This paper describes the leader-follower formation control using two different approaches which are the PID leader-follower formation control (PID-LFFC) and Sliding Mode Control leader-follower formation control (SMC-LFFC). The strategy used in this paper is to apply the control algorithm for conducting a circular motion. This task is known to be important since a trajectory is a combination of movement. This movement can be divided into straight or curve lines. Curves lines or circular motion is essential for obstacle avoidance and also for turning movement. The curves lines or circular motion gives lower trajectory distance than only using straight or angled lines. Based on the experimental result, it is seen that the performance of the algorithm is reliable. When using SMC-LFFC over the PID-LFFC, the leader to follower distance error is 30% smaller and has a high 70% occurrence at 0 errors. Additionally, this research is known to be the first conducted in Japan.

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As the rapid development of photovoltaic (PV) technology in recent years with the growth of electricity demand, integration of photovoltaic distributed generation (PVDG) to the distribution system is emerging to fulfil the demand. There are benefits and drawbacks to the distribution system due to the penetration of PVDG. This paper discussed and investigated the impacts of PVDG location and size on distribution power systems. The medium voltage distribution network is connected to the grid with the load being supplied by PVDG. Load flow and short circuit calculation are analyzed by using DigSILENT Power Factory Software. Comparisons have been made between the typical distribution system and the distribution system with the penetration of PVDG. Impacts in which PVDG location and size integrates with distribution system are investigated with the results given from the load flow and short circuit analysis. The results indicate positive impacts on the system interconnected with PVDG such as improving voltage profile, reducing power losses, releasing transmission and distribution grid capacity. It also shows that optimal locations and sizes of DGs are needed to minimize the system’s power losses. On the other hand, it shows that PVDG interconnection to the system can cause reverse power flow at improper DG size and location and increases short circuit level.

In recent years, solar PV power generation has seen a rapid growth due to environmental benefits and zero fuel costs. In Malaysia, due to its location near the equator, makes solar energy the most utilized renewable energy resources. Unlike conventional power generation, solar energy is considered as uncertain generation sources which will cause unstable energy supplied. The uncertainty of solar resource needs to be managed for the planning of the PV system to produce its maximum power. The statistical method is the most prominent to manage and model the solar irradiance uncertainty patterns. Based on one-minute time interval meteorological data taken in Pekan, Pahang, West Malaysia, the Monte Carlo-Beta probability density function (Beta PDF) is performed to model continuous random variable of solar irradiance. The uncertainty studies are needed to optimally plan the photovoltaic system for the development of solar PV technologies in generating electricity and enhance the utilization of renewable energy; especially in tropical climate region.

The rapid growth of technology has increased the demand for automated security systems. Due to the accessibility of the palm region and the unique characteristics of each individual's palm vein features, such biometrics have been receiving particular attention. In the published research relating to palm vein biometrics, usually only a single image is used to supply the data for recognition purposes. Previous experimental work has demonstrated that the fusion of multiple images is able to provide richer feature information resulting in an improved classification performance. However, although most of the image fusion techniques are able to preserve the vein pattern, the fused image is often blurred, the colors are distorted and the spatial resolution reduced. In this paper, the multiresolution discrete cosine transform (MRDCT) and frequency partition DCT (FPDCT) image fusion are applied and are able to extract the finer details of vein patterns while reducing the presence of noise in the image. The performance shows that the use of MRDCT and FPDCT was able to improve recognition rate compared to using a single image. The equal error rate improvement is also significant, falling to 9% in 700nm image, 7% in 850nm image and 6% in 940nm image.

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This work focuses on the implementation and design of a six degree of freedom, 6-DOF control of automatic color sorting and pick and place tasks for a robot arm using wireless controlling interface – Blynk apps. Based on the collaboration between the servo motor and input color sensor, this wireless control of automatic color sorting robot arm provides a powerful wireless control GUI (Graphics User Interface) and to enable the method for manual color sorting mode. The color sorting mode is performed once the mode is turned on by the user. The robot arm able to differentiate the colors of the object (input) and categorize or classify the object to the correct places automatically. It provides a stable, efficient, and precision results without any vibration of control as the main target for this project. In this work, six servo motors were used to realize the real robotic arm for industrial use. Five servos were operated to control the entire robot arm motion including the base, shoulder, and elbow as well as one servo is reserved for the positioning of the end effector. Two input variables namely TSC3200 Color Sensors & HC-SR04 Ultrasonic Sensors were employed as the input for the robot arm. The output variable mainly focused on the servo motor as the links for the robot arm to reposition and change the motion for the entire system.

This paper presents a model and an analysis of the Tag QoS switching (TQS) protocol proposed for heterogeneous robots operating in different environments. Collaborative control is topic that is widely discussed in multirobot task allocation (MRTA) -an area which includes establishing network communication between each of the connected robots. Therefore, this research focuses on classifying, prioritizing and analyzing performance of the robot local network (RLN) model which comprises a point-to-point topology network between robot peers (nodes) in the air, on land, and under water. The proposed TQS protocol was inspired by multiprotocol label switching (MPLS), achieving a quality of service (QoS) where swapping and labeling operations involving the data packet header were applied. The OMNET++ discrete event simulator was used to analyze the percentage of losses, average access delay, and throughput of the transmitted data in different classes of service (CoS), in a line of transmission between underwater and land environments. The results show that inferior data transmission performance has the lowest priority with low bitrates and extremely high data packet loss rates when the network traffic was busy. On the other hand, simulation results for the highest CoS data forwarding show that its performance was not affected by different data transmission rates characterizing different mediums and environments.