Papers by Author: K.S. Sim

Abstract: One way to increase the payload capability of quadrotor is to employ a team of quadrotors and control them in fix formation to carry large dimension payload. This is also known as force multiplication technique. Therefore, this work intends to explore a new concept to control a scalable team of quadrotors by introducing a supervisary quadrotor in a two tier architecture or in master-slave mode.Once the payload is lifted, the supervisory quadrotor will guide the team of quadrotors beneath it to the desired destination and gently put down the payload.. The advantage of this concept is that the control algorithm can be easily adjusted when a new team of more powerful quadrotors or even multirotor vehicles become available to carry the load. This is seen as an important development in pushing quadrotor technology for industrial applications. Furthermore, this type of system is more flexible because it is able to operate in both indoor and outdoor environment.

Abstract: This paper aims to design and develop a control system for the biped robot. The Peripheral Interface Controller (PIC) main controller board is designed to control the servo motor controller board which assures the biped robot to maintain its stability. This robot consists of PIC microcontroller, servo controller, servo motor, and sensors. The bracket parts are fabricated to mount the servo motors by constructing the biped structure. The PIC microcontroller provides interface among the sensors input, servo motor controller, and servo motor. The biped robot is able to walk in a stable motion under a flat plane. The sensors feedbacks enable the controller to adjust the stability of biped robot. The biped robot is able to perform walking steps and crouching action through the configuration of trajectory angle values of the servo motors.

Abstract: Automated storage and retrieval warehouse systems (ASRS) have been implemented in industrial for few decades. This kind of combination of project has become common in current industry field. Refer to Pa. Pittsburgh, the enhancement of ASRS has helped to improve optimal stock capacity in limited space and minimize process flow time. The purpose of this project is to design a hardware prototype that can fulfill the concept of ASRS and can be implemented at electronic components store that requires store management. This is to improve the process in stock checking and also store or retrieve item. Furthermore, there have several major parts that can be considered to use this hardware such as method of store and retrieve, storage structure, movement of the machine and machine travelling system. The timing belt system is implemented on this hardware for performing linear X-Y-Z motions. Besides, the concept of pallets supported rack had been implemented in storage structure design. Last but not least, the concept of an automated guided machine travels to the desired location on rack is selected as a store and retrieve method for this hardware.

Abstract: This project aims to design and develop a working prototype of a walking assist device. Spring and brushed DC motors are adopted to assist human being standing or walking by lessening the amount of force subjected to the knee. Two DC motors are controlled by the high current capable motor driver which is specifically designed for heat management. Moreover, an 8051 microcontroller provides interface between the sensor ADC input, keypad manual input, intelligent controller and the DC motors.

Abstract: The microstructure, mechanical, impact and fracture properties of Australian bamboo have been investigated. The graded composition and property has been confirmed by depth-profiles obtained by synchrotron radiation diffraction and Vickers indentation. The mechanical performance of bamboo is stronly dependent on age. Results showed that young bamboo has higher strength, elastic stiffness and fracture toughness than its old counterpart. Both crack-deflection and crackbridging are the major energy dissipative processes for imparting a high toughness in bamboo.