Abstract. Bilateral master-slave industrial robotic arm manipulator system is an advanced technology used to help human to interact with environments that are unreachable to human, due to its remoteness or perilous. The system has been used in different areas such as tele-surgery, autonomous tele-operation for sea and space operation and handling explosive or high radiation operation fields. It is beneficial both for science and society. Remarkably, the system is not common and generally used in Malaysia. Likewise, the number of research conducted that focused about this technology in our country manufacturing industry are not yet discovered and existent. The implementation of this bilateral manipulator system in an industrial robot could be useful for industrial imminent and development over our country and people, specifically for production yield size and human operative. Hence, the study of bilateral robotic arm manipulator system in an industrial robot and analyzation of its performance and time delay in 3 differ controllers will be discussed to attest the efficiency and its effectiveness on the said design system. The experiment conducted was on KUKA youBot arm in V-Rep simulation with three different controllers (P, PD,PID).
Capital adequacy ratio is widely discussed among the banking institution as they must secure certain amount as required by financial regulator. It represents the percentage of risk-weighted asset and act as the indication of no excess leverage should be hold by them. Therefore the Basel Committee has designed Basel l, Basel ll and Basel lll for banking institution as a reference to ensure the capital requirement is sufficient in minimizing the operational risk. This study aims to analyze the trend and pattern on capital adequacy and its execution in banking system in Japan after the introduction of Basel Standard. The study covered the 11 years articles published in Nikkei 21 from 2004 to 2014 by using text mining and correspondence analysis as a methodology. RMeCab and MeCab in R statistical tools were used and it leads to present the importance of Basel Standard as guidance in determining the level of capital adequacy ratio.
This paper describes a technique for addressing the issue of instability within force controller by developing a model of a bilateral master-slave haptic system that incorporates a Disturbance Observer (DOB) in a robotic simulation. The suggested modeling is used in conjunction with conventional controllers to be correcting undesired noise that occurs inside the working system of a particular joint of the youBot arm. To acquire the target position, the controller will additionally compensate for interference by changing its position response. Two tests were carried out to examine and compare the system's feedback that employed the proposed approach and another system with the conventional and standard-setting. The experimental findings demonstrate the resilience of the suggested system, as the system integrated with observers is more precise and faster. All of the system feedbacks from conducted experiments are measured in the simulation platform.
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