103 research outputs found
Comparison of GPGPU based Robotic Manipulator with other Embedded Controllers
No full textIndustrial and robotic controllers have to execute various complex independent tasks repeatedly in real time. In order to implement these algorithms with non-linear equations, massive computational power is required in a motion control system. In this paper, inverse kinematics algorithm is selected as a test algorithm to compare performance of General Purpose Graphics Processing Unit (GPGPU) with other widely used sequential and concurrent controllers. Inverse Kinematics algorithm is implemented sequentially in Arduino Due microcontroller and FPGA is used for concurrent implementation where algorithm is designed in VHDL using combinational division. Execution speeds of these controllers are compared with NVIDIA Quadro K2200 GPU programmed with CUDA Parallel Computing Architecture. Results validated that using computational power of GPU, execution time of large independent tasks is significantly decrease
Six degrees of freedom robotic testbed for control systems laboratory
No full textA 6-DoF robotic testbed has been proposed, designed and developed for university students to learn the concepts of control systems theory in robotics. Testbed is comprised of two parts namely; 6-DoF platform and ball-plate balancing payload. Robotic maneuvers in platform are generated through rotary Stewart-Gough mechanism using inverse kinematic algorithm. Ball-plate balancing payload is fixed on top of platform. This paper presents a comparison among generic testbeds, available at standard control system laboratories. Design of robotic platform along with payload has been detailed and tested with software simulations in MATLAB Simulink. This work explains complete electrical, mechanical and software design along with development, testing and results
Implementation of Image Processing Based Digital Dactylology Converser for Deaf-Mute Persons
No full textLanguage of signs is usually used by the deaf-mute persons in order to convey their message. But, it becomes very difficult for those who have no knowledge of the sign language. The aim of this research work is to resolve this problem using Digital Dactylology Converser (DOC) which is a device that converts a sign language into voice signal and text message. Primarily a hands gesture is recognised by computer vision program and based on that image a speech and text is played and displayed on the speaker and LCD respectively. Purpose of this device is to make conversation easy between dumb and the normal people around the world. In order to minimize their limitations and enable them to expand their boundaries, this is best suitable device. Experimental results verify the operational accuracy of the device for different users. The proposed device can work well and translates the letters, alphabets to text and soun
Kinematic Modeling and Simulation of an Economical SCARA Manipulator by Pro-E and Verification using MATLAB/Simulink
No full textSCARA (Selective Compliance Assembly Robot Arm) manipulators are among the most extensively used manipulators in industry due to high precision and their inherent rigidity. This research demonstrates mechanical design process of an economical SCARA manipulator with unique and competing industrial specifications using Pro-E software. Inverse kinematic equations are also derived using algebraic and geometric method to control the manipulator movement. The design process includes the design of joints, links and controller as well as the selection of its electrical and mechanical components. The selection of the actuators and the dimensions of the whole mechanical structure are selected in such a way to direct its center of gravity towards base and also reduce the vibration and backlash in its mechanical structure. The main task was to use readily available components with an eye on keeping the costs down. Finally the performance of SCARA system is examined in Pro-E and verified manipulators movement with MATLAB/Simulink which exhibits the effectiveness of the proposed mode
Active Pixel Digital Sun Sensor for Satellites
No full textSatellites use sun sensors as a reliable source of attitude determination during sunlit conditions while in orbit around the earth. This work elucidates the design and development of high precision and wide field of view digital sun sensor for space applications. Sun sensor employs active pixel image sensor along with processing techniques of feature extraction and image correlation. Software algorithm exploits the distinctive features of Active Pixel imaging Sensor (APS), in comparison to CCD based image sensor, for computationally efficient algorithm design. Sunlight falling on the sun sensor produces an image of the sun on image sensor. Software algorithm processes this image for noise removal, feature extraction, centroid analysis and sun vector calculations. Digital sun sensor, presented here, achieves 0.018 pixels (3σ) centroid accuracy with 120°×120°field of view
Sumbangan dato\u27 Haji Muhammad Nor bin Haji Ibrahim kepada bidang tafsir dan pengajian Al-Qur\u27?n
No full textThis article discusses the biography of Muhammad Nor and his contributions in the field of Tafsir and Quranic Studies. The books that are discussed are Ramuan Rapi Dari Erti Surah al-Kahfi, Tafsir Pimpinan al-Rahman Kepada Pengertian al-Qur\u27?n and Mustika Hadith. At the same time, the author thoughts towards al-Qadar which was misinterpreted by many people are also discussed
The role of the accused in English and Islamic criminal justice
No full textThis thesis is a comparative study of the role of the accused in the systems of
English and Islamic criminal justice. It seeks to explore the underlying
relationship between the individual and the state through an historical, structural
and contextual analysis of their rules relating to questioning and of confessions.
The analysis of the English system covers the period 1800 to 1984, with
particular reference to developments during the nineteenth century when the
foundations for the modern English state were established. The analysis of the
Islamic system combines traditionally Islamic and modern methods, assessing the
"Islamisation" movement in Malaysia through a religico-structural understanding
of juristic opinion from the four main schools of Sunnite jurisprudence.
The thesis contributes to existing knowledge on a number of levels: first, it
questions and revises the "myth" of "progress" that has dominated observations
of the history of the English criminal justice system; second, it elucidates the
relationship between Islamic law in theory and the law that is applied and
proposed in its name in Muslim states; third, it provides an analytical framework
for drawing comparisons between the underlying values of the systems of English
and Islamic criminal justice.
While acknowledging fundamental differences in terms of outlook and
articulation, the author concludes there are important similarities expressed
through such notions as "suspect" in the English system and "kafir"I"fasiq" in the
Islamic. These act as intermediate constitutional categories to whom the state
owe less protection. But the author notes also that these similarities are not
observed necessarily in the "law" which is implemented or proposed in Muslim
states; exact correspondence depends upon the over-arching political structure
and the institution of Caliphate.
The thesis is divided into six chapters: chapter one sets out the conventional view
of the historical development of English criminal procedure and evidence;
chapter two subjects that to a critique and chapter three offers a revised thesis.
Chapter four, explores methods for interpreting and explaining Islam; chapter
five sets out rules relating to confessions and questioning according to the four
Sunni schools; chapter six puts them into "context" through an examination of
the "Islamisation" process in Malaysia
Astrology in literature: how the prohibited became permissible in the Arabic poetry of the mediaeval period
No full textThis thesis is concerned to position the art of astrology within the context of classical Arabic poetry, primarily by investigating and elucidating attitudes to the notion of
qadar (fate) and the ideology in which it was embedded. These attitudes were revelatory of the broader world view of the Arabs of those periods, and their shifts from those held in the pre-Islamic and early Islamic eras tell us a good deal about the importance given to the nature and role of fate and about the various understandings of its influence. The pre-Islamic Arab's notion of qadar was in some ways similar to that of the early Muslims: both emphasised predetermination and the irresistible power of fate. But while the jahilf (Pre-Islamic) Arabs identified fate with the malign power of dahr (Time), the Muslims believed the power of fate lies in the hands of God the
Omnipotent, who alone is responsible for the fate of the whole universe. Thus the astrology of the pre-Islamic era was one aspect of divination (kihana) and claimed to be
able to reveal in advance an individual's destiny, which could be avoided by taking certain precautions. These precautions, however, were considered effective only in
relatively trivial cases; they were useless in the areas of major impact: a person's happiness or misery (shaqiiwa aw sa ada), sustenance (rizq) and one's term (ajal), the
three inevitable and irresistible manifestations of fate. In the Islamic period not only these major aspects of life are governed and controlled by the Omnipotent; the destiny
of the universe, in even its most minute details, is determined and controlled by God alone. Astrology was considered to be of no value whatsoever, and its practitioners were subject to the death penalty. These two irreconcilable views are evident in early Islamic poetry, which reflected clearly the response of poets, and society, to astrology from the perspective of qadar.
When the orthodox caliphate was replaced by dynastic rule the status of astrology was changed dramatically. The idea that the stars, as indicators, play a role in the life of
human beings found popowerful supporters in some governors of the Islamic world, who allowed astrology to fulfil a public function regardless of the hostility of the official
religion of that society. This social phenomenon generated rich material of a controversial character in the realm of literature. Investigating the factors, motivations
and impact of mediaeval political, theological and philosophical attitudes to astrology, in relation to the notions of free will and predestination, is the concern of this study
A reappraisal of attitudes to the 'People of the Book' in the Qur'an and hadith, with particular reference to Muslim fiscal policy and the covenant of 'Umar
No full textEThOS - Electronic Theses Online ServiceGBUnited Kingdo
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