RITA 2018 Proceedings of the 6th

International Conference on Robot

Intelligence Technology and
Applications Anwar P. P. Abdul Majeed
Visit to download the full and correct content document:
https://textbookfull.com/product/rita-2018-proceedings-of-the-6th-international-confere
nce-on-robot-intelligence-technology-and-applications-anwar-p-p-abdul-majeed/
More products digital (pdf, epub, mobi) instant
download maybe you interests ...

Robot Intelligence Technology and Applications 6th

International Conference RiTA 2018 Kuala Lumpur
Malaysia December 16 18 2018 Revised Selected Papers
Jong-Hwan Kim
https://textbookfull.com/product/robot-intelligence-technology-
and-applications-6th-international-conference-rita-2018-kuala-
lumpur-malaysia-december-16-18-2018-revised-selected-papers-jong-
hwan-kim/

Robot Intelligence Technology and Applications 2

Results from the 2nd International Conference on Robot
Intelligence Technology and Applications 1st Edition
Jong-Hwan Kim
https://textbookfull.com/product/robot-intelligence-technology-
and-applications-2-results-from-the-2nd-international-conference-
on-robot-intelligence-technology-and-applications-1st-edition-
jong-hwan-kim/

Robot Intelligence Technology and Applications 3

Results from the 3rd International Conference on Robot
Intelligence Technology and Applications 1st Edition
Jong-Hwan Kim
https://textbookfull.com/product/robot-intelligence-technology-
and-applications-3-results-from-the-3rd-international-conference-
on-robot-intelligence-technology-and-applications-1st-edition-
jong-hwan-kim/

Proceedings of International Conference on

Computational Intelligence and Data Engineering
Proceedings of ICCIDE 2018 Nabendu Chaki

https://textbookfull.com/product/proceedings-of-international-
conference-on-computational-intelligence-and-data-engineering-
proceedings-of-iccide-2018-nabendu-chaki/
Advances in Computational Intelligence Proceedings of
Second International Conference on Computational
Intelligence 2018 Sudip Kumar Sahana

https://textbookfull.com/product/advances-in-computational-
intelligence-proceedings-of-second-international-conference-on-
computational-intelligence-2018-sudip-kumar-sahana/

Proceedings of International Conference on Artificial

Intelligence and Applications ICAIA 2020 Poonam Bansal

https://textbookfull.com/product/proceedings-of-international-
conference-on-artificial-intelligence-and-applications-
icaia-2020-poonam-bansal/

Proceedings of 6th International Conference in Software

Engineering for Defence Applications: SEDA 2018 Paolo
Ciancarini

https://textbookfull.com/product/proceedings-of-6th-
international-conference-in-software-engineering-for-defence-
applications-seda-2018-paolo-ciancarini/

Data Analytics and Learning Proceedings of DAL 2018 P.

Nagabhushan

https://textbookfull.com/product/data-analytics-and-learning-
proceedings-of-dal-2018-p-nagabhushan/

Proceedings of the International Conference on

Information Technology & Systems (ICITS 2018) 1st
Edition Álvaro Rocha

https://textbookfull.com/product/proceedings-of-the-
international-conference-on-information-technology-systems-
icits-2018-1st-edition-alvaro-rocha/
Lecture Notes in Mechanical Engineering

Anwar P. P. Abdul Majeed

Jessnor Arif Mat-Jizat
Mohd Hasnun Arif Hassan
Zahari Taha
Han Lim Choi
Junmo Kim Editors

RITA 2018
Proceedings of the 6th International
Conference on Robot Intelligence
Technology and Applications
Lecture Notes in Mechanical Engineering
Lecture Notes in Mechanical Engineering (LNME) publishes the latest
developments in Mechanical Engineering - quickly, informally and with high
quality. Original research reported in proceedings and post-proceedings represents
the core of LNME. Volumes published in LNME embrace all aspects, subfields and
new challenges of mechanical engineering. Topics in the series include:
• Engineering Design
• Machinery and Machine Elements
• Mechanical Structures and Stress Analysis
• Automotive Engineering
• Engine Technology
• Aerospace Technology and Astronautics
• Nanotechnology and Microengineering
• Control, Robotics, Mechatronics
• MEMS
• Theoretical and Applied Mechanics
• Dynamical Systems, Control
• Fluid Mechanics
• Engineering Thermodynamics, Heat and Mass Transfer
• Manufacturing
• Precision Engineering, Instrumentation, Measurement
• Materials Engineering
• Tribology and Surface Technology
To submit a proposal or request further information, please contact the Springer
Editor in your country:
China: Li Shen at li.shen@springer.com
India: Dr. Akash Chakraborty at akash.chakraborty@springernature.com
Rest of Asia, Australia, New Zealand: Swati Meherishi at
swati.meherishi@springer.com
All other countries: Dr. Leontina Di Cecco at Leontina.dicecco@springer.com
To submit a proposal for a monograph, please check our Springer Tracts in
Mechanical Engineering at http://www.springer.com/series/11693 or contact
Leontina.dicecco@springer.com
Indexed by SCOPUS. The books of the series are submitted for indexing to
Web of Science.

More information about this series at http://www.springer.com/series/11236

Anwar P. P. Abdul Majeed •

Jessnor Arif Mat-Jizat

•

Mohd Hasnun Arif Hassan•

Zahari Taha Han Lim Choi

• •

Junmo Kim
Editors

RITA 2018
Proceedings of the 6th International
Conference on Robot Intelligence Technology
and Applications

123
Editors
Anwar P. P. Abdul Majeed Jessnor Arif Mat-Jizat
Faculty of Manufacturing Engineering Faculty of Manufacturing Engineering
Universiti Malaysia Pahang Universiti Malaysia Pahang
Pekan, Pahang Darul Makmur, Malaysia Pekan, Pahang Darul Makmur, Malaysia

Mohd Hasnun Arif Hassan Zahari Taha

Faculty of Manufacturing Engineering Faculty of Manufacturing Engineering
Universiti Malaysia Pahang Universiti Malaysia Pahang
Pekan, Pahang Darul Makmur, Malaysia Pekan, Pahang Darul Makmur, Malaysia

Han Lim Choi Junmo Kim

Department of Aerospace Engineering Department of Aerospace Engineering
KAIST KAIST
Daejeon, Taejon-jikhalsi Daejeon, Taejon-jikhalsi
Korea (Republic of) Korea (Republic of)

ISSN 2195-4356 ISSN 2195-4364 (electronic)

Lecture Notes in Mechanical Engineering
ISBN 978-981-13-8322-9 ISBN 978-981-13-8323-6 (eBook)
https://doi.org/10.1007/978-981-13-8323-6
© Springer Nature Singapore Pte Ltd. 2020
This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part
of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission
or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar
methodology now known or hereafter developed.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this
publication does not imply, even in the absence of a specific statement, that such names are exempt from
the relevant protective laws and regulations and therefore free for general use.
The publisher, the authors and the editors are safe to assume that the advice and information in this
book are believed to be true and accurate at the date of publication. Neither the publisher nor the
authors or the editors give a warranty, expressed or implied, with respect to the material contained
herein or for any errors or omissions that may have been made. The publisher remains neutral with regard
to jurisdictional claims in published maps and institutional affiliations.

This Springer imprint is published by the registered company Springer Nature Singapore Pte Ltd.
The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721,
Singapore
Organising Committee

Honorary General Chair

Jong-Hwan Kim, KAIST, Korea

General Chairs

Zahari Taha, UMP, Malaysia

Hyun Myung, KAIST, Korea

Programme Chairs

Dato’ Sri Daing Nasir Ibrahim, UMP, Malaysia

Rizalman Mamat, UMP, Malaysia
Han-Lim Choi, KAIST, Korea

Organising Chairs

Ahmad Shahrizan Abdul Ghani, UMP, Malaysia

Muhammad Aizzat Zakaria, UMP, Malaysia
Ahmad Fakhri Ab. Nasir, UMP, Malaysia
Junmo Kim, KAIST, South Korea
Weiliang Xu, University of Auckland, New Zealand

v
vi Organising Committee

Eric T. Matson, Purdue University, USA

Jun Jo, Griffith University, Australia
Fakhri Karray, University of Waterloo, Canada

Special Session Chairs

Ahmad Najmuddin Ibrahim, UMP, Malaysia

Gourab Sen Gupta, Massey University, New Zealand

Workshop/Tutorial Chair

Taesup Moon, Sungkyunkwan University, Korea

Plenary Session Chair

Ah Hwee Tan, Nanyang Technological University, Singapore

Awards Committee Chair

Serin Lee, KYRA, USA

Local Arrangements Chairs

Rabiu Muazu Musa, UMP, Malaysia

Mohd Fadzil Abdul Rahim, UMP, Malaysia
Ash Choong Chun Sern, UMP, Malaysia
Dong Eui Chang, KAIST, Korea

Publications Chairs

Anwar P. P. Abdul Majeed, UMP, Malaysia

Mohd Hasnun Arif Hassan, UMP, Malaysia
Jessnor Arif Mat-Jizat, UMP, Malaysia
Organising Committee vii

Jin-Woo Jung, Dongguk University, Korea

Seungmok Lee, Keimyung University, Korea

Exhibition Chairs

Nafrizuan Mat Yahya, UMP, Malaysia

Zubair Khalil, UMP, Malaysia
Nurul Akmal Che Lah, UMP, Malaysia
Donghwa Lee, Daegu University, Korea
Donghan Kim, Kyung Hee University, Korea

Secretariat

Nurul Qastalani Radzuan, UMP, Malaysia

Nur Fahriza Mohd Ali, UMP, Malaysia
A. J. Ahn, MSREP, KAIST

Local Programme Committee Members

Shahrul Na’im Sidek, IIUM, Malaysia

Zulkifli Mohamed, UiTM, Malaysia
Mohd Zaid Abdullah, USM, Malaysia
Musa Mailah, UTM, Malaysia
Noor Azuan Abu Osman, UMT, Malaysia
Ali Yeon Md Shakaff, UNIMAP, Malaysia
Kamarul Hawari Ghazali, UMP, Malaysia
Ponnambalam Sivalinga Govinda Rajan, UMP, Malaysia
Zamberi Jamaludin, UTeM, Malaysia
Mohd Rizal Arshad, USM, Malaysia
Muhammad Azmi Ayub, UITM, Malaysia
Ishkandar Baharin, MyRAS, Malaysia
Rosziati ti Ibrahim, UTHM, Malaysia
Zainal Alimuddin Zainal Alauddinn, USM, Malaysia
viii Organising Committee

International Programme Committee Members

Abdelghani Chibani, Paris Est Creteil University, France

Alan Wee-Chung Liew, Griffith University, Australia
Anna Friesel, Technical University of Denmark, Denmark
Azizi Abdullah, UKM, Malaysia
Bela Stantic, Griffith University, Australia
Brijesh Verma, CQUniversity, Australia
Bumjoo Lee, Myongji University, Korea
David Claveau, California State University Channel Islands, USA
Donald G. Bailey, Massey University, New Zealand
Guangming Xie, Peking University, China
Hongliang Ren, NUS, Singapore
Hyun-Taek Choi, KRISO, Korea
Igor Verner, Technion—Israel Institute of Technology, Israel
Julia Taylor, Purdue University, USA
Joao Sequeira, ISR—Instituto Superior Técnico, Portugal
Kaori Yoshida, Kyushu Institute of Technology, Japan
Kojiro Iizuka, Shibaura Institute of Technology, Japan
Maki K. Habib, The American University in Cairo, Egypt
Marley Maria B. R. Vellasco, Pontifical Catholic University of Rio de Janeiro,
Brazil
Meng Cheng Lau, University of Manitoba, Canada
Muhammad Hafidz Fazli Md Fauadi, UTeM, Malaysia
Nak Yong Ko, Chosun University, Korea
Nak Yong Chong, Japan Advanced Institute of Science and Technology, Japan
Pei-Chen Sun, National Kaohsiung Normal University, Taiwan
Peter Sincak, TU Kosice, Slovakia
Pitoyo Hartono, Chukyo University, Japan
Rini Akmeliawati, IIUM, Malaysia
Rituparna Datta, IIT Kanpur, India
Sang Wan Lee, KAIST, Korea
Seul Jung, Chungnam National University, Korea
Sung-eui Yoon, KAIST, Korea
Sunglok Choi, ETRI, Korea
Tangwen Yang, Beijing Jiaotong University, China
Wan Chul Yoon, KAIST, Korea
XiaoPing Chen, University of Science and Technology of China, China
Yuchi Ming, Huazhong University of Science and Technology, China
Preface

The sixth edition of the International Conference on Robot Intelligence Technology

and Applications (RiTA2018) was held in Putrajaya, Malaysia, from the 16 to 18
December 2018. The event was organised by the Korea Advanced Institute of
Science and Technology (KAIST) and the Innovative Manufacturing, Mechatronics
and Sports (iMAMS) Laboratory, Universiti Malaysia Pahang (UMP). RiTA2018
aims at serving the researchers and practitioners in related fields with timely dis-
semination of the recent progress on robot intelligence technology and its
application.
The sixth edition of the conference bears a theme of “Robotics and Machine
Intelligence: Building Blocks for Industry 4.0”. The Fourth Industrial Revolution
(IR 4.0) had brought upon technological disruption, unlike its predecessors. As
innovations in manufacturing processes and systems led previous industrial revo-
lutions, the advancement of IR 4.0 will be driven by a smart, interconnected and
pervasive environment with data being one of its main currencies as well as robotics
and automation being the central pillar of its growth.
RiTA2018 received 80 submissions from 8 different countries with mainly from
Korea and Malaysia. All submissions were reviewed in a single-blinded manner,
and 39 of them are published in this volume. The editors would like to thank all the
authors who submitted their work, as the papers are of good quality and represented
good progress in robot intelligence and its applications, especially in facing the
Fourth Industrial Revolution.
The editors also would like to thank Prof. Junmo Kim for delivering his plenary
speech entitled “Recent Advances and Challenges in Deep Learning for Computer
Vision” as well as Associate Professor Marcelo H Ang Jr (National University
Singapore, Singapore), Prof. Etienne Burdet (Imperial College London, UK), Prof.
Elmer P. Dadios, Assistant Professor João Sequeira (Technical University of
Lisbon, Lisbon), Dr. Esyin Chew (Cardiff Metropolitan University, UK), Associate
Professor Dr. Hanafiah Yussof (Universiti Teknologi MARA, Malaysia) for
delivering their speeches at the conference.

ix
x Preface

The editors hope that readers find this volume informative. We thank
Springer LNME for undertaking the publication of this volume. We also would like
to thank the conference organising committee for their hard work in realising the
conference.

Pekan, Malaysia Anwar P. P. Abdul Majeed

Pekan, Malaysia Jessnor Arif Mat-Jizat
Pekan, Malaysia Mohd Hasnun Arif Hassan
Pekan, Malaysia Zahari Taha
Daejeon, Korea (Republic of) Han Lim Choi
Daejeon, Korea (Republic of) Junmo Kim
Contents

Longitudinal Velocity Control Design with Error Tolerance Strategy

for Autonomous Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Umar Zakir Abdul Hamid, Balaji Ravichandiran, Murtadha Bazli Tukimat,
Hairi Zamzuri, Fakhrul Razi Ahmad Zakuan, Dilip Kumar Limbu
and Muhammad Aizzat Zakaria
Vision Based Smart Sorting Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Ng Weng Seng and Ahmad Shahrizan Abdul Ghani
A Design and Training Application for Deep Convolutional Neural
Networks and Support Vector Machines Developed on MATLAB . . . . . 27
Fusaomi Nagata, Kenta Tokuno, Hiroaki Ochi, Akimasa Otsuka,
Takeshi Ikeda, Keigo Watanabe and Maki K. Habib
Path Tracking and Optimization for Mecanum-Wheeled Robot
via Linear Angle-to-Gain (LA-G) Method . . . . . . . . . . . . . . . . . . . . . . . 35
J. S. Keek, S. L. Loh and S. H. Chong
Brain Tumour Detection and Classification Using K-Means Clustering
and SVM Classifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
P. Sharath Chander, J. Soundarya and R. Priyadharsini
Redundancy in Parallel Robots: A Case Study of Kinematics
of a Redundantly Actuated Parallel Chewing Robot . . . . . . . . . . . . . . . 65
Naser Mostashiri, Jaspreet Dhupia and Weiliang Xu
Location-based Cryptographic Techniques: Its Protocols
and Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Nur Syafiqah Mohd Shamsuddin and Sakinah Ali Pitchay
Efficient Robotic Grasp Learning by Demonstration . . . . . . . . . . . . . . . 87
Ziyan Gao and Nak Young Chong

xi
xii Contents

Go-Detect Application Inspired by Apoptosis to Detect SMS

Exploitation by Malwares . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Madihah Mohd Saudi, Luqman Amran and Farida Ridzuan
The Influence of Coolant on Tool Deterioration of Uncoated
Carbide Tools in End Milling Hardened Inconel 718Plus Nickel
Based Superalloy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Nurul Hidayah Razak
Challenges of Applying Scrum Model and Knowledge Management
for Software Product Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Boraq Ahmad Abed Ammourah and Sakinah Ali Pitchay
Human-Robot Full-Sentence VQA Interaction System with Highway
Memory Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Sanghyun Cho, Jin-Man Park, Taek-Jin Song and Jong-Hwan Kim
Learning Time Constant of Continuous-Time Neurons
with Gradient Descent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Toshitaka Matsuki and Katsunari Shibata
Data Linking Testing Between Humanoid Robot and IoRT Network
Server for Autism Telerehabilitation System Development . . . . . . . . . . . 161
Muhammad Aliff Rosly, Mohd Azfar Miskam, Syamimi Shamsuddin,
Hanafiah Yussof and Nur Ismarrubie Zahari
A Mechatronics Approach to Develop STEM Accessibility Tools
for Visually Impaired Students . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Muhammad Ikmal Hakim and Hazlina Md Yusof
Study on Airless Variable Rigid Wheel to Travel Rigid and Loose
Surface for UGV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Kojiro Iizuka, Takahiro Nakamura and Yoshitaka Ishii
UAV Path Planning for Local Defense Systems . . . . . . . . . . . . . . . . . . . 199
Hyeok-Joo Chae, Soon-Seo Park, Han-Vit Kim, Hyo-Sang Ko
and Han-Lim Choi
A Performance Comparison of Geomagnetic Field-Based Vector
Field SLAM Approaches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Seung-Mok Lee
MPC in Space State for the Control of a Furuta Pendulum . . . . . . . . . . 219
Juan L. Duarte Madrid, Edwin A. González Querubín
and Paolo A. Ospina Henao
Effect of Road Profile on Normal Force Generated on Electric
Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
K. Baarath, Muhammad Aizzat Zakaria, A. Fakhri A. Nasir
and Umar Zakir Abdul Hamid
Contents xiii

A Study of Walking Stability of Seabed Walking Robot in Forward

Incident Currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
Seong-Yeol Yoo
A Hybrid Automata Framework for an Adaptive Impedance Control
of a Robot-Assisted Training System . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
Ismail Mohd Khairuddin, Shahrul Na’im Sidek,
Anwar P. P. Abdul Majeed, Asmarani Ahmad Puzi and Hazlina Md Yusof
Mechanical Structure Design of a Magnetic Flux Leakage
Based Robot for Pipeline Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
Catalina Marentes, Pedro Pablo Diaz and John Leonardo Quiroga
Forced Vibration Analysis of a Silk Fibre Embedded Pneumatic
Artificial Muscle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
Bhaben Kalita and S. K. Dwivedy
Dynamic Modelling and Control of a Compact Autonomous
Underwater Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
Avilash Sahoo, S. K. Dwivedy and P. S. Robi
Development of Integrated Digging Robot Using Drill Bit-Limbs
Hybrid Mechanism That Mimics Burrowing Animals Behavior . . . . . . . 323
Christian Tirtawardhana, Byeongho Yu, Wancheol Myeong
and Hyun Myung
Path Planning for an Unmanned Aerial Vehicle Considering Dynamic
Geo-Fence in Urban Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
Jinkwang Kim, Junho Choi, Sungwook Jung and Hyun Myung
Design of Forelimbs and Digging Mechanism of Biomimetic Mole
Robot for Directional Drilling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
Junseok Lee, Jongheon Kim and Hyun Myung
Vision-Based Hand Detection in Various Environments . . . . . . . . . . . . . 353
Dong-Gyun Hong and Donghwa Lee
In Love and War with Service Robots: The Passionate Deployment,
Challenges and National Policy Implications . . . . . . . . . . . . . . . . . . . . . 361
Esyin Chew
Business Sustainability Performance (BSP) Quantifier
for Malaysia Context . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
Faiz Mohd Turan, Kartina Johan and Tay Chui Sheng
Interfacing Chatbot with Data Retrieval and Analytics Queries
for Decision Making . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
Gan Keng Hoon, Loo Ji Yong and Goh Kau Yang
xiv Contents

Design of Fast Climbing Robot for Tree with Multiple Diverging

Branches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Ahmad Najmuddin Ibrahim, Oh Yi Pang, Wong Kien Yap
and Ahmad Shahrizan Abdul Ghani
The Flexural Strength Prediction of Porous Cu-Sn-Ti Composites
via Artificial Neural Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
Abdelrahman El-Sawy, Anwar P. P. Abdul Majeed, Rabiu Muazu Musa,
Mohd Azraai Mohd Razman, Mohd Hasnun Arif Hassan
and Abdul Aziz Jaafar
Machine Learning Approach in Identifying Speed Breakers
for Autonomous Driving: An Overview . . . . . . . . . . . . . . . . . . . . . . . . . 409
Chun Sern Choong, Ahmad Fakhri Ab. Nasir, Anwar P. P. Abdul Majeed,
Muhammad Aizzat Zakaria and Mohd Azraai Mohd Razman
Biosensors Approach for Lung Cancer Diagnosis—A Review . . . . . . . . 425
Amanina Iymia Jeffree, Salmah Karman, Suriani Ibrahim,
Mohd Sayuti Ab Karim and Shaifulazuar Rozali
Preliminary Results on Underwater Object Recognition with a Laser
Scanner for Unmanned Underwater Vehicle . . . . . . . . . . . . . . . . . . . . . 437
Yeongjun Lee, Yoongeon Lee, Junbo Chae, Hyun-Taek Choi
and Tae-Kyeong Yeu
Modelling of Fuzzy Inference System for Micro
Milling—A Preliminary Study Through FEM . . . . . . . . . . . . . . . . . . . . 445
Ainur Munira Rosli, Ahmad Shahir Jamaludin, Mohd Nizar Mhd Razali,
Amiril Sahab Abdul Sani, Saiful Bahari Hamzah and Mohd Shahril Osman
About the Editors

Dr. Anwar P. P. Abdul Majeed graduated with a first-class honours B.Eng. in

mechanical engineering from Universiti Teknologi MARA (UiTM), Malaysia. He
obtained M.Sc. in nuclear engineering from Imperial College London, UK. He then
received his Ph.D. in rehabilitation robotics under the supervision of Prof. Dr. Zahari
Taha from Universiti Malaysia Pahang (UMP). He is currently serving as Senior
Lecturer at the Faculty of Manufacturing Engineering, UMP. He is Active Research
Member at the Innovative Manufacturing, Mechatronics and Sports Laboratory,
UMP. His research interests include computational mechanics, applied mechanics,
sports engineering, renewable and nuclear energy, sports performance analysis, and
machine learning.

Mr. Jessnor Arif Mat-Jizat graduated as Diplomingenieur (FH) in mechatronics

engineering from Hochschule Karlsruhe Technik und Wirtschaft, Germany. He
obtained M.Eng. (manufacturing) by research in automated guided vehicle using
computer vision from Universiti Malaysia Pahang. He is currently pursuing his
Ph.D. studies at the Innovative Manufacturing, Mechatronics and Sports
Laboratory, Faculty of Manufacturing Engineering, Universiti Malaysia Pahang,
under the supervision of Prof. Zahari Taha. His research interests include robotics
vision, sports engineering and autonomous vehicle.

Dr. Mohd Hasnun Arif Hassan earned his first degree in mechanical engineering
from the Technische Hochschule Bingen in Germany in 2010. He then pursued a
master’s degree in mechanical engineering at the University of Malaya in Kuala
Lumpur, graduating with distinction in 2012. After that, he embarked on his Ph.D.
at the Universiti Malaysia Pahang (UMP), where he studied the head injuries
sustained by soccer players due to heading. He completed his Ph.D. study in 2016
and then continued to serve UMP as Senior Lecturer. He is currently Director of the
Innovative Manufacturing, Mechatronics and Sports Laboratory (iMAMS), which
was founded by Prof. Zahari Taha, who was his supervisor for his doctoral study.
His research interests include finite element modelling of the interaction between
human and sports equipment, instrumentation of sports equipment and injury

xv
xvi About the Editors

prevention particularly with regard to sport. His work aims to apply engineering
principles in sports to not only enhance the performance of an athlete, but also
prevent injuries.

Prof. Zahari Taha graduated with a B.Sc. in aeronautical engineering with hon-
ours from the University of Bath, UK. He obtained his Ph.D. in dynamics and
control of robots from the University of Wales Institute of Science and Technology
in 1987. He is currently Professor of Manufacturing Engineering at Universiti
Malaysia Pahang, and he is also Founder and Advisor of the Innovative
Manufacturing, Mechatronics and Sports Laboratory. He teaches and conducts
research in the areas of industrial automation, robotics, ergonomics, sustainable
manufacturing, machine learning and sports engineering.

Prof. Han Lim Choi is Associate Professor of Aerospace Engineering at Korea

Advanced Institute of Science and Technology (KAIST) and Visiting Scholar in the
School of Aeronautics and Astronautics at Purdue University. He received his B.S.
and M.S. in aerospace engineering from KAIST, Daejeon, Korea, in 2000 and
2002, respectively, and his Ph.D. in aeronautics and astronautics from
Massachusetts Institute of Technology (MIT), Cambridge, MA, USA, in 2009. He
then worked at MIT as Postdoctoral Associate until he joined KAIST in 2010. His
current research interests include planning and control of multi-agent systems,
planning and control under uncertainty, resource management in radars and
Bayesian inference for large-scale systems. He (together with Dr. Jonathan P. How)
is Recipient of Automatica Applications Prize in 2011.

Prof. Junmo Kim received the B.S. from Seoul National University, Seoul, Korea,
in 1998, and the M.S. and Ph.D. from the Massachusetts Institute of Technology
(MIT), Cambridge, in 2000 and 2005, respectively. From 2005 to 2009, he was
with the Samsung Advanced Institute of Technology (SAIT), Korea, as Research
Staff Member. He joined the faculty of KAIST in 2009, where he is currently
Associate Professor of Electrical Engineering. His research interests are in image
processing, computer vision, statistical signal processing and information theory.
Longitudinal Velocity Control Design
with Error Tolerance Strategy
for Autonomous Vehicle

Umar Zakir Abdul Hamid, Balaji Ravichandiran, Murtadha Bazli Tukimat,

Hairi Zamzuri, Fakhrul Razi Ahmad Zakuan, Dilip Kumar Limbu
and Muhammad Aizzat Zakaria

Abstract This work serves as the proof of concept of an autonomous vehicle

prototype developed by Moovita and Universiti Teknologi Malaysia. For a depend-
able driverless vehicle maneuver, it requires a stable velocity controller to allow for
the desired longitudinal motion navigation. Thus, a multi-level longitudinal velocity
control is proposed as part of the motion guidance strategy. The higher level for-
mulates the desired braking and torque actuation relative to the obtained reference
generator information, while the lower level aids the vehicle to actuate the actuators.
The focus will be on the higher-level velocity control design, where (i) it is expected
to yield alternate actuation between braking and gas, and (ii) to prevent the sudden
increase in actuation and yield a more-human like behavior. An error tolerance strat-
egy is included in the controller design to achieve this. The controller design is then
validated on a varied speed real-time experiment as a proof of concept. Results show
the proposed controller is able to provide the desirable navigation for controlled AV
navigation in a predefined environment.

1 Introduction

The Fourth Industrial Revolution witnesses the birth of several emerging technologies
such as blockchain, ridesharing as well as the driverless vehicle. These technologies
possess highly disruptive effects towards the society [1]. Consequently, the innova-

U. Z. A. Hamid (B) · B. Ravichandiran · M. B. Tukimat · F. R. A. Zakuan · D. K. Limbu

Moovita Pte Ltd, 8 Burn Road Trivex Building, 13-01, 369977 Trivex, Singapore
e-mail: umartozakir@gmail.com
F. R. A. Zakuan
e-mail: razi@moovita.com
H. Zamzuri
Vehicle System Engineering iKohza, Malaysia-Japan International Institute of
Technology, Universiti Teknologi Malaysia, 54100 Kuala Lumpur, Malaysia
M. A. Zakaria
Faculty of Manufacturing Engineering, Universiti Malaysia Pahang,
26000 Pekan, Pahang, Malaysia
© Springer Nature Singapore Pte Ltd. 2020 1
A. P. P. Abdul Majeed et al. (eds.), RITA 2018, Lecture Notes
in Mechanical Engineering, https://doi.org/10.1007/978-981-13-8323-6_1
2 U. Z. A. Hamid et al.

tions have led to the discussion in several other interdisciplinary fields. For example,
“Society 5.0” is a term coined in Japan to describe the integration between the virtual
reality and physical space of the future society [2]. The discussions not only happen
in the highly developed countries in the developed region, but they also reached other
world regions, including South East Asia. Several high-profile investment corridors
have been launched in recent years with regards to the Autonomous Vehicle (AV)
field in Malaysia. For example, South Perak Region, a high-end economic corri-
dor is targeting to be the center of hardware production for AV components [3].
However, the real-time implementation of AV in Malaysia is still limited. Previous
works in Malaysia mostly focusing on the development of ADAS and Active Safety
implementation such as Collision Avoidance, among many others [4]. However, in
2018, the first driverless vehicle prototype has been developed in Malaysia with the
full SAE Level 5 automation. The first demo has been done in a closed environ-
ment to the public showcasing the prototype in the Malaysian Global Innovation &
Creativity Centre (MaGIC), Cyberjaya [5]. In this work, some of the preliminary
results during the development of the platform is denoted. It revolves around the
longitudinal velocity control strategy used in the platform. As a proof of concept
work, a series of experimental validation’s results are also included, to support the
controller’s feasibility. It is important to mention that since the objective of this work
is not to discuss the detailed technical aspects of the autonomous vehicle develop-
ment, thus, additional literature suggestions are included for interested readers in the
related topics.

1.1 Outline and Contributions of the Paper

The human driver controls the vehicle speed by providing alternate braking and
throttle actuation. For autonomous vehicle (AV), this requires a reliable longitudinal
motion control system. However, a velocity controller with high sensitivity to the
speed tracking error will produce an uncomfortable riding experience. This is due to
the controller tries to penalize the error in maximum effort and subsequently yielding
a rapid alternation between braking and throttle actuation. Despite this, particularly
for the low-speed urban ride (under 30 km/h), small speed tracking error does not
provide much difference. By having a too sensitive controller, the host vehicle will
jerk when minimizing the error due to rapid alternate actuators intervention. Thus,
the objective of this study is to develop a longitudinal velocity control design for
the autonomous vehicle with error tolerance strategy, to allow for a smooth speed
tracking performance by the AV.
Longitudinal Velocity Control Design with Error … 3

2 Research Platform Architecture

To support the work’s objective, an autonomous vehicle prototype is developed on

a 7-seater vehicle. The used of the 7-seater is related to the future works involving
the development of autonomous shuttles by the authors. With the kerb weight of
1486 kg, the width of 1.8 m and length of 3.16 m, the platform is equipped with
several exogenous sensors. However, as this work only focuses on the longitudinal
motion control strategy, the denotation of the architecture will be limited in relation to
the said module. Since the main aim of the velocity controller is to penalize the error
between the desired and current speed of the host vehicle, thus a wheel speed encoder
is installed on the host vehicle to provide the current vehicle speed as depicted in
Fig. 1.
The communication layer for the longitudinal velocity controller of the prototype
rig is as illustrated in Fig. 2. The information from the wheel speed encoder is fed to
a microcontroller, which then will signal the information to a Mini PC for the motion
control computation. The advanced of recent technology development allows for all
the computational modules of the AV to be done in a single computation unit. This
in return permit for the reduction in cost and allow for the mass production of the
AV in the future; a great progress compared to the previous works which demand
expensive processing unit for the algorithm computation. More details on the topic
of the system architecture of the automated vehicles can be read here [6]. After the
computation in the Mini PC, the computed controlled action is then sent to another
microcontroller, which will aid the actuation of the braking and throttle pedals of the
vehicle, to enable the longitudinal navigation. The communication of the devices is
done by the means of User Data Protocol (UDP) and Universal Serial Bus (USB)
communication protocols.

Fig. 1 The position of the wheel speed sensor on the platform

4 U. Z. A. Hamid et al.

Fig. 2 Communication layer for the longitudinal motion control development of the prototype

3 Longitudinal Velocity Control Design

The proposed longitudinal motion controller design is a two-layer control system

which (i) computes the required braking and throttle intervention percentage value
on a higher level, and (ii) on the lower level, aids the motor in actuating the brake.
Adaptive tuning strategy has been adopted for the higher-level controller, where
the tracking error is incorporated and constrained to the maximum and minimum
allowed value. To prevent aggressive error penalization, error tolerance strategy is
adopted into the control design. In addition, to mimic the human-like behavior of the
controller actions, the controller output values are constrained.
Figure 3 depicts the longitudinal control design for the driverless prototype plat-
form. All of the computation in Fig. 3 occurs in the Mini PC. Python programming
language is used as the main language of the controller development. In the driverless
navigation, the host vehicle will obtain the desired velocity value and deriving from
the current tracking error, the high-level controller penalizes the error and output the
desired braking and gas actuation respectively. The low-level controller will then aid
the actuator in yielding the desired actuation. Since the focus will be on the high-
level controller, thus the following discussion will revolve around it and omit the
discussions on the low-level controller.

3.1 High-Level Controller

The high-level controller acts to formulate the desired actuation percentage value
by the braking and gas pedals. It consists of three submodules, i.e. error tolerance
strategy, adaptive PID controller as well as the actuation selector. The inclusion of
error tolerance strategy prevents a too sensitive controller as well as to prevent abrupt
increment of controller’s output during initial navigation of AV, which subsequently
will hinder user’s comfort. By having some safe region relative to the error (Fig. 4),
the adaptive PID penalizes the error with an adaptive gain formulation. The selector
Longitudinal Velocity Control Design with Error … 5

Fig. 3 Longitudinal velocity control design for the driverless prototype platform

Fig. 4 Error tolerance strategy used for the adaptive PID controller formulation and tuning

then acts as the safety feature to prevent simultaneous gas and throttle actuation,
which is infeasible in real navigation.
As shown in Fig. 4, the error tolerance strategy acts by providing a constrained
region for the real-time tracking error between the desired and current velocity value.
The conditioning is based on the online information from the tracking error. By
providing the maximum and minimum allowed error, for the lower speed navigation
(under 30 km/h), this will prevent a too sensitive controller action. In addition, it
will also aid the adaptive tuning process of the PID strategy. The control output is
obtained by tracking the error based on the proportional, integral and derivative terms
6 U. Z. A. Hamid et al.

(P, I and D respectively). The nominal formulation for the control function, u(t) for
the PID are as follows:

t
  de(t)
u(t) = K p e(t) + K i e t  dt  + K d (1)
dt
0

where K p , K i and K d are respectively the gain for P, I and D, and e represents the
tracking error. More details on the formulation of the adaptive PID controller is
omitted due to limited space in this work and can be found here [7, 8]. Due to the low-
speed implementation of the prototype, the usage of PID is sufficient for the high-level
controller due to the absence of high nonlinearity of the vehicle dynamics. However,
future works of more complex navigation scenario demand the implementation of
optimal controller usage.

4 Experimental Design

To test the ability of the proposed design in providing smooth alternate braking
and throttle intervention, the controller has been tested on a real AV platform in a
series of varied low-speed controlled environment scenario (30 km/h). Due to the
prototype is aimed to performed in the controlled environment, the test is done in a
straight road testing area nearby Universiti Teknologi Malaysia, Kuala Lumpur. The
host vehicle initially is in a non-moving state. It starts to navigate autonomously by
tracking the desired velocity, as depicted in Fig. 3. The prototype is validated in two
scenarios. The objective of Scenario 1 is to show the ability of the velocity tracking
by the autonomous platform during constant navigation, where the speeds are rarely
changing. In addition, the vehicle is required to prevent from providing sudden high
input to the throttle. For Scenario 2, in a real autonomous navigation, particularly in
the obstacle’s existence, the reference generator usually provides constantly changing
value of the reference velocity. A too sensitive controller will yield jerky navigation.
Thus, Scenario 2 is based on this requirement. Figure 5 illustrates the used platform
and Fig. 6 depicts the straight road location of the testing. The vehicle navigates from
point red to point red, with different reference velocity. A safety driver is present
during the testing session. The description of both proposed test scenarios is discussed
in their respective subsection.
Scenario 1 The aim of this scenario is to validate the inclusion of error tolerance
strategy into the controller in yielding and prevent too sensitive control output reac-
tion. The vehicle initially starts to navigate autonomously in a straight road with
the reference velocity of 10 km/h. The velocity reference is then changed to 20 and
30 km/h intervally after several moments of navigation.
Scenario 2 The aim of this scenario is to validate the inclusion of error tolerance
strategy into the controller in yielding and prevent too sensitive control output reac-
Longitudinal Velocity Control Design with Error … 7

Fig. 5 The prototype, a collaboration between Moovita and Universiti Teknologi Malaysia

tion in the event when the desired velocity is rapidly changing. The maximum speed
is 30 km/h. This usually happens in the occurrence of risk, hazard or traffic jam.
Thus, to ensure comfort, error tolerance strategy is expected to prevent too sensitive
performance as well as hindering the simultaneous gas and braking actuation.

5 Results and Discussions

For Scenario 1, as can be seen in Fig. 7, the host vehicle is able to track the desired
velocity. The inclusion of error tolerance strategy allows for alternate actuation of
the vehicle and prevents sudden increment of control input (gas) during the initial
navigation. While for Scenario 2 in Fig. 8, the proposed algorithm formulation is
shown to aid the vehicle to navigate smoothly during the rapid change of the desired
velocity. As can be seen, the gas and braking are yielded alternately, and the error
tolerance strategy prevents too rapid actuation alternation between the gas and brak-
ing in maintaining the desired velocity. This show that the proposed controller is
feasible for a real-time implementation and this work serves its purpose as the proof
of concept paper.
Overall, from the experimental results, the vehicle navigates with smooth alternate
braking and throttle actuation in both scenarios. The inclusion of error tolerance
strategy increased the riding comfort and prevent vehicle jerking experience due to
the rapid alternation between braking and throttle intervention. The control design
allows soft violation of the error and at the same time ensuring the error is not
large enough by enforcing tracking error constraints. For example, in Fig. 8a, for the
8 U. Z. A. Hamid et al.

Fig. 6 Top Google Maps view of the experimental validation location. The host vehicle navigates
from red point to another red point with varied reference velocity

Velocity Tracking, the AV is shown to be decelerating to an almost complete stopping

condition in three different occasions. This is because to the controller allowing for
the soft violation of the tracking performance due to the very low desired speed given
(10 km/h), thus preventing jerky navigation and smooth acceleration.
Due to safety constraints, the experiment was not done at higher speed (more
than 30 km/h) as this prototype is expected to work as an urban area application. In
addition, since the focus is only on the longitudinal motion design, the lateral motion
(steering wheel) is controlled by the human driver during the experiment. Further-
more, no obstacle avoidance was involved. However, this is not relevant to this work’s
objective. Due to the limitation of the work’s length, an analysis of the architecture
Longitudinal Velocity Control Design with Error … 9

Fig. 7 Results for scenario 1, where the velocity tracking, tracking error, controller adaptive gain
as well as the braking & throttle percentage during the navigation is shown

with regards to the vehicle dynamics and longitudinal motion performance such as
jerking can be added in the future.

6 Conclusion

A longitudinal motion controller design for AV has been proposed. The inclusion of
error tolerance strategy allows for the soft violation of the error penalization. This
prevents the AV from jerking scenario due to the rapid alternation between braking
and throttle during the tracking performance. This in return enables a smooth and
reliable navigation. This will subsequently allow it to be implemented into AV’s
usage in the low-speed urban area. In addition, this work is important for the future
development of AV works in the South East Asian region (Singapore, Malaysia).
For future works, efforts must be done to have a proper experimental validation area
for more complex scenario implementation. In addition, works on the passenger’s
comfort should be pursued to increase the user’s acceptance to the driverless vehicle
technology.
10 U. Z. A. Hamid et al.

Fig. 8 Results for scenario 2, where the velocity tracking, tracking error, controller adaptive gain
as well as the braking & throttle percentage during the navigation is shown

Acknowledgements The publication of this work is supported by Universiti Malaysia Pahang,

Research Grant RDU 170371.

References

1. Rahman AA, Hamid UZA, Chin TA (2017) Emerging technologies with disruptive effects: a
review. Perintis E-J 7(2):111–128
2. Koezuka H (2016) Utilization of IoT in the long-term care field in Japan. In: 2016 2nd inter-
national conference on cloud computing and internet of things (CCIOT). IEEE, New York, pp
166–169
3. Tanjung Malim, South East Asia’s Next Generation Automotive Centre, South Perak
Region http://www.southperak.com.my/4-nodes/node-2-tanjung-malim-south-east-asias-next-
generation-automotive-hub. Accessed 03 May 2018
4. Hamid UZA, Zakuan FRA, Zulkepli KA, Azmi MZ, Zamzuri H, Rahman MAA, Zakaria MA
(2018) Multi-actuators vehicle collision avoidance system-experimental validation. In: IOP con-
ference series: materials science and engineering, vol 342, No 1. IOP Publishing, p 012018
5. Universiti Teknologi Malaysia leading the Autonomous Driving R&D field resulting to
1st Demo in Malaysia https://news.utm.my/2018/01/universiti-teknologi-malaysia-leading-the-
autonomous-driving-rd-field-resulting-to-1st-demo-in-malaysia/. Accessed 03 May 2018
Longitudinal Velocity Control Design with Error … 11

6. Taş ÖŞ, Kuhnt F, Zöllner JM, Stiller C (2016) Functional system architectures towards fully
automated driving. In: 2016 IEEE intelligent vehicles symposium (IV). IEEE, New York, pp
304–309
7. Ang KH, Chong G, Li Y (2005) PID control system analysis, design, and technology. IEEE
Trans Control Syst Technol 13(4):559–576
8. O’Dwyer A (2009) Handbook of PI and PID controller tuning rules. Imperial college press,
London
Vision Based Smart Sorting Machine

Ng Weng Seng and Ahmad Shahrizan Abdul Ghani

Abstract In this paper, a research on improved image processing method and a

prototype of a vision based sorting machine have been developed to segregate objects
based on color, shape and size. In today’s world, image processing becomes popular
technology and it grabs great attentions due to its capability of doing various applica-
tions in many fields. The existing sorting system in industrial environment has to be
improved by implementing the image processing method in the system. In some light
industries, sorting process will be carried out manually using human labour. However,
this traditional method has brought some disadvantages such as human mistake, slow
in work speed, inaccuracy and high cost due to the manpower. A vision based smart
sorting machine is proposed to solve the aforementioned problems by segregating the
workpieces based on their color, shape and size. It will be operated by a single-board
mini-computer called Raspberry Pi to perform the operation. In the proposed sys-
tem, Raspberry Pi camera is used to capture the image/stream video of the incoming
workpieces through the conveyor. The image/video stream of the incoming work-
piece will be captured and implemented with pre- processing that consists of image
enhancement to reduce the effect of non-uniform illumination which results from
the surrounding illumination. To detect the color of the workpiece, the pre-enhanced
image will be decomposed into its respective channels and the dominant color chan-
nel will be regarded as the object color. The result will be then matched with the
database which is pre- installed in the raspberry storage through features matching
method. The results from the features matching will turn on the servo motor and
separates the workpieces’ color. For the purpose of shape segregation, the captured
image will be first converted into black and white image before it is matched with
the database based on certain coverage object properties. While for size segregation,
the coverage object pixel area of the pre-processing image is extracted and matched
with the databased in the system. Tested results indicate that vision based automatic

N. W. Seng · A. S. Abdul Ghani (B)

Faculty of Mechanical & Manufacturing Engineering, Universiti Malaysia Pahang,
26600 Pekan, Pahang, Malaysia
e-mail: shahrizan@ump.edu.my
N. W. Seng
e-mail: ngwengseng94@gmail.com

© Springer Nature Singapore Pte Ltd. 2020 13

A. P. P. Abdul Majeed et al. (eds.), RITA 2018, Lecture Notes
in Mechanical Engineering, https://doi.org/10.1007/978-981-13-8323-6_2
Another random document with
no related content on Scribd:
Harbour - UTV.
LP43103 - LP43104.
LP43106 - LP43117.
LP43188.
LP43399 - LP43401.
LP43424 - LP43441.
Hard boiled Mahoney.
R578395.
Hardware.
MP24955.
Hare grows in Manhattan.
R573500.
Harness racing.
R578351.
Harold Pinter’s The Homecoming.
LP42934.
Harper and Row, Publishers, Inc.
MP25293 - MP25320.
MP25398 - MP25399.
MP25459.
Harriet Tubman and the Underground Railroad.
LP43362.
Harris, Grant D.
MU8973.
Harry catches goldfever.
LP43522.
Harry nobody.
LP43446.
Hawaii Five - O.
LP42947.
LP42948.
LP42949.
LP43048.
LP43049.
Hawaii — the fortunate isles.
MP24737.
Hawkins.
LP43269 - LP43270.
LP43279 - LP43283.
Hawkins on murder.
LP42941.
Hearst Corporation. Hearst Metrotone News, Inc.
R567417 - R567424.
R570429 - R570438.
R572657 - R572664.
R574062 - R574069.
R576809 - R576817.
R578731 - R578739.
Hearst Corporation. King Features Syndicate.
R575614.
R575615.
R567675.
Hearst Metrotone News, Inc. SEE Hearst Corporation. Hearst
Metrotone News, Inc.
Heartbeat for yesterday.
LP43467.
Heckle and Jeckle, the talking magpies, in Cat trouble.
R579973.
Heckle and Jeckle, the talking magpies, in Happy go lucky.
R579970.
Heckle and Jeckle, the talking magpies, in McDougal’s Rest Farm.
R579968.
Heckle and Jeckle the Talking Magpies in The Uninvited pests.
R572112.
He could sell iceboxes to Eskimos.
LP43460.
Hec Ramsey.
 LP43383.
LP43384.
LP43388.
LP43389.
Hell House.
LP43206.
Hello, Mother, goodbye.
LP43619.
Hell up in Harlem.
LP43346.
Helpful.
LP43170.
Helter skelter.
LF137.
Hemisphere Films, Inc.
R576618.
Hemophilia of Michigan.
MU8892.
Henry Gibson.
MU8941.
Henry Miller, asleep and awake.
MP24853.
Here’s Lucy.
LP43500 - LP43523.
LP43550 - LP42573.
Her sister’s secret.
R569737.
Hesse, Hermann.
LU3669.
Heyer, Georgette.
LF131.
Heyes, Douglas.
 LP43266.
Higgins (Alfred) Productions, Inc.
MP24801.
MP24905.
MP25112.
MP25422.
High Barbaree.
R572725.
High flying spy.
LP43197.
LP43199.
LP43612.
High plains drifter.
LP43621.
High school hero.
R574060.
High spy.
LP43612.
Hinde, W. Craig.
MP24802.
Hines, Stephen P.
LU3674.
His brother’s keeper.
LP43291.
History of Mister Polly.
LF130.
History of the bicycle.
MP24808.
Hitchhiker.
LP42972.
Hit - run.
LP43276.
Hobel, Philip S.
MU8894.
MU8895.
Hockey: the power play.
MP25166.
Hoffmann LaRoche, Inc.
MP25115 - MP25124.
MP25168.
Hold down.
LP43405.
Hold that lion.
R578902.
Holiday in Las Vegas.
R577575.
Hollywood Daffy.
R567281.
Hollywood orgy.
MP24930.
Homecoming.
LP42934.
Homes.
LP43529.
Home sweet homicide.
R568005.
Honest.
LP43172.
Hong Kong: wandering with Rick.
MP25110.
Honky tonk.
LP43266.
Hoot Kloot.
LP43131 - LP43133.
 LP43495.
LP43630.
LP43631.
LP43634.
LP43635.
LP43636.
Horne, Kenneth.
LF134.
Horvath, Charles.
MU8938.
Hot and cold.
MP25393.
Hot heir.
R572340.
Hot lights.
MU8906.
Hot potato.
LP42965.
Hot spell.
LP43454.
Houghton Mifflin Company.
MP24732.
MP25051 - MP25061.
MP25360 - MP25377.
Hound hunters.
R573465.
Hour of judgment.
LP43155.
House of mirrors.
LP43459.
Housing problem.
R572109.
Howard, H.
 MP25302.
How do I love thee.
LP43575.
Howlin Cinema Productions.
MP25039.
How to make an animal puppet.
MP25175.
How to make a puppet head.
MP24807.
Hoya Productions, Inc.
LP42969.
Huckleberry Finn.
MP25284.
Humanities series.
MP24968.
Human targets.
R578429.
Humoresque.
R571690.
Hungarofilm.
LP43055.
LP43057.
LP43071.
LP43072.
Hunt for a lonely girl.
LP43496.
Hunting.
LP43546.
Huston, John.
LP42953.
Hymn to her.
MP25381.
 I
I am Joe’s spine.
LP43233.
IBM Corporation. SEE International Business Machines
Corporation.
IBM independent study program.
MP25018.
MP25019.
Icarus Productions.
MP24989.
Iceman cometh.
LP42935.
Idol maker.
LP43333.
I don’t want to sell Babe.
LP43313.
If.
MP24883.
If elected.
MP25359.
If given a chance.
MU8892.
If I’m lucky.
R568001.
If that’s a gnome, this must be Zurich.
LP43616.
I’ll be yours.
R572009.
Illegal aid.
 LP43217.
Ill wind.
LP43041.
I love my wife but.
R574263.
I’m going to be the lion’s head.
LP43314.
Immigrant experience: the long, long journey.
LP43059.
Immunizations.
MP25124.
I’m no fool having fun.
MP24748.
I’m no fool with electricity.
MP25038.
I’m no fool with fire.
MP24746.
Impact.
LP43477.
Impact Production Associates.
MU8973.
Impala versus Ford LTD.
MU8949.
Imperfect lady.
R578392.
Impossible war.
LP43063.
Imposter.
LP43331.
Impulse.
LU3666.
I’m sorry, baby.
 LP43344.
IMS. SEE Instructional Material Systems.
Inalienable right to die.
LP43113.
In a plain paper wrapper.
LP43001.
Independent Producers, Ltd.
LF141.
LF146.
Indiana Farm Bureau, Inc.
MP25357.
Indian villagers in Mexico.
MP25475.
Induction and repression.
MP25313.
In due time.
MU8902.
Industrial Alcoholism Films.
MP25338.
MP25339.
Industrial beginnings in West Pakistan.
MP25474.
Industrial worker in Kenya.
MP24912.
Inertia.
MP25173.
Infant appraisal.
MP24735.
Inquisition.
LP43243.
In search of the lost world.
MP24743.
 MP24744.
In sickness and in health.
LP43458.
Inside the 9 1/4 inch axle.
MP25322.
Institute of Ophthalmology.
MU8903.
MU8904.
Institut fuer Film und Bild.
MP24870.
MP24872 - MP24873.
MP25473 - MP25476.
Instituto Interamericana de Ciencias Agricolas.
MP24970.
MP24971.
MP24972.
MP24974.
Instructional Material Systems.
MP25020.
Instructional Television Center, the School Board of Broward
County, Florida. SEE School Board of Broward County, Florida.
Instructional Television Center.
Instructor orientation.
MP25450.
Insurance Institute for Highway Safety.
MP24937.
MP25167.
Inter Hemisphere Productions, Ltd.
LP43207.
International Business Machines Corporation.
MP25018.
MP25019.
International Cinemedia Center.
 LP43060.
LP43073 - LP43078.
International Cinemedia Center, Ltd.
LP43058.
International Harvester Company.
MP24990 - MP24991.
MP25156 - MP25161.
MP25340.
Interviewing interactions.
MP25126.
In the land of the war canoes: Kwakiutl Indian life on the Northwest
Coast.
LP42981.
Into the chasm.
R572333.
Into the depths.
R570068.
Introduction to CICS.
MP25127.
Introduction to DOS.
MP25345.
Introduction to speech problems
MP25264.
Intruders.
R579972.
Invaders.
LP43234 - LP43257.
Investigator.
LU3671.
I / O device operations.
MP24946 - MP24951.
Iowa State University of Science and Technology, Ames.
 MP24734.
MP24845.
MP24969 - MP24974.
MP25155.
MP25486.
Iowa State University of Science and Technology, Ames. Film
Production Unit.
MP24845.
MP24969 - MP24974.
MP25486.
Iowa State University of Science and Technology, Ames. Fire Service
Extension and Film Production Unit.
MP24734.
Iowa State University of Science and Technology, Ames. Soil
Research Laboratory.
MP24845.
IPL and supervisor.
MP25351.
Irani, Mani S.
MP24846.
Ironside.
LP43399 - LP43401.
LP43424 - LP43441.
Is everybody happy.
MP25408.
Island fling.
R573497.
Island of deception.
R572332.
Isles of enchantment.
MP24859.
Is mercury a menace.
MP25098.
Israeli kibbutz.
MP25476.
Is this operation necessary.
LP43107.
It ain’t city music.
MP25478.
It happened in Brooklyn.
R570604.
It happened in Hollywood.
LP43617.
It has nothing to do with you.
MP25463.
It’s all in the stars.
R570610.
It’s a mystery, Charlie Brown.
LP43227.
It’s hard to be good.
LF148.
It shouldn’t happen to a dog.
R567999.
It’s my decision, as long as it’s what you want.
MP25465.
It’s my hobby.
MP25468.
It’s not fair.
MP25469.
It’s the Easter beagle, Charlie Brown.
LP43627.
It’s your move, sergeant.
MP25068.
It’s your turn — to steer.
LP43226.
Ivy maze.
LP43024.
 J
Jabbertown.
MU8940.
Jabberwocky.
LP43232.
Jack Armstrong.
R572329.
R572331 - R572333.
R577558.
R577562.
R577567.
R577568.
R578424.
R578425.
R578427.
R578429.
R578896.
R578898.
Jackson years: the new Americans.
LP43069.
Jackson years: toward civil war.
LP43070.
Jacobs, Arthur P.
MP25284.
Jacques Lipchitz.
MP25481.
Jaffe (Howard B.) Inc.
LP43354.
Jaffilms, Inc.
LP43354.
Jail break.
 R572100.
Jamaica.
R568020.
Jamaica Inn.
LP43259.
James and John.
MP25484.
Japan: the land and the people.
MP25204.
Jason be nimble, Jason be quick.
LP43465.
J C L formats and functions.
MP25346.
J D F / B.
LP42968.
Jean Goldkette orchestra on tour.
MU8938.
Jeopardy.
LP43302.
Jeremy.
LP43136.
Jewison, Norman.
LP43310.
Jinn who clears the way.
LP43048.
Jitterumba.
R578389.
Job management.
MP24944.
Joffe, Charles H.
LP43135.
John Muir, father of our national parks.
 LP43190.
Johnnes, Peretz W.
MP25414.
Johnny O’Clock.
R572326.
Johnstown Flood.
R572102.
Jones.
MP25488.
Jones, Charles M.
LP42986.
Jones (Chuck) Enterprises.
LP42986.
Jones, Leo.
MP25310.
Joshua’s kingdom.
LP43019.
Journey into space.
R578896.
Journey through limbo.
LP43150.
Joyful noise.
MU8907.
Judgement.
LP43017.
LP43030.
LP43472.
Julien, Max.
LP43356.
Jungle gangster.
R570403.
Junior League of Charlotte, North Carolina, Inc.
 LP43629.
Junkie.
LP43589.
Jury and juror: function and responsibility.
MP24936.
Just like in school.
MP24894.
 K
Kalmanowicz, Max.
MU8992.
Kalmia Company.
MP25228 - MP25234.
Kasper, James Norman.
MP25272.
Katey at the bat.
LP43225.
Katsu Production Company, Ltd.
LF156.
Kaufman (Jack) Productions, Inc.
MP25445.
Kazablan.
LP42940.
Keeping tabs.
LP43414.
Kelvin, George.
MP25312 - MP25315.
Kenasset Film.
LP43136.
Kennedys don’t cry.
MU8895.
KERA (television station)
MP25413.
Kibbutz.
MP25476.
Kidnapping.
LP43277.