Md. Akhtaruzzaman

Bio: Md. Akhtaruzzaman is an academic researcher from International Islamic University Malaysia. The author has contributed to research in topics: Humanoid robot & Gait (human). The author has an hindex of 11, co-authored 35 publications receiving 347 citations. Previous affiliations of Md. Akhtaruzzaman include International Islamic University, Chittagong & Military Institute of Science and Technology.

Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis

Abstract: Inverted pendulum control is one of the fundamental but interesting problems in the field of control theory. This paper describes the steps to design various controllers for a rotary motion inverted pendulum which is operated by a rotary servo plant, SRV 02 Series. In this paper some classical and modern control techniques are analyzed to design the control systems. Firstly, the most popular Single Input Single Output (SISO) system, is applied including 2DOF Proportional-Integral-Derivative (PID) compensator design. Here the common Root Locus Method is described step by step to design the two compensators of PID controller. Designing the control system using 2DOF PID is quiet challenging task for the rotary inverted pendulum because of its highly nonlinear and open-loop unstable characteristics. Secondly, the paper describes the two Modern Control techniques that include Full State Feedback (FSF) and Linear Quadratic Regulator (LQR). Here FSF and LQR control systems are tested both for the Upright and Swing-Up mode of the Pendulum. Finally, experimental and MATLAB based simulation results are described and compared based on the three control systems which are designed to control the Rotary Inverted Pendulum.

Geometrical Substantiation of Phi , the Golden Ratio and the Baroque of Nature, Architecture, Design and Engineering

Abstract: Golden Proportion or Golden Ratio is usually denoted by the Greek letter Phi (φ) , in lower case, which represents an irrational number, 1.6180339887 approximately. Because of its unique and mystifying properties, many researchers and mathematicians have been studied about the Golden Ratio which is also known as Golden Section. Renaissance architects, artists and designers also studied on this interesting topic, documented and employed the Golden section proportions in eminent works of artifacts, sculptures, paintings and architectures. The Golden Proportion is considered as the most pleasing to human visual sensation and not limited to aesthetic beauty but also be found its existence in natural world through the body proportions of living beings, the growth patterns of many plants, insects and also in the model of enigmatic universe. The properties of Golden Section can be instituted in the pattern of mathematical series and geometrical patterns. This paper seeks to represent a panoptic view of the miraculous Golden Proportion and its relation with the nature, globe, universe, arts, design, mathematics and science. Geometrical substantiation of the equation of Phi, based on the classical geometric relations, is also explicated in this study. Golden Ratio and its chronicle, concept of Golden Mean and its relations with the geometry, various dynamic rectangles and their intimacy with Phi , Golden Ratio in the beauty of nature, Phi ratio in the design, architecture and engineering are also presented in this study in a panoptical manner.

Gait analysis: systems, technologies, and importance

Abstract: Human gait is the identity of a person's style and quality of life. Reliable cognition of gait properties over time, continuous monitoring, accuracy of evaluation, and proper analysis of human gait characteristics have demonstrated their importance not only in clinical and medical studies, but also in the field of sports, rehabilitation, training, and robotics research. Focusing on walking gait, this study presents an overview on gait mechanisms, common technologies used in gait analysis, and importance of this particular field of research. Firstly, available technologies that involved in gait analysis are briefly introduced in this paper by concentrating on the usability and limitations of the systems. Secondly, key gait parameters and motion characteristics are elucidated from four angles of views; one: gait phases and gait properties; two: center of mass and center of pressure (CoM-CoP) tracking profile; three: Ground Reaction Force (GRF) and impact, and four: muscle activation. Thirdly, the study focuses on the clinical observations of gait patterns in diagnosing gait abnormalities of impaired patients. The presentation also shows the importance of gait analysis in sports to improve performance as well as to avoid risk of injuries of sports personnel. Significance of gait analysis in robotic research is also illustrated in this part where the study focuses on robot assisted systems and its possible applicability in clinical rehabilitation and sports training.

Evolution of Humanoid Robot and contribution of various countries in advancing the research and development of the platform

Abstract: A human like autonomous robot which is capable to adapt itself with the changing of its environment and continue to reach its goal is considered as Humanoid Robot. These characteristics differs the Android from the other kind of robots. In recent years there has been much progress in the development of Humanoid and still there are a lot of scopes in this field. A number of research groups are interested in this area and trying to design and develop a various platforms of Humanoid based on mechanical and biological concept. Many researchers focus on the designing of lower torso to make the Robot navigating as like as a normal human being do. Designing the lower torso which includes west, hip, knee, ankle and toe, is the more complex and more challenging task. Upper torso design is another complex but interesting task that includes the design of arms and neck. Analysis of walking gait, optimal control of multiple motors or other actuators, controlling the Degree of Freedom (DOF), adaptability control and intelligence are also the challenging tasks to make a Humanoid to behave like a human. Basically research on this field combines a variety of disciplines which make it more thought-provoking area in Mechatronics Engineering. In this paper a various platforms for Humanoid Robot development are identified and described based on the evolutionary research on robotics. The paper also depicts a virtual map of humanoid platform development from the ancient time to present time. It is very important and effective to analyze the development phases of androids because of its Business, Educational and Research value. Basic comparisons between the different designs of Humanoid Structures are also analyzed in this paper.

Design and development of a wall climbing Robot and its control system

Abstract: The Robot, named as TRAIN WALL BOT, is designed to navigate on smooth vertical surfaces with the capability to avoid obstacles and overcome if the height is about 1cm The design is inspired from train steel wheel movement that contains two actuated legs with rotary motion provided by a DC motor The Robot uses pneumatic system and the suction force is supplied by an air compressor that turns on intermittently The suction force ensures the attachment of the robot with the wall by using 3 vacuum valves and 6 vacuum pads The robot is controlled using PIC 16F877A Two limit switches are used to acknowledge the contact with its navigating surface Vacuum suction is controlled based on the ON OFF priority of the limit switches Though the design is quiet simple but it is capable to walk, climb vertical smooth surfaces and avoid obstacles Forward and backward movements are also faster, smoother and more stable (because of the coupling design) than other existing wall climbing Robots In this paper, various aspects of prototype design and development of the Climbing Robot are conveyed including the body, leg, feet design and gait dynamics

The melon fruit fly, Bactrocera cucurbitae: a review of its biology and management.

Abstract: The melon fruit fly, Bactrocera cucurbitae (Coquillett) (Diptera: Tephritidae) is distributed widely in temperate, tropical, and sub-tropical regions of the world. It has been reported to damage 81 host plants and is a major pest of cucurbitaceous vegetables, particularly the bitter gourd (Momordica charantia), muskmelon (Cucumis melo), snap melon (C. melo var. momordica), and snake gourd (Trichosanthes anguina). The extent of losses vary between 30 to 100%, depending on the cucurbit species and the season. Its abundance increases when the temperatures fall below 32° C, and the relative humidity ranges between 60 to 70%. It prefers to infest young, green, soft-skinned fruits. It inserts the eggs 2 to 4 mm deep in the fruit tissues, and the maggots feed inside the fruit. Pupation occurs in the soil at 0.5 to 15 cm below the soil surface. Keeping in view the importance of the pest and crop, melon fruit fly management could be done using local area management and wide area management. The melon fruit fly can successfully be managed over a local area by bagging fruits, field sanitation, protein baits, cue-lure traps, growing fruit fly-resistant genotypes, augmentation of biocontrol agents, and soft insecticides. The wide area management program involves the coordination of different characteristics of an insect eradication program (including local area options) over an entire area within a defensible perimeter, and subsequently protected against reinvasion by quarantine controls. Although, the sterile insect technique has been successfully used in wide area approaches, this approach needs to use more sophisticated and powerful technologies in eradication programs such as insect transgenesis and geographical information systems, which could be deployed over a wide area. Various other options for the management of fruit fly are also discussed in relation to their bio-efficacy and economics for effective management of this pest.

IoT for Smart Cities: Machine Learning Approaches in Smart Healthcare—A Review

Abstract: Smart city is a collective term for technologies and concepts that are directed toward making cities efficient, technologically more advanced, greener and more socially inclusive. These concepts include technical, economic and social innovations. This term has been tossed around by various actors in politics, business, administration and urban planning since the 2000s to establish tech-based changes and innovations in urban areas. The idea of the smart city is used in conjunction with the utilization of digital technologies and at the same time represents a reaction to the economic, social and political challenges that post-industrial societies are confronted with at the start of the new millennium. The key focus is on dealing with challenges faced by urban society, such as environmental pollution, demographic change, population growth, healthcare, the financial crisis or scarcity of resources. In a broader sense, the term also includes non-technical innovations that make urban life more sustainable. So far, the idea of using IoT-based sensor networks for healthcare applications is a promising one with the potential of minimizing inefficiencies in the existing infrastructure. A machine learning approach is key to successful implementation of the IoT-powered wireless sensor networks for this purpose since there is large amount of data to be handled intelligently. Throughout this paper, it will be discussed in detail how AI-powered IoT and WSNs are applied in the healthcare sector. This research will be a baseline study for understanding the role of the IoT in smart cities, in particular in the healthcare sector, for future research works.

Initial Response in HRI- a Case Study on Evaluation of Child with Autism Spectrum Disorders Interacting with a Humanoid Robot NAO

Abstract: The evolution of human-robot interaction (HRI) is now expanding its wings to aid children with Autism Spectrum Disorders (ASD) in areas of socialization, communication and playful behavior through robot-based intervention. Herein we present our holistic, long-standing goal to contribute to the lives of children with ASD; who suffer a lifelong developmental disability. The purpose of this paper is to elaborate on a case study in our pilot experiment where a child with ASD is exposed to the humanoid robot NAO in order to gauge his initial response and behavior in the presence of a robot. NAO robot is the chosen robotic agent as it is a commercially available humanoid with simpler in appearance compared to real humans, thus appears more approachable to children with ASD. The pilot procedures involve the robot executing basic, simple components of interaction through a series of 5 different modules. In this study, the principal results show that the basic HRI carried out by the robot is able to suppress the child's autistic behavior during the child-robot interaction. Also, more eye contact is observed between the child and robot compared to the child with his teacher during regular class session. Relating this to the child's IQ which falls in the moderate category, it is suggested that children with ASD in the same IQ group will be receptive to robot-based intervention even in the first interaction session. Hence, it can be concluded that the humanoid robot NAO has potential to serve as a platform to support and initiate interaction in children with ASD.

A Review on Textile Wastewater Characterization in Bangladesh

Abstract: The textile and apparel industries in Bangladesh are playing an utmost important role offering tremendous opportunities for the economy of Bangladesh But, hasty and unplanned clustered growth of industries leads to adverse environmental consequence in an alarming way This work is aimed at giving emphasis on the present pollution scenario in Bangladesh due to textile effluent The liquid effluents from industries are causing major havoc to the environment, ecology, agriculture, aquaculture and public health since the development of textile industries in the country In this paper, effluent characterization results of last ten years (2005-2014) are focused We found physicochemical parameters of Textile effluents in Bangladesh as, Temperature (25-65°C), pH (39-14), TDS (907 - 5980 mg/L), DO (0-7 mg/L), COD (41-2430 mg/L), BOD (10 - 786 mg/L), TSS (249 - 3950 mg/L) and EC (250-63750μS/cm) from 2005 to 2014 From the available data originated from the study depicts the present pollution scenario in Bangladesh with tremendous violation of laws to meet requirement of waste discharge quality standards Now it has become a prerequisite to set up ETP in each industrial establishment, particularly at dyeing industries that were discharging huge amount of liquid waste to the rivers every day