STEM & Educational by Muralindran Mariappan
One of the main and recent problems in Malaysian hospitals is lack of surgeon or specialists, esp... more One of the main and recent problems in Malaysian hospitals is lack of surgeon or specialists, especially in rural areas. Insufficient specialized surgeons in such regions particularly in the niche of orthopaedic causes more fatalities due to time constraint in attending the patients. A mobile robotic system known as OTOROB is designed and developed to aid surgeons to virtually present at such areas for attending patients. The developed mobile robotic platform hosts a flexible robotic arm vision system to be controlled remotely by the remote surgeon to inspect patients. Fuzzy logic is implemented in the control system to provide safety for the robotic arm articulation since safety is number one priority in medical robots. Obstacle Avoidance System (OAS)is developed to provide the robotic arm to respondto the motile and static obstacle around the robotic arm.
Concept of underactuation makes it possible to create such robotic hands that automatically adapt... more Concept of underactuation makes it possible to create such robotic hands that automatically adapt to the shape of the grasped object without using a complex control system or a large number of actuators. In underactuated hand prostheses, depending upon control strategy used, one can get more and more degree of freedoms (DOFs) to make its prosthetic device more versatile and easy to control. In spite of all the great work done by the researchers on underactuated prosthetic hands, no one has given any relationship between the number of motors (or actuators) and the number of degree of freedoms (DOFs). This novel concept named as "Coefficient of UAM" (CoUAM) is "the ratio between numbers of motors to the number of DOFs". By reviewing various known studies, CoUAM of randomly selected prosthetic hands is calculated separately and analyzed merits/demerits, cost, weight, appearance, ease of controllability and their functionality to make this approach more objective and useful for the future researchers. Hence target of this paper is to assess a Coefficient of UAM (CoUAM) of different types of prostheses available and then classify them into red, green and yellow zones.
International Journal of Academic Research in Business & Social Sciences, 2018
The Malaysian Education Blueprint has focused its aspirations to equip students with unparalleled... more The Malaysian Education Blueprint has focused its aspirations to equip students with unparalleled thinking skills. The implementation of Higher Order Thinking Skills (HOTS) has push students to have the ability to solve problems which it is observed to be lacking. Thus, Computational Thinking (CompT) is proposed as a strategy to advocate solving problem skills among students. Other than that, its introduction to the curricula aims in yielding digital creators in this digital era. Howver, it has its misconceptions and has been perceived similar to Information and Communication Technology (ICT). Thus, this paper aims to change the perception of CompT and present techniques that can be put into use to promote solving problem skills among students. At the same time, it can complement the effort of enhancing HOTS among students
Robotics & Intelligent Systems by Muralindran Mariappan
International Journal of Online Engineering (iJOE), 2010
Mobile robots are expensive for developing and under developed countries. Their utilizations are ... more Mobile robots are expensive for developing and under developed countries. Their utilizations are general in field of medicine, from neurosurgery to intensive care units. Our ongoing project "OTOROB" which stands for Ortho-pedic Robot is more specific for the usage of orthopedic surgeons with special consideration on its cost effectiveness. Statistical analysis of the survey conducted helped to identify the requirement of orthopedic surgeons to make OTOROB more specific. A new concept of VIrtual Presence (VIP) Specialist Clinic and Roboscope are discussed.
Papers by Muralindran Mariappan
Journal of Telecommunication, Electronic and Computer Engineering, 2016
Telepresence Mobile Robots have prominent attributes in many fields as it provides virtual presen... more Telepresence Mobile Robots have prominent attributes in many fields as it provides virtual presence for human robot interaction. The deployment of this robot in healthcare sector has improved patient care and health. The vision system in a telepresence robot allows two way audiovisual communication between people at different location. In spite of such advancement, the manual way of controlling a robot to recognise and track people during an emergency is not favourable for a long duration. To circumvent this problem, biometric method using human face is proposed in this research which is implemented on Medical Telediagnosis Robot. This paper details the design of the face recognition and tracking system with four automated modules which are motion detection, face detection, face recognition and face tracking. The modules are developed with different algorithm and tested individually to ensure the stability of the system. Artificial Intelligence technique was applied at the face reco...
Journal of Fundamental and Applied Sciences, 2018
A structure may be subjected to impact load during its service life as a consequence of accidenta... more A structure may be subjected to impact load during its service life as a consequence of accidental dropping, intentional aggression and unusual purposes. In conventional static analysis, a magnification factor is used to represent the dynamic enhancement. not adequate for accurately modelling the severe loading condition. The main aim of this research is to study impact responses of four edges simply supported steel plate with finite element (FE) analysis software Abaqus, which simulated the colliding bodies. Hammer drop test was conducted to record the experimental behaviors of these plates. Subsequently, Navier solution was adopted to analyse the dynamic displacement of the specimens to compare the performance of t Abaqus.
IOP Conference Series: Materials Science and Engineering
Electrocardiogram (ECG) is undoubtedly the gold method for assessing heart activities. However, t... more Electrocardiogram (ECG) is undoubtedly the gold method for assessing heart activities. However, the ECG machine for measuring ECG is mostly only available in health care center especially in the third-world countries. Therefore, this research proposed to utilize the product of National Instruments i.e. LabVIEW Biomedical Toolkit and data acquisition device as an alternative approach to acquire ECG features and heart beat rate (HBR). As for performances verification, the NI-LabVIEW instruments are tested simultaneously with two types of ECG machine which are Philips PageWriter TC 30 and KenZ ECG 108. The results indicated that the ECG features and HBR obtained from NI-LABVIEW instruments are agreed well with the measurements attained from both of the ECG machines. Hence, this study proved that NI-LabVIEW instruments are highly potent for measuring ECG features and HBR. Moreover, the computerized NI-LabVIEW instruments with the self-interpretation function can always outperform most of the conventional ECG machines that are still required cardiologists for manually interpreting the results printed on the ECG paper.
Journal of Fundamental and Applied Sciences
It is essential to monitor military diseases (CVD). Physiological parameters such as heart beat r... more It is essential to monitor military diseases (CVD). Physiological parameters such as heart beat rate, blood pressure and electrocardiogram (ECG) features are the machines normally used to obtain heart beat rate and ECG features in health facilities are bulky, expensive and the heart's rhythms and activities are re which requires professional cardiologist for interpretation. In this study, National Instruments (NI) LabVIEW Biomedical Workbench with Data Acquisition Device (DAQ) is proposed as an alternative method to receive, save, handle and extract ECG features because of its simplicity, transferability and reliability.
American Journal of Intelligent Systems
Proceedings of the Second Kuwait Conference on e-Services and e-Systems - KCESS '11, 2011
Robotics in medical field has advanced vastly since many decades ago. Although with our existing ... more Robotics in medical field has advanced vastly since many decades ago. Although with our existing technology robots can only assist doctors and not replace them. Therefore an Internet Controlled Non-Interventional Mobile Robot for Orthopaedic Surgeon or simply OTOROB is developed to aid Orthopaedic Surgeons to diagnose patients in remote places where specialists are unavailable and internet bandwidth is low. In this paper, a design methodology to transmit video for controlling OTOROB in low bandwidth condition is presented. The design uses video compression scaling and scheduling to improve bandwidth usage efficiency. A more stable video transmission for controlling the OTOROB is achieved by maintaining the frame rate in spite of low bandwidth connection.
2010 International Conference on Mechanical and Electrical Technology, 2010
Abstract-Telemedicine is a new and promising application in the field of medical science. Medical... more Abstract-Telemedicine is a new and promising application in the field of medical science. Medical consulting and remote medical procedures or examinations became more effective with the development of interactive audiovisual systems and remote mobile robotic platforms. Tele-presence ...
TENCON 2009 - 2009 IEEE Region 10 Conference, 2009
The main task of a mobile robot is to perform navigation and positioning. Common mobile robot whi... more The main task of a mobile robot is to perform navigation and positioning. Common mobile robot which employs line tracking system can only work on pre-constructed track where else infrared guided robot only can work within infrared's line of sight. In addition to that, the wheel driving system of the mobile robot plays a vital role in allowing the robot to navigate along a limited direction depending on its wheel architecture. To steer a robot in any direction and to know its precise location in the environment is the ultimate goal of mobile robot navigation. To achieve this, a methodology is laid out in this paper. An Optical Tracking Device (OTD) module is utilized to provide the accurate coordinates of the current location of the robot virtually on many flat surfaces. A holonomic wheel system is designed to allow the robot to navigate through multiple destinations. A navigation algorithm is developed to position the robot to any point accurately on a flat surface. This will allow the robot to freely move in any direction to reach multiple target destinations without any difficulties.
Lecture Notes in Computer Science, 2011
... Muralindran Mariappan*, Thayabaren Ganesan, Vigneswaran Ramu, and Muhammad Iftikhar Robotics ... more ... Muralindran Mariappan*, Thayabaren Ganesan, Vigneswaran Ramu, and Muhammad Iftikhar Robotics & Bio-Medical Engineering Research Group (RoBiMed), Universiti Malaysia Sabah, Jalan UMS, 88400, Kota Kinabalu, Sabah, Malaysia [email protected] Abstract. ...
This paper presents a navigation methodology for holonomic mobile robot that can be controller th... more This paper presents a navigation methodology for holonomic mobile robot that can be controller through the internet by a user in remote location. The wheels on this robot are placed in rectangular configuration which is different from normal configuration for this kind of drive system. This system is used in OTOROB which is a telemedicine mobile robot for orthopaedic surgeons that have remote presence capability to diagnose patients in remote area. Ultrasonic and infrared obstacle detection sensors are incorporated into the robot which can scan the robot's surrounding and feedback the data to remote user through internet. The placement of these sensors is crucial in order for it to provide accurate and reliable detection data. The navigation was tested rigorously to make sure it meets the high safety standards of hospitals. The experimental result shows that the robot was able to be navigated to a desired location without hitting any obstacles which was placed along its path.
... Muralindran Mariappan*, Thayabaren Ganesan, Vigneswaran Ramu, and Muhammad Iftikhar Robotics ... more ... Muralindran Mariappan*, Thayabaren Ganesan, Vigneswaran Ramu, and Muhammad Iftikhar Robotics & Bio-Medical Engineering Research Group (RoBiMed), Universiti Malaysia Sabah, Jalan UMS, 88400, Kota Kinabalu, Sabah, Malaysia [email protected] Abstract. ...
Robotics in medical field has advanced vastly since many decades ago. Although with our existing ... more Robotics in medical field has advanced vastly since many decades ago. Although with our existing technology robots can only assist doctors and not replace them. Therefore an Internet Controlled Non-Interventional Mobile Robot for Orthopaedic Surgeon or simply OTOROB is developed to aid Orthopaedic Surgeons to diagnose patients in remote places where specialists are unavailable and internet bandwidth is low. In this paper, a design methodology to transmit video for controlling OTOROB in low bandwidth condition is presented. The design uses video compression scaling and scheduling to improve bandwidth usage efficiency. A more stable video transmission for controlling the OTOROB is achieved by maintaining the frame rate in spite of low bandwidth connection.
Mobile robots are expensive for developing countries and their utilization are general in the fie... more Mobile robots are expensive for developing countries and their utilization are general in the field of medicine, from neurosurgery to intensive care units. Our ongoing project "OTOROB" is more specific for orthopedic surgeons with special consideration on its cost effectiveness. Data analysis of our survey, during the first phase helped us to find requirements of orthopaedic surgeons to make it
Tencon 2009 2009 Ieee Region 10 Conference, Feb 26, 2009
The main task of a mobile robot is to perform navigation and positioning. Common mobile robot whi... more The main task of a mobile robot is to perform navigation and positioning. Common mobile robot which employs line tracking system can only work on pre-constructed track where else infrared guided robot only can work within infrared's line of sight. In addition to that, the wheel driving system of the mobile robot plays a vital role in allowing the robot to navigate along a limited direction depending on its wheel architecture. To steer a robot in any direction and to know its precise location in the environment is the ultimate goal of mobile robot navigation. To achieve this, a methodology is laid out in this paper. An Optical Tracking Device (OTD) module is utilized to provide the accurate coordinates of the current location of the robot virtually on many flat surfaces. A holonomic wheel system is designed to allow the robot to navigate through multiple destinations. A navigation algorithm is developed to position the robot to any point accurately on a flat surface. This will a...
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STEM & Educational by Muralindran Mariappan
Robotics & Intelligent Systems by Muralindran Mariappan
Papers by Muralindran Mariappan