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Application of Tactile Slippage Sensation Algorithm in Robot Hand Control System
Yussof, Hanafiah,Jaffar, Ahmed,Zahari, Nur Ismarrubie,Ohka, Masahiro Korea Society of Industrial Information Systems 2012 한국산업정보학회논문지 Vol.17 No.4
This paper presents application of a new tactile slippage sensation algorithm in robot hand control system. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. The tactile sensor is mounted on fingertip of robotic hand. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions.
Application of Tactile Slippage Sensation Algorithm in Robot Hand Control System
Hanafiah Yussof,Ahmed Jaffar,Nur Ismarrubie Zahari,Masahiro Ohka 한국산업정보학회 2012 한국산업정보학회논문지 Vol.17 No.4
This paper presents application of a new tactile slippage sensation algorithm in robot hand control system. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. The tactile sensor is mounted on fingertip of robotic hand. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions.
Trust System Architecture for Securing GOOSE Communication in IEC 61850 Substation Network
Muhammad Talha Abdul Rashid,Salman Yussof,Yunus Yusoff 보안공학연구지원센터 2016 International Journal of Security and Its Applicat Vol.10 No.4
IEC 61850 is the standard for substation automation which enables substation equipment called Intelligent Electronic Devices (IEDs) to communicate with each other. The communication protocol used by the IEDs to communicate is called GOOSE. Unfortunately, there are security researchers who have identified a number of vulnerabilities in the GOOSE protocol and have demonstrated that these vulnerabilities can be exploited to perform security attacks on the IEC 61850 network. By itself, the IEC 61850 standard does not address security requirements needed in a critical infrastructure. Therefore, a security mechanism to better protect the IEC 61850 network needs to be implemented. In their paper, Coates et al. has proposed a Trust System for securing the TCP/IP communication of SCADA network. However, due to the focus on TCP/IP communication, the Trust System by Coates et al. cannot be directly utilized for the IEC 61850 network because the IEDs are using GOOSE protocol to communicate. This paper proposed a Trust System for securing GOOSE communication between IEDs in IEC 61850 network. The proposed Trust System contains the modules for firewall, format and pattern validation, priority level assignment, alerting, blocking, and event logging.
Effects of air gap on membrane substrate properties and membrane performance for biomass processing
Elfira Anuar,Syed Mohd Saufi,Hafizuddin Wan Yussof 한국화학공학회 2019 Korean Journal of Chemical Engineering Vol.36 No.7
We studied a correlation between the membrane substrate properties and the final performance of hollow fiber thin film composite (TFC) membrane for xylose/glucose concentration and acetic acid removal. Polysulfone (PSf) hollow fiber membrane substrate was fabricated using 20 wt% PSf, 2 wt% polyvinylpyrrolidone and 78 wt% dimethylformamide via dry-wet spinning process. The air gap distance was manipulated from 6 cm to 15 cm during spinning to produce different substrate membrane properties. The molecular weight cut-off (MWCO) and porosity of the membrane substrate increased as the air gap distance increased. Membrane substrate that was spun at 6 cm air gap showed a rapid phase inversion without much chain relaxation, thus producing the smallest MWCO (8 kDa) and an average pore diameter (4.46 nm). The TFC membrane produced using this membrane substrate showed the best performance in terms of solute rejection and separation factor. The rejection for xylose, glucose and acetic acid was 91.66±0.09%, 67.28±13.97%, and 13.08±3.00%, respectively. This results in an ideal separation factor of 3.20±1.27 for acetic acid/glucose and 10.42±0.25 for acetic acid/xylose.
Kumari, Priyanka,Choi, Hong-Lim,Metali, Shamira Hazi,Yussof, Siti Anisah Hazi,Han, Jiwoon Korean Society of Animal Science and Technology 2015 한국축산학회지 Vol.57 No.3
Background: A simple binary scoring system (SBSS) was developed and used to assess the welfare measures of commercial broiler chickens in South Korea. We also correlated welfare measures with environmental parameters of broiler house. Our measures of welfare included lameness, hock burn (HB) and foot pad dermatitis (FPD), whilst environmental parameters included air temperature, relative humidity, air speed, light intensity, air quality (in particular carbon dioxide ($CO_2$) and ammonia ($NH_3$) concentrations) and airborne microbes. Results: The effect of environmental parameters on welfare measures was apparent even on 10-day-old broilers. A non-parametric correlation analysis revealed significant correlations between environmental parameters and welfare measures. The key environmental parameters were relative humidity and light intensity. The results indicate that there is a need for proper control of environmental conditions on poultry farms, which could reduce health problems and subsequently reduce disease and mortality. Conclusions: In conclusion, the simplicity of SBSS makes it preferable over more complex scoring systems and allows a farmer to more easily assess the welfare measures on their own farm.
프리얀카,최홍림,Shamira Hazi Metali,Siti Anisah Hazi Yussof,Jiwoon Han 한국축산학회 2015 한국축산학회지 Vol.57 No.3
Background: A simple binary scoring system (SBSS) was developed and used to assess the welfare measures ofcommercial broiler chickens in South Korea. We also correlated welfare measures with environmental parameters ofbroiler house. Our measures of welfare included lameness, hock burn (HB) and foot pad dermatitis (FPD), whilstenvironmental parameters included air temperature, relative humidity, air speed, light intensity, air quality (inparticular carbon dioxide (CO2) and ammonia (NH3) concentrations) and airborne microbes. Results: The effect of environmental parameters on welfare measures was apparent even on 10-day-old broilers. Anon-parametric correlation analysis revealed significant correlations between environmental parameters and welfaremeasures. The key environmental parameters were relative humidity and light intensity. The results indicate thatthere is a need for proper control of environmental conditions on poultry farms, which could reduce health problemsand subsequently reduce disease and mortality. Conclusions: In conclusion, the simplicity of SBSS makes it preferable over more complex scoring systems and allowsa farmer to more easily assess the welfare measures on their own farm.
Mobile Botnet Detection Model based on Retrospective Pattern Recognition
Meisam Eslahi,Moslem Yousefi,Maryam Var Naseri,Y.M.Yussof,N.M.Tahir,H. Hashim 보안공학연구지원센터 2016 International Journal of Security and Its Applicat Vol.10 No.9
The dynamic nature of Botnets along with their sophisticated characteristics makes them one of the biggest threats to cyber security. Recently, the HTTP protocol is widely used by Botmaster as they can easily hide their command and control traffic amongst the benign web traffic. This paper proposes a Neural Network based model to detect mobile HTTP Botnets with random intervals independent of the packet payload, commands content, and encryption complexity of Bot communications. The experimental test results that were conducted on existing datasets and real world Bot samples show that the proposed method is able to detect mobile HTTP Botnets with high accuracy.
( Priyanka Kumari ),( Hong Lim Choi ),( Shamira Hazi Metali ),( Siti Anisah Hazi Yussof ),( Jiwoon Han ) 한국동물자원과학회(구 한국축산학회) 2015 한국축산학회지 Vol.57 No.9
Background: A simple binary scoring system (SBSS) was developed and used to assess the welfare measures of commercial broiler chickens in South Korea. We also correlated welfare measures with environmental parameters of broiler house. Our measures of welfare included lameness, hock burn (HB) and foot pad dermatitis (FPD), whilst environmental parameters included air temperature, relative humidity, air speed, light intensity, air quality (in particular carbon dioxide (CO2) and ammonia (NH3) concentrations) and airborne microbes. Results: The effect of environmental parameters on welfare measures was apparent even on 10-day-old broilers. A non-parametric correlation analysis revealed significant correlations between environmental parameters and welfare measures. The key environmental parameters were relative humidity and light intensity. The results indicate that there is a need for proper control of environmental conditions on poultry farms, which could reduce health problems and subsequently reduce disease and mortality. Conclusions: In conclusion, the simplicity of SBSS makes it preferable over more complex scoring systems and allows a farmer to more easily assess the welfare measures on their own farm.