Project Duration: 24 months

Start Date : 15/04/2010

End Date : 14/04/2012

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Milestone AchievementNo. Milestone Name Status

(Yes/No)Deliverables

M1 Analysis and preliminary problem specification

Yes -Erobory specification report

M2 Management and deployment of events and resources

Yes -Briefing of sub-modules-Infrastructure deployment guide

M3 Conceptual and analytical study

Yes -First version of common grid middleware for Erobory prototype- Three papers are published

M4 Development and Implementation of PCRNet framework prototype

No - Second version of common grid middleware for Erobory prototype- Platform integration with different kind of robots

M5 Performance and result conclusion

No -Platform testing report - Result analysis and conclusion

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No. Items Approved Grant(RM)

Expenditure to date

Actual Spending

(RM)

Commitment

(RM)

Available(RM)

1. Temporary and Contract Personnel (V11000)

163,000.00 104,939.97 0.00 58,060.03

2. Travel and Transportation (V21000) 10,000.00 15,659.69 0.00 -5,659.69

3. Research Materials and Supplies (V27000)

6,000.00 13,857.31 0.00 -7,857.31

4. Minor Modifications and Repairs (V28000)

4,000.00 850.00 0.00 3,150.00

5. Special Services (V29000) 2,000.00 15,139.03 0.00 -13,139.03

6. Special Equipment and Accessories (V35000)

65,000.00 63,223.00 0.00 1,777.00

7. Other Charges (V52000) 0.00 188.80 0.00 -188.80

TOTAL (RM) 250,000.00 213.857.80 0.00 36,142.20

Amount of Grant Approved : RM 250 000

Cumulative Disbursement (30/04/2011) : RM 250 000

Balance of Allocation (not received yet) : RM 0

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• Time – Application for grant extension because

implementation of PCRNet framework prototype should be under a vigorous development on the current stage.

– This is due to lack of research team members, which only composed of: • One research officer• One master student

– As a measure taken, recruiting incoming graduate students.

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A) ApprovedNo. List of Equipment Approved by USM List of Equipment Bought

1 IP Camera (1 unit) – AXIS 214 PTZ Network Camera

2 Tablet PC

(1 unit) – Asus Tablet PC TF101-1B135A

(1 unit) – Samsung Galaxy Tab 10.1 P7500/M16

(1 unit) – Samsung Galaxy Tab 7.0 Plus P6200

(1 unit) – Samsung Galaxy Note N7000

3 Lego Robot -

4 Robonova (2 unit) – TurtleBot (Open Source Robot)

5 Mac Book Pro (1 unit) – MacBook Pro 15-inch, 2.66GHz Intel Core i7

6 Server (1 unit) – Dell Blade Server PowerEdge M610X

7 Personal Computer (1 unit) – PC System with Shuttle Casing SH55J2

8Xbee Wireless Communication Kits 802.15.4

(Zigbee) Standard

(1 unit) - Xbee Wireless Communication Kits 802.15.4

(Zigbee) Standard

9 Compass Sensor for Mindstorms NXT (1 unit) – Compass Sensor for Mindstorms NXT

10 Accelerometer Sensor for Mindstorms NXT (1 unit) – Accelerometer Sensor for Mindstorms NXT

11 Color Sensor for Mindstorms NXT (1 unit) – Color Sensor for Mindstorms NXT

12 Development Tools(1 unit) – Logitech Webcam Pro 9000-USB

(3 unit) – NXT Camera Version 3 Vision Sensor

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B) Additional ApprovedNo.

List of Equipment Approved by USM

(as in offer letter)

List of Equipment Bought

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No. Achievements How many?

1. Direct Outputs:- Algorithm/Numerical- Method/Technique- Structure/Design- Prototype- Data-Others

 111110

2. Intellectual Property (IP):-Copyright/Trade Secret/Trademarks/Patent 0

3. Publications:-Articles/Papers/Books/Others 4

4. Researcher, Scientist, Engineer (RSE) created:-PhD- MSc- BSc- Research Staff-Local/International-Specialization Area

010100

5. Participation in conferences/seminars:-Local- International

14

6. Award(s)-Local- International

01

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New/ Improve Facility A new concept of PCRNet: Pervasive Collaborative Robot Network

which defines a connection of two or more remote collaborative environments based on robot devices and human actors.

A basic and essential component of PCRNet: PixRob: Pervasive mIXed reality environment of ROBot is introduced. PixRob is made up of four main components: (1) Real World, (2) Virtual World, (3) Virtual Robot, and (4) Robot Device.

A system to have the purpose of Multiple Operator Single Robot (MOSR) was created through a system, Multi Agent System (MAS) under remote control of mobile robots research area. A Run-Control (RC) Agent is created to manage multiple users’ commands before it reach to the robot and is responsible for transforming user commands into robot commands.

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New/ Improve Facility A brand new concept of Virtual Group Space (VGS) is

introduced to work as a virtual meeting point for multiple users to work together.

A Service Discovery is designed to create a work environment on the same network for the robot to provide a service, for an instance, user ask the robot to give a statement of temperature according to the sensor’s reading.

Platform for Robot Control Manager has been accomplished to design a visualized-platform for remote robot control manager, send and receive feedbacks from the robot.

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New/ Improve Facility An image recognition program is created to distinguish the color

of the object based on the database and identify the shape of the object according to the shape detection algorithm.

An IP Camera control program is built to keep track on the robots’ operations.

Implementation of Model-View-Controller (MVC) architectural pattern in Java in term of overall software source code

Improvement on the communication protocol, which is internet access acts as the main protocol between the client(view), server (model) and multiple robots (with table PC –controller).

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New/ Improve Facility Implementation of mapping scales of a fresh environment and

generate a virtual map by utilizing multiple robots.

A transformation of environment from Windows operating system tablet PC into Android operating system tablet PC.

Tracking of robot position in virtual map according to the robot movement.

Creation of algorithm for three robots on the map to distribute discovery area evenly.

Implementation of object seeking task on a given space by using multiple robots.

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Possible external research grants to be acquiredMOHE – Prototype Development Research Grant Scheme (PRGS)

• To generate research product in prototype form• Closes the gap between research discoveries and commercialization.• eRoboRy platform aims to be implemented in airport and air terminals to detect and mark the position of unattended luggage.

MOSTI – Electronic Science Fund Research Grant (eScienceFund)• Support innovation of research product and to generate new scientific knowledge .• The development of pervasive grid-based robot devices for reality discovery in eRoboRy platform is utterly a spanking new concept.

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No. Authors, Year, Title of Paper Work, Name of Exhibition, Page Number

1. Marilyn Lim Chien Hui, Nabil Elmarzouqi and Chan Huah Yong, “A Context-Aware based Authorization System for Pervasive Grid Computing”, International Conference on Cluster and Grid Computing Systems (ICCGCS2011).

2. Mahdi Zareei, Alireza Taghizadeh, Rahmat Budiarto and Tat-Chee Wan, “EMS-MAC: Energy Efficient Contention-Based Medium Access Control Protocol for Mobile Sensor Networks”, The Computer Journal 2011, Volume 54, No. 6, Oxford University Press publisher.

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No. Authors, Year, Title of Paper Work, Name of Exhibition, Page Number

1. Nabil Elmarzouqi and Chan Huah Yong, “When Robots Meet Ubiquity and Grid Computing: Pervasive Grid Platform-based Collaborative Work”, The 5th International Conference on Ubiquitous Information Technologies and Applications (CUTE2010).

2. Alfin Syafalni, Rahmat Budiarto, Mohd. Azam Osman and Nabil Elmarzouqi, “Design of the Robot Intelligent Interaction and Teleoperation via Multilayer-Cross Control Communication Framework”, The Second International Conference on Distributed Frameworks and Applications 2010, 127-132.

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No. Authors, Year, Title of Paper Work, Name of Exhibition, Page Number

3. Ehsan Tabatabaei Yazdi, Amina Ahmed Mohamed, Mahdi Zareei, Tat-Chee Wan, “Enhanced Mobile Lightweight Medium Access Control Protocol for Wireless Sensor Networks,” Proceedings 2011 IEEE Symposium on Wireless Technology and Applications (ISWTA 2011), Langkawi, Malaysia, 25-28 Sep, 2011. pp 151-155.

4. Salah Bindahman, Chan Huah Yong, “Performance Enhancement For Distributed Lock Manager Using Hybrid Multicast and Ring Algorithm”, The 2nd International Conference On Digital Information and Communication Technology and It’s Application (DICTAP 2012) – Accepted for Publication.

• This paper has been rewarded as one of the Best Paper in The 5th International Conference on Ubiquitous Information Technologies and Applications (CUTE2010).

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Nabil Elmarzouqi and Chan Huah Yong, “When Robots Meet Ubiquity and Grid Computing: Pervasive Grid Platform-based Collaborative Work”, The 5th International Conference on Ubiquitous Information Technologies and

Applications (CUTE2010).

Nabil Elmarzouqi and Chan Huah Yong, “When Robots Meet Ubiquity and Grid Computing: Pervasive Grid Platform-based Collaborative Work”, The 5th International Conference on Ubiquitous Information Technologies and

Applications (CUTE2010).

Thank You