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CHIEF EDITOR
Ahmad Faris Ismail, IIUM, Malaysia
TECHNICAL EDITOR
Khairul Azami Sidek, IIUM, Malaysia
EXECUTIVE EDITOR
Teddy Surya Gunawan, IIUM, Malaysia
ASSOCIATE EDITOR
Nor Farahidah Za’bah, IIUM, Malaysia
LANGUAGE EDITOR
Lynn Mason, Malaysia
COPY EDITOR
Aliza ‘Aini Md Ralib, IIUM, MalaysiaSuriza Ahmad Zabidi, IIUM, Malaysia
MALAY TRANSLATOR
Nurul Arfah Che Mustapha, IIUM, Malaysia
EDITORIAL BOARD MEMBERS
Abdullah Al-Mamun, IIUM, MalaysiaAbdumalik Rakhimov, IIUM, MalaysiaAishah Najiah Dahnel, IIUM, MalaysiaAlya Naili Rozhan, IIUM, MalaysiaAni Liza Asnawi, IIUM, MalaysiaHanafi Ani, IIUM, MalaysiaHanafy Omar, Saudi ArabiaHuda Adibah Mohd. Ramli, IIUM, MalaysiaKonstantin Khanin, University of Toronto, CanadaMa'an Al-Khatib, IIUM, MalaysiaMeftah Hrairi, IIUM, MalaysiaMohamed B. Trabia, United StatesMohammad S. Alam, Texas A&M University-Kingsville, United StatesMohd Sultan Ibrahim Shaik Dawood, IIUM, MalaysiaMustafizur Rahman, National University Singapore, SingaporeNoorasikin Samat, IIUM, MalaysiaNor Fadhillah Mohamed Azmin, IIUM, MalaysiaNorsinnira Zainul Azlan, IIUM, MalaysiaOssama Abdulkhalik, Michigan Technological University, United StatesWaqar Asrar, IIUM, Malaysia
INTERNATIONAL ADVISORY COMMITTEE
Anwar, United StatesAbdul Latif Bin Ahmad, MalaysiaFarzad Ismail, USM, Pulau Pinang, MalaysiaHanafy Omar, Saudi ArabiaHany Ammar, United StatesIdris Mohammed Bugaje, NigeriaK.B. Ramachandran, India KunzuAbdella, CanadaLuis Le Moyne, ISAT, University of Burgundy, FranceM Mujtaba, United KingdomMohamed AI-Rubei, IrelandMohamed B Trabia, United StatesSyed Kamrul Islam, United StatesTibor Czigany, Budapest University of Technology and Economics, HungaryYiu-Wing Mai, The University of Sydney, Australia.
AIMS & SCOPE OF IIUMENGINEERING JOURNAL
The IIUM Engineering Journal, published biannually (January and July), is a carefully refereed international publication of the International Islamic University Malaysia (IIUM). Contributions of high technical merit within the span of engineering disciplines covering the main areas of engineering: Electrical and Computer Engineering; Mechanical and Manufacturing Engineering; Automation and Mechatronics Engineering; Material and Chemical Engineering; Environmental and Civil Engineering; Biotechnology and Bioengineering; Engineering Mathematics and Physics; and Computer Science and Information Technology are considered for publication in this journal. Contributions from other areas of engineering and applied science are also welcome. The IIUM Engineering Journal publishes contributions under Regular papers and Invited review papers. It also welcomes contributions that address solutions to the specific challenges of the developing world, as well as science and technology issues, from an Islamic and multidisciplinary perspective.
REFEREES’ NETWORK
All papers submitted to the IIUM Engineering Journal will be subjected to a rigorous reviewing process through a worldwide network of specialized and competent referees. Each accepted paper should have at least two positive referees’ assessments.
SUBMISSION OF A MANUSCRIPT
A manuscript should be submitted online to the IIUM-Engineering Journal website at https://journals.iium.edu.my/ejournal. The journal website can also be used for further correspondence on the paper's status.
Whilst every effort is made by the publisher and editorial board to see that no inaccurate or misleading data, opinion or statement appears in this Journal, they wish to make it clear that the data and opinions appearing in the articles and advertisement herein are the responsibility of the contributor or advertiser concerned. Accordingly, the publisher and the editorial committee accept no liability whatsoever for the consequence of any such inaccurate or misleading data, opinion, or statement.
IIUM Engineering Journal
ISSN: 1511-788X E-ISSN: 2289-7860
Published by:IIUM Press,International Islamic University MalaysiaJalan Gombak, 53100 Kuala Lumpur, MalaysiaPhone (+603) 6421-5014, Fax: (+603) 6421-629
Editorial
Get PDF CHIEF EDITOR
Ahmad Faris Ismail, IIUM, Malaysia
TECHNICAL EDITOR
Sany Izan Ihsan, IIUM, Malaysia
EXECUTIVE EDITOR
AHM Zahirul Alam, IIUM, Malaysia
ASSOCIATE EDITOR
Nor Farahidah Za’bah, IIUM, Malaysia
LANGUAGE EDITOR
Lynn Mason, Malaysia
COPY EDITOR
Hamzah Mohd. Salleh, UNISSA, Brunei Darussalam
MALAY TRANSLATOR
Nurul Arfah Che Mustapha, IIUM, Malaysia
EDITORIAL BOARD MEMBERS
Abdullah Al-Mamun, IIUM, Malaysia
Abdumalik Rakhimov, IIUM, Malaysia
Aishah Najiah Bt. Dahnel, IIUM, Malaysia
Alya Naili Binti Rozhan, IIUM, Malaysia
Norsinnira Bt. Zainul Azlan, IIUM, Malaysia
Hanafy Omar, Saudi Arabia
Hazleen Anuar, IIUM, Malaysia
Konstantin Khanin, University of Toronto, Canada
Ma'an Al-Khatib, IIUM, Malaysia
Meftah Hrairi, IIUM, Malaysia
Mohamed B. Trabia, United States
Mohammad S. Alam, Texas A&M University-Kingsville, United States
Mustafizur Rahman, National University Singapore, Singapore
Ossama Abdulkhalik, Michigan Technological University, United States
Mohamed Hadi Habaebi, IIUM, Malaysia
Mohd. Sultan Ibrahim Bin Shaik Dawood, IIUM, Malaysia
Muhammad Ibn Ibrahimy, IIUM, Malaysia
Nor Fadhillah Mohamed Azmin, IIUM, Malaysia
Waqar Asrar, IIUM, Malaysia
INTERNATIONAL ADVISORY COMMITTEE
A. Anwar, United States
Abdul Latif Bin Ahmad, Malaysia
Farzad Ismail, USM, Pulau Pinang, Malaysia
Hanafy Omar, Saudi Arabia
Hany Ammar, United States
Idris Mohammed Bugaje, Nigeria
K.B. Ramachandran, India
Kunzu Abdella, Canada
Luis Le Moyne, ISAT, University of Burgundy, France
M Mujtaba, United Kingdom
Mohamed AI-Rubei, Ireland
Mohamed B Trabia, United States
Syed Kamrul Islam, United States
Tibor Czigany, Budapest University of Technology and Economics, Hungary
Yiu-Wing Mai, The University of Sydney, Australia.
AIMS & SCOPE OF IIUM ENGINEERING JOURNAL
The IIUM Engineering Journal, published biannually (January and July), is a carefully refereed international publication of the International Islamic University Malaysia (IIUM). Contributions of high technical merit within the span of engineering disciplines; covering the main areas of engineering: Electrical and Computer Engineering; Mechanical and Manufacturing Engineering; Automation and Mechatronics Engineering; Material and Chemical Engineering; Environmental and Civil Engineering; Biotechnology and Bioengineering; Engineering Mathematics and Physics; and Computer Science and Information Technology are considered for publication in this journal. Contributions from other areas of Engineering and Applied Science are also welcomed. The IIUM Engineering Journal publishes contributions under Regular papers and Invited review papers. It also welcomes contributions that address solutions to the specific challenges of the developing world and address science and technology issues from an Islamic and multidisciplinary perspective.
REFEREES’ NETWORK
All papers submitted to IIUM Engineering Journal will be subjected to a rigorous reviewing process through a worldwide network of specialized and competent referees. Each accepted paper should have at least two positive referees’ assessments.
SUBMISSION OF A MANUSCRIPT
A manuscript should be submitted online to the IIUM Engineering Journal website at
http://journals.iium.edu.my/ejournal. The journal website could conduct further correspondence on the paper's status.
Whilst the publisher and editorial board make every effort to see that no inaccurate or misleading data, opinion, or statement appears in this Journal, they wish to make it clear that the data and opinions appearing in the articles and advertisements herein are the responsibility of the contributor or advertiser concerned. Accordingly, the publisher and the editorial committee accept no liability whatsoever for the consequence of any such inaccurate or misleading data, opinion, or statement.
IIUM Engineering Journal
ISSN: 1511-788X E-ISSN: 2289-7860
Published by: IIUM Press, International Islamic University Malaysia Jalan Gombak, 53100 Kuala Lumpur, Malaysia Phone (+603) 6421-5014, Fax: (+603) 6421-629
INVESTIGATION OF ENHANCED ELECTROCOAGULATION-MEMBRANE PROCESS FOR WATER RECLAMATION FROM PALM OIL MILL EFFLUENTS
Get PDFThe process of electrocoagulation (EC) enhanced with adsorbent addition, as a pre-treatment for ultrafiltration membrane, is widely unexplored in oil palm-based wastewater treatment. Utilizing predetermined EC operational parameters and a defined activated carbon (AC) dosage for biotreated palm oil mill effluents (BPOME), membrane fouling was studied during crossflow membrane filtration at 0.5 bar transmembrane pressure and 1 kDa membrane pore size. The dominant fouling mechanism in membrane filtration without EC-AC pretreatment of BPOME, was cake formation, which was determined through Hermia’s pore blocking models. However, after EC-AC pre-treatment, the membrane fouling was mitigated. Moreover, the pre-treatment process, AC assisted EC, sustainably enhanced the final treated effluent quality in addition to enhancing fouling mitigation in the subsequent membrane filtration. The removal of Total Suspended Solids (TSS), turbidity and color were nearly 100% and Chemical Oxygen Demand (COD) was 99.7% removed with final value of 5±1 mg/L, which is within the range of reusable water standards.
ABSTRAK: Proses elektrokoagulasi (EC) yang ditingkatkan dengan bahan penyerap, adalah pra-rawatan bagi membran penuras ultra. Walau bagaimanapun ianya masih belum luas diterokai dalam sistem rawatan air buangan berasaskan kelapa sawit. Mengguna pakai parameter operasi EC pra-tentu dan dos karbon aktif tentu (AC) bagi bio-rawatan efluen kilang kelapa sawit yang terawat (BPOME), mendakan membran telah dikaji menggunakan teknik penurasan membran aliran silang pada tekanan transmembran 0.5 bar dan saiz liang membran 1 kDa. Mekanisme mendakan membran kotoran dominan dalam penurasan membran tanpa pra-rawatan EC-AC BPOME, adalah pembentukan kek, iaitu terhasil melalui model penyumbatan liang Hermia. Walau bagaimanapun, selepas pra-rawatan EC-AC, mendakan kotoran membran dapat dikurangkan. Tambahan, proses pra-rawatan AC-EC, secara mampan dapat menambah kualiti akhir efluen terawat selain dapat meningkatkan mitigasi kotoran mendakan dalam penurasan membran seterusnya. Penyingkiran Total Pepejal Terampai (TSS) adalah 99.7%, kekeruhan dan warna adalah hampir 100%. Keperluan Oksigen Kimia (COD) tersingkir sebanyak 99.7% dengan nilai akhir sebanyak 5±1 mg/L, iaitu dalam julat piawaian air boleh guna semula
THE EFFECT OF INDUSTRIAL AND WASTE FIBERS ON CONCRETE STRENGTH AND STRUCTURAL BEHAVIOR OF RC SHORT COLUMNS
Get PDFConcrete is a brittle substance; thus, it is reinforced with rebars and fibers to enhance its ductility. On the other hand, the presence of waste from various industries negatively impacts the environment. The ongoing reconstruction in Iraq has resulted in an abundance of locally produced rebar-connecting wire (RCW) and copper electric wire (CEW) waste. To minimize the environmental impact of these wastes, they can be reused in other industries, such as the concrete industry. Few studies have dealt with concrete's structural and mechanical properties containing these local residues. Therefore, this study included an experimental investigation of concrete columns with and without various types of industrial and waste fibers. Two types of industrial fibers (macro hooked-end; CH, and micro straight; CS) steel fibers and two types of waste fibers (RCW and CEW) were utilized. Six reinforced concrete (RC) columns (150 × 150 × 450 mm3) were cast: one control column without fibers and five columns with fibers. The fiber content within the columns was fixed at 0.75% of the concrete volume. The cracks pattern, load-deflection behavior and concrete strain for RC columns were investigated. Moreover, the mechanical properties in terms of compressive, splitting tensile, and flexural strengths tests were also conducted. The results revealed that all types of fibers used improved the mechanical and structural properties of the concrete. Moreover, although the hybrid synthetic fibers gave the best improvement compared to the reference sample, the waste fibers (especially RCW) showed a significant improvement that reached 30.91% in relation to the ultimate load and (10.1, 10.8 and 14.4%) in relation to the compressive, tensile, and flexural strengths respectively.
ABSTRAK: Konkrit adalah material rapuh; oleh itu ianya dikuatkan dengan besi dan fiber bagi menguatkan kekuatannya. Dalam masa sama, kehadiran bahan buangan dalam pelbagai industri memberi kesan negatif kepada persekitaran. Penstrukturan semula Iraq yang sedang berlangsung memberi kesan kepada kebanjiran bahan buangan seperti besi penghubung litar (RCW) dan litar elektrik tembaga (CEW) buatan tempatan. Bagi mengurangkan kesan pencemaran terhadap alam sekitar, bahan-bahan ini boleh diguna balik dalam industri berbeza, seperti industri konkrit. Terdapat banyak kajian terhadap buangan tempatan yang melibatkan struktur bahan konkrit dan sifat mekanikal. Oleh itu, kajian ini merupakan kajian eksperimen pasak konkrit dengan atau tanpa pelbagai jenis industri dan fiber buangan. Dua jenis fiber industri iaitu fiber besi (mikro hujung-penyangkut; CH dan mikro lurus; CS) dan dua jenis fiber buangan (RCW dan CEW) dipakai. Enam RC pasak konkrit (150 × 150 × 450 mm3) dihasilkan: satu pasak kawalan tanpa fiber dan lima pasak dengan fiber. Kandungan fiber dalam pasak di tetapkan pada 0.75% isipadu konkrit. Corak rekahan, ciri-ciri kesan beban dan tekanan konkrit pada pasak RC dikaji. Tambahan, kajian terhadap ciri-ciri mekanikal berdasarkan tekanan, rekahan tensil dan kekuatan anjalan telah dijalankan. Dapatan kajian menunjukkan kesemua fiber yang digunakan menambah baik ciri-ciri mekanikal dan struktur konkrit. Tambahan lagi, walaupun fiber sintetik hibrid menunjukkan paling baik berbanding sampel contoh, fiber buangan (terutama RCW) menunjukkan pembaharuan ketara mencapai 30.91% berbanding beban maksimum dan masing-masing menunjukkan 10.1, 10.8 dan 14.4% pada tekanan, rekahan tensil dan kekuatan anjalan
Resistance of Rubberized Asphalt Mixture to Aging and Moisture Damage
Get PDFAsphalt pavements in Malaysia suffer severe deterioration, such as raveling and stripping, because the bonding and adhesion between asphalt and aggregate is poor. Heavy rains throughout the year are the main cause of deterioration or a contributing cause to accelerated failure of the pavement structure. Therefore, it is very important to inspect the moisture damage and permeability behavior of asphalt pavement, which can effectively help in a pre-preservation program for asphalt pavement. This study aims to evaluate the effect of adding crumb rubber (CR) on the pavement permeability and moisture damage in highly unfriendly environmental conditions. Laboratory investigation was employed to achieve this aim. The laboratory investigation involved the preparation of two different ACW 14 rubberized asphalt mixtures (unaged and aged). Each type of rubberized mixture contained four CR contents (0%, 5%, 10%, and 15%). The mixtures were tested for air voids, Marshall stability and flow, moisture susceptibility, permeability, and water absorption. The laboratory investigation showed that the CR was appropriate for use up to 10% in asphalt mixtures. There were improvements in the performance of the asphalt mixtures including the Marshall stability, stiffness, durability and resistance against moisture damage. Furthermore, the use of CR prompted better permeability and water absorption. ACW 14 mixture is considered a practically impervious mixture. In conclusion, the application of rubberized pavement can enhance various phases of pavement life and structure by improving the structural performance and reducing environmental impact and landfill issues in the future.
ABSTRAK: Turapan asfalt di Malaysia mengalami kemerosotan yang teruk seperti permukaan turapan jalan yang terpecah (rancak) dan berlubang (pelucutan) kerana ikatan dan lekatan antara asfalt dan agregat adalah lemah. Hujan lebat sepanjang tahun adalah punca utama kemerosotan atau penyumbang kepada struktur turapan rosak dengan cepat. Oleh itu, adalah sangat penting bagi memeriksa kerosakan disebabkan lembapan dan sifat kebolehtelapan turapan asfalt ini dapat membantu dengan berkesan dalam program pra-pemeliharaan turapan asfalt. Kajian makmal telah digunakan bagi mencapai tujuan ini. Kajian melibatkan penyediaan dua campuran asfalt bergetah ACW 14 yang berbeza (tidak berumur dan berumur). Setiap jenis campuran getah mengandungi empat kandungan CR (0%, 5%, 10%, dan 15%). Campuran telah diuji samada mempunyai lompang udara, kestabilan dan aliran Marshall, kerentanan lembapan, kebolehtelapan, dan penyerapan air. Kajian makmal menunjukkan CR sesuai digunakan sehingga 10% dalam campuran asfalt. Terdapat peningkatan dalam prestasi campuran asfalt termasuk kestabilan Marshall, kekakuan, ketahanan dan rintangan terhadap kerosakan lembapan. Tambahan pula, penggunaan CR mendorong kebolehtelapan dan penyerapan air. Campuran ACW 14 dianggap sebagai campuran praktikal tidak telap air. Kesimpulan, aplikasi turapan bergetah dapat meningkatkan pelbagai fasa hayat dan struktur turapan dengan menambah baik prestasi struktur dan mengurangkan kesan alam sekitar dan isu tapak pelupusan pada masa hadapan
Biomarkers Identification from Urine of Dengue Patients Through GCMS for Initial Development of Non-Invasive Diagnostic Kit
Get PDFDengue infection detection methods namely dengue serology test and Real-Time PCR are only available in clinical laboratories or healthcare facilities. This is time-consuming and inconvenient for patients. Thus, a non-invasive on-site urinary diagnostic kit for dengue infection that requires no trained personnel for blood extraction would be advantageous and warranted, albeit in developed or underdeveloped nations with limited resources. To develop the on-site diagnostic kit, an identification of biomarkers related to dengue infection is needed. This preliminary study aims to identify potential metabolite biomarkers from the urine of dengue patients using GCMS analysis. Urine samples of patients with serologically confirmed dengue infection were analyzed and compared with healthy volunteers. The study shows that the GCMS approach can identify differences in the urine of dengue patients from healthy volunteers. Heptacosane, Hexadecane, 2,4-bis(1,1-dimethylethyl) phenol, 2-bromooctane, tetradecane, hexyl octyl ester sulfurous acid, 2-benzoyl methyl ester benzoic acid, 2,9-dimethyl decane, and pentadecane were identified from the urine of dengue patients. The identified secretion of alkane may be a suitable candidate for colorimetric assay for the development of a user-friendly, home-screening rapid test kit for the detection of dengue infection.
ABSTRAK: Kaedah pengesanan jangkitan denggi seperti ujian serologi denggi dan PCR masa nyata, merupakan kaedah biasa yang digunakan di makmal klinikal atau pusat kesihatan. Ianya memakan masa dan menyukarkan pesakit. Oleh itu, kit diagnostik air kencing yang tidak invasif yang tidak memerlukan kakitangan terlatih bagi mengekstrak darah adalah sangat berguna dan diperlukan bagi mengesan jangkitan denggi, sama ada di negara maju atau tidak membangun dengan sumber terhad. Bagi membangunkan kit diagnostik ini, pengesanan penanda bio berkaitan jangkitan denggi diperlukan. Kajian awal ini bertujuan bagi mengenal pasti penanda bio metabolit yang berkaitan pada air kencing pesakit denggi dengan menggunakan analisis GC/MS. Sampel air kencing pesakit yang disahkan secara serologi telah dikaji dan dibandingkan dengan sukarelawan yang sihat. Kajian menunjukkan teknik GCMS dapat mengenal pasti perbezaan antara air kencing pesakit denggi dan sukarelawan yang sihat. Heptakosane, Hekzadekane, fenol 2,4-bis(1,1-dimetiletil), 2-bromookten, tetradekana, asid sulfurik ester heksil oktil, asid benzoik metil ester 2-benzoik, 2,9-dimetil dekana, dan pentadekana telah dikenal pasti terkumpul dalam air kencing pesakit denggi. Rembesan alkana merupakan penanda bio yang sesuai bagi ujian kolorimetrik dalam membangunkan kit ujian pantas diagnostik yang mesra pengguna bagi mengesan denggi di rumah
Biohydrogen Production in Semi-Continuous System Using Immobilized Cell Membrane
Get PDFHydrogen is considered to be the fuel of the future because of its high energy content (122 kJ/g), and water is the only byproduct of its use. Moreover, the production of hydrogen via fermentation of organic wastes is carbon neutral. This study was conducted to evaluate the performance of immobilized cells on PVDF membrane for biohydrogen production using a sequencing batch reactor by varying the hydraulic retention times (HRT) of the system and to compare the efficiency between suspended and attached systems on the production of biohydrogen. It was found that the biohydrogen fermentation performance was improved in a semi-continuous system, especially with immobilized cells. The optimum HRT that supports the highest biohydrogen yield was for an HRT of 12 hours, where the performance of hydrogen production was improved and in which the maximum hydrogen yield was achieved at 2.43 mol H2/mol and maximum hydrogen production rate (HPR) of 2.46 L H2/L.d as compared to other HRT for both systems. Therefore, the result of this study can be applied as the benchmark for scaling up the process.
ABSTRAK: Hidrogen boleh dianggap sebagai sumber tenaga penting pada masa hadapan kerana kapasiti tenaga yang tinggi (122 kJ/g) dan hanya air terhasil dari tindak balas hidrogen. Tambahan, sisa pengeluaran hidrogen melalui proses fermentasi sisa organik adalah bersifat semula jadi. Kajian ini dijalankan bagi mengkaji prestasi sel tidak bergerak pada membran PVDF bagi penghasilan biohidrogen menggunakan reaktor kelompok turutan dengan mengubah sistem masa pengekalan hidraulik (HRT) dan dengan membuat perbandingan kecekapan antara sistem yang tergantung dan sistem yang bersambung pada penghasilan biohidrogen. Dapatan kajian mendapati prestasi fermentasi diperbaharui di bawah sistem separa turutan terutama dengan sel tidak bergerak. Nilai optimum HRT yang mempunyai hasil biohidrogen tertinggi adalah pada ketika HRT 12 jam di mana prestasi penghasilan hidrogen dapat diperbaharui dan menghasilkan hidrogen tertinggi pada 2.43 mol H2/mol dan kadar penghasilan hidrogen maksimum (HPR) pada 2.46 L H2/L.d berbanding sistem HRT lain pada kedua-dua sistem. Oleh itu, dapatan kajian ini boleh digunakan sebagai penanda aras bagi kenaikan proses
A Study on the Terrestrial Mobility of a Spherical Amphibian Robot
Get PDFAmphibian spherical robots are an appealing and practical alternative that can move around on different surfaces and function in aquatic environments. Spherical robots boast remarkable mobility and robustness, enabling them to navigate and perform exploration and reconnaissance tasks even in challenging or harsh environments. This paper explores assessing the terrestrial travel capabilities of a proposed amphibian spherical robot. A rapid Prototyping machine (RPM) was used to print the prototype’s main shell, yoke, and circuit holders. One main circuit was built on the yoke, while the other was positioned in the bottom shell. The driving principle used the barycentre offset notion, in which a pendulum mass is used to vary the location of the mass to generate a motion. Additional mass is added to the pendulum to determine the robot’s performance when mass is altered. The results reveal that the robot can travel on land with a maximum velocity of 40.75 degrees per second while carrying 600 grams of weight and a turning angle of 22.8 degrees. The robot can only move when the additional mass exceeds 400 grams.
ABSTRAK: Robot sfera amfibia ialah satu alternatif menarik dan praktikal yang dapat bergerak di atas permukaan berbeza dan berfungsi dalam persekitaran akuatik. Robot sfera mempunyai mobiliti yang luar biasa dan tahan lasak. Ciri ini membolehkannya bergerak dan menjalankan tugas penerokaan dan peninjauan dalam persekitaran merbahaya atau buruk. Kajian ini adalah bagi menganalisis prestasi robot sfera amfibia ketika bergerak di darat. Mesin Pemprototaip Pantas (RPM) digunakan bagi mencetak badan utama prototaip, yok, dan pemegang litar. Satu litar utama dibina pada yok, manakala satu lagi diletakkan di bahagian bawah. Prinsip pemanduan adalah dengan menggunakan konsep penentuan kedudukan pusat jisim, di mana jisim pendulum digunakan bagi menentukan lokasi jisim sambil menghasilkan gerakan. Berat tambahan pada jisim pendulum ditambah bagi mendapatkan prestasi robot apabila jisim diubah. Dapatan kajian menunjukkan robot dapat bergerak atas darat dengan halaju maksimum 40.75 darjah sesaat sambil membawa 600 gram berat dengan sudut pusingan sebanyak 22.8 darjah. Robot hanya boleh bergerak apabila tambahan jisim melebihi 400 gram
Monitoring Change Detection of Vegetation Vulnerability Using Hotspots Analysis
Get PDFBecause of the ever-shifting nature of the weather conditions, which are made even more difficult by the dynamic relationship between the environment and the vegetation, one of the most important aspects is the vegetation. Landsat satellite imagery, TM sensor for 2002 and 2012, and OLI-TIRS sensor for 2022 were used for vegetation vulnerability. The Normalized Difference Vegetation Index (NDVI) method and hotspots analysis method were used for image classification, and the land cover map was obtained in three different years. The results of the analysis have shown that during 20 years, the extremely vulnerable zone has increased by 0.53%, the very vulnerable zone by 12.04%, and the moderately vulnerable zone has increased by 2.27% in terms of total area, also decreasing the non-significant zone by 5.74%, and the moderately safe zone decreased by 5.42%. The very safe zone decreased during this period by 2.94%. The extreme safe zone decreased by 0.73% in terms of total. Based on the assessment and validation of zone classification data, the overall accuracy value shows that the vegetation vulnerability accuracy for 2022 was equal to 90%. Also, the kappa coefficient for the classification vegetation vulnerability map was equal to 0.88. The research using Landsat data concluded that there had been a reduction in the amount of land covered by thick vegetation, which resulted in widespread drought conditions in some portions of the study region (Babylon Governorate). This research has shown that using satellite images and GIS spatial analysis is very effective in identifying and evaluating the trend of vegetation vulnerability in the Babylon Governorate. These data and techniques can be used for various analytical purposes.
ABSTRAK: Faktor perubahan cuaca yang mendadak, di mana hubungan dinamik antara alam sekitar dan tanaman menjadi lebih sukar, merupakan satu aspek penting bagi tumbuh-tumbuhan. Imej satelit Landsat, penderia TM 2002 dan 2012, dan penderia OLI-TIRS 2022 digunakan untuk tumbuh-tumbuhan yang terdedah. Kaedah Indeks Perubahan Ternormal Tumbuhan (NDVI) dan kaedah analisis kawasan khas digunakan bagi tujuan pengelasan imej, dan peta kawasan tanah berkaitan diperoleh dalam tiga tahun berbeza. Dapatan analisis menunjukkan selama 20 tahun, zon paling teruk terjejas telah bertambah sebanyak 0.53%, zon terjejas sebanyak 12.04%, zon sederhana terjejas bertambah kepada 2.27% berdasarkan total kawasan, juga pengurangan zon tidak penting 5.74%, zon sederhana selamat berkurang sebanyak 5.42%. Zon selamat telah berkurang selama tempoh ini sebanyak 2.94%. Zon paling selamat berkurang sebanyak 0.73% berdasarkan jumlah keseluruhan. Nilai ketepatan keseluruhan menunjukkan ketepatan tumbuh-tumbuhan terdedah pada 2022 bersamaan 90%, iaitu berdasarkan data klasifikasi zon pada ujian dan validasi. Juga, pekali kappa bagi klasifikasi peta tumbuh-tumbuhan terdedah bersamaan 0.88. Kesimpulan terhadap kajian menggunakan data Landsat ini adalah terdapat pengurangan pada bilangan tanah yang ditutupi oleh tumbuh-tumbuhan tebal, di mana menyebabkan keadaan kemarau yang berleluasa di sebahagian kawasan yang dikaji (Babylon Governorate). Kajian ini menunjukkan dengan menggunakan imej satelit dan analisis ruang GIS, ianya sangat berkesan dalam mengenal pasti dan menganalisa perkembangan tumbuh-tumbuhan yang terdedah di Babylon Governorate. Data dan teknik ini boleh digunakan untuk pelbagai tujuan analisis
Bee Algorithm Based Control Design for Two-links Robot Arm Systems
Get PDFThis paper presents a comparative study between two advance versions of the classical Proportional-Integral-Derivative (PID) controller including the Proportional Integral minus Proportional Derivative (PI-PD) controller and the Nonlinear Proportional Derivative (NPD) to manipulate the position of the two angulars of the two-links robot arm system and eliminate the effects of the load disturbances. The dynamic equations of the two-links robot arm system are obtained based on the Lagrange approach. To determine the best value of the adjustable coefficients of each controller, tuning process is converted to an optimization problem. Then, Bee Algorithm (BA) optimization technique is employed to find the best value of the adjustable coefficients of each controller. The computer simulation results based on MATLAB show the NPD-BA controller is outperform the PI-PD-BA controller in normal condition works. Furthermore, the NPD-BA demonstrates a substantial enhancement when the load disturbance is applied