Camera
		5.1 Compare Popular Method in Computing Distance with Proposed FCC
	6 Summary
		6.1 Discussion
	References