v
TABLE OF CONTENTS
Abstract i
Abstrak ii
Dedication iii Acknowledgement
iv Table of Contents
v List of Figures
ix List of Tables
xi List of Abbreviations, Symbols, Nomenclatures
xii
1.0 INTRODUCTION
1
1.1 Background
1.2 Problem statement
2 1.3
Objective 3
1.4 Scope of project
1.5 Intelligent Multiple Gantries System
1.5.1 Overview
1.5.2 Project description
4
2.0 LITERATURE REVIEW
8
2.1 Introduction
2.1.1 Overview
2.2 Artificial Intelligence A.I
9 2.2.1
Definition 2.2.1.1 Intelligent control
10 2.3
Fuzzy control system 11
2.3.1 Overview 2.3.2 History applications
vi 2.3.3 Fuzzy logic
14 2.4
Scheduling of Single-Gripper Gantry Robots in Tightly Coupled Serial Production Lines
2.4.1 Introduction 2.4.2 Problem formulation
16 2.4.3 Simple scheduling cases 17
2.4.3.1 Two station case 2.4.3.2 Three station case
18 2.5 Microcontroller
19 2.6 Actuator
20 2.7 Acrylic sheet
21
3.0 METHODOLOGY
23
3.1 Introduction
3.2 Project planning
3.3 Literature review
26 3.4
Product design 3.5
Prototype development 27
3.5.1 Material selections
3.5.1.1 Software 3.5.1.2 Actuators
28 3.5.1.3 Transistor
3.5.1.4 Relay 30
3.5.1.5 Diode 3.6
Prototype programming interfacing 31
3.7 Testing and analysis
3.8 Block diagram of the system
32 3.9
Operation flowchart of the system 33
4.0 DESIGN AND DEVELOPMENT
34
vii 4.1
Introduction 4.2
Mechanical structure development 4.2.1
Structure parts 4.2.1.1 System base
4.2.1.2 Wheeled motor hangers 35
4.2.1.3 2V Motor 36
4.2.1.4 Toy wheel 37
4.2.1.5 Acrylic hanger 38
4.2.1.6 Railing tracks 4.2.2 Testing the movements of the wheeled motor hanger
40 4.3
Electrical and programming parts 4.3.1 Electrical parts development
4.3.1.1 Electronic circuit diagram 41
4.3.1.2 Interfacing using parallel port 4.3.2 Programming parts
43 4.3.2.1 Procedures to create a set of rules for the gantry system
using Mamdani FIS editor 4.3.2.2 Creating the programming circuit for the system in the
46 Simulink workspace
4.4 Specifications of the mechanical structure of the system
51
5.0 RESULT AND DISCUSSION
