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Humanoid Robot Arm Performance Optimization using Multi Objective Evolutionary Algorithm
Zulkifli Mohamed,Mitsuki Kitani,Genci Capi,Shin-ichiro Kaneko 제어·로봇·시스템학회 2014 International Journal of Control, Automation, and Vol.12 No.4
As humanoid robots are expected to operate in human environments they are expected to perform a wide range of tasks. Therefore, the robot arm motion must be generated based on the specific task. In this paper we propose an optimal arm motion generation satisfying multiple criteria. In our method, we evolved neural controllers that generate the humanoid robot arm motion satisfying three different criteria; minimum time, minimum distance and minimum acceleration. The robot hand is required to move from the initial to the final goal position. In order to compare the performance, single objective GA is also considered as an optimization tool. Selected neural controllers from the Pareto solution are implemented and their performance is evaluated. Experimental investigation shows that the evolved neural controllers performed well in the real hardware of the mobile humanoid robot platform.
The Effects of Road Transportation on Some Physiological Stress Measures in Goats
Rajion, M.A.,Mohamed, I.,Zulkifli, I.,Goh, Y.M. Asian Australasian Association of Animal Productio 2001 Animal Bioscience Vol.14 No.9
A study to assess the physiological stress responses in goats that were subjected to road transportation was carried out using 10 Kacang crossbred does. Five does were transported in the morning with another five transported in the afternoon covering a distance of 46 km in an open-truck at an average speed of 55 km/h. Immediately following the road transportation, there were dramatic increases in neutrophil:lymphocyte ratios and plasma glucose concentrations but plasma cholesterol concentrations and body temperature were not affected. The neutrophil:lymphocyte ratios and plasma glucose concentrations appear to be reliable indicators of stress in goats.
Human Platelet Antigen Datasets for Malays, Chinese, and Indians in Peninsular Malaysia
Che Ghazali Norul Hajar,Zulkifli Zefarina,Nor Suhaila Md. Riffin,Tuan Hulwani Tuan Mohammad,Mohd Nazri Hassan,Ameer Mohamed Dafalla,Gehad ElGhazali,Geoffrey Keith Chambers,Hisham Atan Edinur 대한진단검사의학회 2020 Annals of Laboratory Medicine Vol.40 No.6
Chanporn Chaosap,Panneepa Sivapirunthep,Sirima Takeungwongtrakul,Razauden Mohamed Zulkifli,Awis Qurni Sazili 한국축산식품학회 2020 한국축산식품학회지 Vol.40 No.3
The effects of organic Zn-L-selenomethionine (Zn-L-SeMet) at 0.3 ppm on carcass composition, meat characteristics, fatty acid composition, glutathione peroxidase activity, and ribonucleotide content were compared against the commercial inorganic sodium selenite (Na-Se) and the combination of the two, in commercial broilers. A total of 540 one day-old chicks were assigned at random to 3 dietary treatments : i) commercial inorganic selenium as control or T1, ii) a 1:1 ratio of inorganic and organic selenium as T2, and iii) organic selenium as T3. Carcass composition, meat characteristics, cholesterol content, fatty acid composition, and ribonucleotide content were generally unaffected by treatments. However, discrepancy were significantly observed in glutathione peroxidase activity (GSH-Px) and water holding capacity, with organic selenium showing higher glutathione peroxidase activity (p<0.01) and lower shrinkage loss (p<0.05), respectively. These findings could be explained by the contribution of organic selenium in bioavailability of GSH-Px. However, having conducted in a commercial close house system with sufficient amount of nutritional supplementation, the present study demonstrated little or no effects of organic Zn-L-SeMet on meat characteristics, fatty acid composition, and ribonucleotide content (flavor characteristic) in broiler chickens.
MOHD NOOR, Nor Halida Haziaton,BAKRI, Mohammed Hariri,WAN YUSOF, Wan Yusrol Rizal,MOHD NOOR, Nor Raihana Asmar,ABDULLAH, Hasni,MOHAMED, Zulkifli Korea Distribution Science Association 2020 The Journal of Asian Finance, Economics and Busine Vol.7 No.12
This study investigates the impact of the country's governance on the revenue efficiency of 108 Islamic banks from 26 countries offering Islamic banking and finance products services. The technical efficiencies of individual Islamic banks have been analyzed using the Data Envelopment Analysis method. The data will be pooled across the selected countries and utilize the intermediation approach. The Ordinary Least Square estimation method is employed to examine the impact of country supervision and regulation on the technical efficiency of Islamic banks. As robustness check, the study examines the impact of the level of bank regulations and supervision on the efficiency of Islamic banks operating in different income-level countries. The results found that the stricter the supervisory power, the less strict capital requirement, the tighter the restrictions on non-banking activities, and the stricter the private monitoring enhance statistically significantly the level of efficiency of Islamic banks. In upgrading the regulations and supervision of the Islamic banks, the existing regulatory framework based on the Basel Committee on Banking Supervision (BCBS) must be complemented with the prescriptions on Islamic banking or Shariah compliance diligently, so that the Islamic banks could be regulated accurately and further improve the technical efficiency of their operations.
Ezat, Sharifa Wan Puteh,Junid, Syed Mohamed Aljunid Syed,Khamis, Noraziani,Ahmed, Zafar,Sulong, Saperi,Nur, Amrizal Muhammad,Aizuddin, Azimatun Noor,Ismail, Fuad,Abdullah, Norlia,Zainuddin, Zulkifli M Asian Pacific Journal of Cancer Prevention 2013 Asian Pacific journal of cancer prevention Vol.14 No.5
The human skeleton is the most common organ to be affected by metastatic cancer and bone metastases are a major cause of cancer morbidity. The five most frequent cancers in Malaysia among males includes prostate whereas breast cancer is among those in females, both being associated with skeletal lesions. Bone metastases weaken bone structure, causing a range of symptoms and complications thus developing skeletal-related events (SRE). Patients with SRE may require palliative radiotherapy or surgery to bone for pain, having hypercalcaemia, pathologic fractures, and spinal cord compression. These complications contribute to a decline in patient healthrelated quality of life. The multidimensional assessment of health-related quality of life for those patients is important other than considering a beneficial treatment impact on patient survival, since the side effects of treatment and disease symptoms can significantly impact health-related quality of life. Cancer treatment could contribute to significant financial implications for the healthcare system. Therefore, it is essential to assess the health-related quality of life and treatment cost, among prostate and breast cancer patients in countries like Malaysia to rationalized cost-effective way for budget allocation or utilization of health care resources, hence helping in providing more personalized treatment for cancer patients.
Integrating approach to size and site at a sanitary landfill in Selangor state, Malaysia
Mohammad Khairi Younes,Noor Ezlin Ahmad Basri,Zulkifli Mohammad Nopiaha,Hassan Basri,Mohammed F. M. Abushammala,Khairul Nizam Abdul Maulud 대한환경공학회 2015 Environmental Engineering Research Vol.20 No.3
Solid waste production increases due to population and consumption increments. Landfill is the ultimate destination for all kinds of municipal solid waste; and is the most convenient waste disposal method in developing countries. To minimize investment and operational costs and society’s opposition towards locating landfills nearby, proper landfill sizing and siting are essential. In this study, solid waste forecasting using Autoregressive Integrating Moving Average (ARIMA) was integrated with government future plans and waste composition to estimate the required landfill area for the state of Selangor, Malaysia. Landfill siting criteria were then prioritized based on expert’s preferences. To minimize ambiguity and the uncertainty of the criteria prioritizing process, the expert’s preferences were treated using integrated Median Ranked Sample Set (MRSS) and Analytic Hierarchy Process (AHP) models. The results show that the required landfill area is 342 hectares and the environmental criteria are the most important; with a priority equal to 48%.
Anticholinesterase and Anti-inflammatory Constituents from Beilschmiedia pulverulenta Kosterm
Wan Mohd Nuzul Hakimi Wan Salleh,Farediah Ahmad,Khong Heng Yen,Razauden Mohamed Zulkifli 한국생약학회 2016 Natural Product Sciences Vol.22 No.4
Phytochemical investigation from the stem bark of Beilschmiedia pulverulenta resulted in the isolation of five lignans, (+)-yangambin (1), (+)-sesartemin (2), (+)-excelsin (3), (+)-sesamin (4), and (+)-syringaresinol (5), together with lupeol (6), lupenone (7), β-sitosterol (8), and β-sitostenone (9). Their structures were established by the analysis of their spectroscopic (1D and 2D NMR) and spectrometric (MS) data, as well as by comparison with those reported in the literature. The isolated lignans were tested for their anticholinesterase (AChE: acetylcholine esterase and BChE: butyryl cholineesterase) and anti-inflammatory (COX-2: cyclooxygenase-2 and LOX: lipoxygenase) activities. All the isolated lignans (1 - 5) exhibited significant inhibition activities in AChE/BChE and COX-2/LOX assays with IC50 values ranging from 168.8 - 504.2 μM and 21.0 - 59.4 μM, respectively.