Norlida Buniyamin

This paper presented the theory, planning, control and method for Unmanned Aerial Vehicles performing precision landings on a moving platform. Unmanned Aerial Vehicles performing flight mission often having issues of its retrieving due to the landing sequence inaccuracy which may lead to crash. Thus, in this paper, by using adaptive method and image processing, the H480 hexacopter, equipped with a gimbaled camera detecting the moving platform attached to a ground rover using a pattern recognition algorithm. Using AprilTag as the unique pattern, the H480 follows the moving platform and moves via pitch and roll instructions while constantly descending towards the ground. In this paper, the system proposed the degree of pitch and roll changes with regards to the position of the AprilTag i.e., the further the tag location detected from the camera center, the higher the degree of movement, such that the tag will be forced to be in the center of the camera frame. The system divides a camera frame into an 11x11 matrix in which each cell within the matrix suggests different pitch and roll degrees for the H480 movement. As a result, the system manages to assist the landing process for the H480 to reach the moving platform successfully with less than 0.5m offset from the center of the target.

Commonly, simultaneous localization and mapping (SLAM) algorithm is developed using high-end sensors. Alternatively, some researchers use low-end sensors due to the lower cost of the robot. However, the low-end sensor produces noisy sensor measurements that can affect the SLAM algorithm, which is prone to error. Therefore, in this paper, a SLAM algorithm, which is a Rao-Blackwellized particle filter (RBPF) integrated with artificial neural networks (ANN) sensor model, is introduced to improve the measurement accuracy of a low-end laser distance sensor (LDS) and subsequently improve the performance of SLAM. The RBPF integrated with the ANN sensor model is experimented with by using the Turtlebot3 mobile robot in simulation and real-world experiments. The experiment is validated by comparing the occupancy grid maps estimated by RBPF integrated with the ANN sensor model and RBPF without ANN. Both the results in simulation and real-world experiments show that the SLAM performance of RBPF integrated with the ANN sensor model is better than the RBPF without ANN. In the real-world experiment results, the performance of the occupied cells integrated with the ANN sensor model is increased by 107.59%. In conclusion, the SLAM algorithm integrated with the ANN sensor model is able to improve the accuracy of the map estimate for mobile robots using low-end LDS sensors.

Hyperthermia treatment procedure (HTP) isatreatment that uses high heatgenerated from electromagnetic (EM) waves, which is about 42 °C to 45 °C within a particular duration. However, poor focus position distance on the treated tissue has become a significant concern among the researchers since it may contribute to a wide area of unwanted hot spots, which lead to severe adverse health effects on healthy tissue.This paper presents a specific absorption rate (SAR) distribution evaluation of different microstrip antenna substrates with different electrical permittivities, contributing to different sizes of microstrip antenna patches, which then provide different attainment of the SAR distribution on the treated tissue. Operating frequencies of 434MHz, 915 MHz, and 2,450 MHz with 10 W operating powerare utilized. ASEMCAD X is used to conduct a simulation in obtaining the SAR distribution, which determines the focus position distance on different tumour (malignant tissue) sizes. Based on the results, the suitable substrate for frequency 915 MHz and 2,450MHz is RT5880, and RT5870, while RO3210 and RT6010 performed their best at 434MHz and 2,450MHz. The finding of this study can be used for further research in optimizing microstrip antenna development for HTP.

Hyperthermia treatment is an alternative treatment that can be considered in breast cancer. This treatment uses Electromagnetic waves as a source of heat to destroy cell cancer. The main challenge for this treatment is the focusing capability and the existence of a wide area of unwanted hotspots at the surrounding healthy cell. Therefore, in this paper, the desired penetration depth and focus position distance are obtained and compared with different frequencies and substrates. The desired penetration depth and focus position distance are basically determined from the statistical analysis of real mammogram breast cancer images. The simulation with SEMCAD X is then conducted to select the best operating frequency and substrate to achieve the great penetration depth and focus position distance on the treated tissue. Based on the results, the different operating frequencies with different substrates have provided different penetration depth and focus position distance. The unwanted hotspot areas are also different. In conjunction with that, further research needs to be carried out in order to obtain the best operating frequency with the most suitable substrate to be used that may attain the required results on the treated tissue, mainly when different cancer depths and focus position distances are concerned.

There are different views on Problem-based learning (PBL) especially on its advantages and limitations. However, the benefit of PBL method is recognized and widely accepted. This paper, describes the implementation of PBL in a medical instrumentation course that uses LabVIEW as the tool to carry out the assignment. It is useful to introduce LabVIEW as it is an effective toolthat can support the PBL progression. The participants were students enrolled in the final year of their Electronics (Instrumentation) undergraduate programme. Students were required to present their results upon completion at the end of week eleven of fourteen-week academic calendar. The PBL project example described in this paper is focusing on a team of three students that presented a new approach in filtering Electrocardiogram (ECG) signals and minimize the interferences using LabVIEW. The success of the Problem Based Learning method implemented in the medical instrumentation course is in the involvement of the students and in the quality of the clinical scenario.

Simultaneous Localization and Mapping (SLAM) capability is important for robot to obtain map of an unknown environment. Having SLAM algorithm incorporated in a mini robot can enable the robot to carry out many tasks. Mini robots have potential application in vast areas, including domestic,industrial or humanitarian field. A low-cost mini robot with low-cost sensors can be expandable in situations that have high risk of being damaged or lost. This paper presents an overview of research in the SLAM domain implement on low-cost mini robot platform. The paper concludes that thepotential of low-cost sensors in SLAM algorithms are still underexplored. The investigation points out that collaborative SLAM using multi robot or integration of machine learning method can be a good direction for the research.

The effects of rectangular microstrip applicator with three different substrate permittivities toward breast hyperthermia radiation absorption distribution are investigated. The main goal of the research is to determine the best substrate to be used for the applicator development, which contribute toward the capability of the applicator in penetrating deeper, which is about 100 mm depth and also taking into account the focusing effects by reducing the unwanted hot spots at the surrounding healthy tissue. The radiation absorption distribution, which is represented by the specific absorption rate (SAR) with 1 and 10 g weight, are presented and analyzed. The rectangular microstrip hyperthermia applicator is developed with three operating frequencies, namely as industry, scientific and medical (ISM), 434, 915, and 2450 MHz. The operating power is stipulated to 10 W. The substrates to be investigated are FR-4, RT/Duroid 5880, and silicon. The permittivities, ɛr are 4, 2.2 and 11.9, respectively. As predicted, the outcomes of the SAR are different in radiation absorption distribution when different substrates with different permittivities are utilized. The greatest results are presented by the hyperthermia applicator with silicon substrate, if compared to the other two applicators, which is embedded with FR-4 and RT/Duroid 5880, where the penetration depth and focusing toward the targeted area to be treated are achieved.

This research attempted to measure chicken intramuscular fat content using improved ultrasound B-mode images and image segmentation. Adapted B-mode imaging is proposed to increase the positioning accuracy of B-mode images with the objective to correct the phase error due to the use of predetermined ultrasonic velocity in conventional B-mode imaging. The pre-determined velocity is replaced by actual velocity measured using A-mode imaging. The positioning accuracy of adapted and conventional B-mode imaging was validated using 144 chicken samples. The adapted B-mode image had better positioning accuracy compared to a conventional B-mode image since the method used was able to detect the thickness of the chicken sample with a lower mean difference (0.036±0.034mm vs. 0.113±0.010). Both methods were then applied for measurement of intramuscular fat content. The histogram mean and the percentage of fat pixels were the B-mode image characteristics that were extracted and their correlation with the fat content, measured using the Soxhlet method, was analyzed. The properties of the adapted B-mode images correlated better with the Soxhlet-measured fat content compared to the properties of the conventional B-mode images as reflected in the correlation coefficient, r, for the histogram mean (0.357 vs. 0.129) and the percentage of fat pixels (0.406 vs. 0.289). The results indicate the potential of using ultrasound adapted B-mode imaging to measure chicken intramuscular fat.

Interest in the development of hyperthermia for cancer procedure is growth explosively all over the years as it is able to damage and kill the cancer cell non-invasively. An EBG-M antenna is designed with FDTD simulation packages, which is then applied towards treated cancerous area, where for the purpose of this simulation studies, breast is developed as the targeted cancer area to be treated. The radiation absorption is presented as the results obtained to be compared with previous works and also to be analyzed. It has been recognized that the designed antenna or also called as the applicator is able to offer depth radiation absorption and also improved the focusing, which is represented by the specific absorption rate (SAR) distribution towards breast hyperthermia cancer procedure.