Potential PITA I Titles (S-II 2015/2016)

Assalam WBT, kepada pelajar-pelajar yang mengambil subjek PITA I, saya mepunyai lagi 2 tajuk untuk anda pilih:

  1. Design and Construction of an Autonomous Surface Vehicle for Calm Water Operation ( Tajuk telah diambil oleh Azizul Hakim)
  2. Design and Construction of a Micro ROV for Calm Water Operation
  3. Design and Construction of a Mini Quadrotor Helicopter

Kesemua tajuk di atas mempunyai 3 objektif, iaitu:

  1. Obj 1: To conduct theoretical design of the chosen vehicle
  2. Obj 2: To construct the chosen vehicle
  3. Obj 3: To perform analysis on the performance of the chosen vehicle

Sila bawa borang pendaftaran tajuk PITA I untuk dilengkapkan dan dibincangkan, selewat-lewatnya pada hari Isnin (29/2/2016).

Sekian, terima kasih.

p/s: Sila sampaikan kepada rakan-rakan yang lain.

2-4GHz-4CH-RC-Mini-QuadcopterDesign and Construction of a Mini Quadrotor Helicopter
Design and Construction of a Mini Quadrotor Helicopter
Design and Construction of a Micro ROV for Calm Water Operation
Design and Construction of a Micro ROV for Calm Water Operation
Design and Construction of  an Autonomous Surface Vehicle for Calm Water Operation
Design and Construction of  an Autonomous Surface Vehicle for Calm Water Operation

Intel ComputeStick: Komputer Dengan Windows 10 yang Hanya Sebesar Key-chain.

Baru-baru ini ipmart.com.my ada menjual Intel ComputeStick, sebuah komputer kecil sebesar mouse (RM 560.60, termasuk GST). Oleh kerana saya sudah mengikuti berita berkenaan Intel ComputeStick sejak pertengahan 2015, saya pun beli lah satu untuk digunakan bersama-sama dengan TV Panasonic Viera 2012.


Intel ComputeStick ini sebesar sebuah mouse yang bersaiz biasa. Di tepinya ada terdapat satu USB port yang boleh di-expand dengan hub USB anda. Tapi buat masa ini saya cuma perlukan Wireless Mouse + Keyboard combo, oleh yang demikian, satu USB port pun sudah memadai.


Di badan Intel ComputeStick ini ada satu exhaust fan kecil. Oleh yang demikian, pastikan ia boleh bernafas nanti di ruang belakang TV. Jangan diletakkan terlalu cramp di belakang TV.


Ok, satu USB port ini saya gunakan untuk wireless mouse + keyboard combo.


Set Intel ComputeStick ini didatangkan dengan USB power cable + plug. Boleh juga kalau nak sambungkan USB power tersebut ke TV, tapi untuk memastikan cukup Amperage (2 Amp diperlukan untuk dibekalkan ke ComputeStick, biasanya USB di TV membekalkan 1 Amp dan ke bawah) saya menggunakan power plug yang dibekalkan.


Seterusnya, sambungkan Intel ComputeStick ke HDMI port di TV. Jangan risau, Male to Female extender dibekalkan sekali untuk memberi ruang kelegaan di belakang TV.


Bagi memastikan aliran udara tidak di tutup di belakang TV, saya membuat susunan sepeti yang ditunjukkan di dalam gambar di atas. Ini bagi mengelakkan ComputeStick tersebut panas. Tapi so far, ComputeStick ini tak lah panas mana. Steady je dia.


Langkah terakhir, ON-kan sahaja TV & ComputeStick. Dongle USB ini cuma mengambil masa 8-10 saat untuk load Windows 10 (ia datang sekali dengan Windows 8 asalnya, saya baru upgrade ke Windows 10 sebab saya suka Windows 10).

Dengan menggunakan IntelStick ini saya boleh view YouTube, membaca email, membuat Powerpoint semasa saya outstation di mana-mana hotel yang saya menginap. It’s 2015, and now I have a keychain with Windows 10 in it.

Saya berharap post ini dapat membantu anda untuk memahami produk Intel ComputeStick. Saya ingin mengucapkan terima kasih kepada Esram & Macha yang request saya untuk membuat post ini.

Goodbye Linode

Recently, I’ve been bombarded with the notifications saying that my disk io rate treshold usage has exceeded certain amount up to 55819/1000. By that time, I only have one self-hosted wordpress blog.

I have been a Linode user since March 2013, therefore it has been more than a year an a half before I pulled the plug.

It has been a nice ride, learning how to set-up a hosting server using ubuntu, doing upgrades like a pro sysadmin, hacking through terminal and so on. I’ll miss that and probably I’ll come back later.

It was just me. At this point in life, I just want to focus on writing my blog. So, goodbye Linode, you have been great.

General Tuning Advice for Arducopter

I’m going to pick some important points in terms of tuning the arducopter. At the time of writing, the current version is AC 3.1.

My two main problems with my tricopter are these two: maintaining Alt-Hold and wobbling oscillation while quickly descending.

So, here goes:

via [https://code.google.com/p/arducopter/wiki/AC2_Tweaks]

These two terms (Rate Control P, Throttle Rate P) go a long way to making your copter perform well, and are highly dependent on the thrust to weight ratio of your copter. More thrust = lower gains.

  • My copter oscillates quickly (smaller movements) when stabilized: Lower your gain in Rate Control P.
  • My copter oscillates slowly (larger movements) when stabilized: Lower your gain in Stabilize Control P.
  • My copter gets wobbly when descending quickly: Raise your gain in Rate Control P. You can tune most of this out, but it’s impossible to descend into your prop wash without some wobbles.
  • My copter is too sluggish : Raise your Stabilize Control P gain. These gains make ask the copter to respond faster to angle errors.
  • My copter yaws right or left 15° when I take off: Your Motors are not straight or your ESCs are not calibrated. Twist the motors until they are straight. Run the ESC calibration routine.
  • My copter angles back in the opposite direction I’m flying after forward flight: Raise your gain in Stabilize Control P.
  • After aggressive flying my copter leans to one side 10 – 30°: Do what ever you can to remove vibrations and isolate APM. You can even try and add a small weight to APM to keep it from vibrating. Also, just land for a few seconds, then continue flying, it will give APM a chance to correct without the vibration.
  • My copter won’t stay perfectly still in the air: Run the level command on a flat surface. (hold disarm for 15 seconds to invoke.) You can also fly in auto-trim mode in a windless (important!) environment. Any wind will cause the changes you make to work against you when the quad rotates 180°. You can use your radio pitch and roll trims, but remember to re-center them when you set up your radio with the config tools. Using the radio trims can have a negative effect in SIMPLE mode when yawing. Never Trim Yaw, Your copter may start spinning on it’s own. (Quads are also susceptible to drafts. They will need constant corrections unless you install an optical flow sensor. One day…)
  • My copter flies well, but then dips a motor arm in a fidgety manner while hovering: Your motor may be going bad or the bullets connectors between the motor and ESC may be at fault. Vibration from a bent shaft or unbalanced props can make bullet connections fail momentarily stopping the motor. A motor with bad bearings takes more power to spin. The ESC could be cutting out to protect itself. Or it maybe flying slow enough to stall the motor. Attach a current sensor between your battery and the motor and test the difference between a good motor and the bad one. If you are seeing higher draw in the bad one, replace or fix it.
  • In Loiter, my copter constantly overshoots: Try and increase your Nav_P term. You can also tune down your I terms because in some cases, the Nav_I or Loiter_I can causes overshoot. Making the Iterms 0 when in still wind is the best way to tune Nav_P.
  • My alt hold above 10 feet is only about 1-2m accurate: That’s actually the best you can achieve. The baro sensor is sensitive to light and wind. Use a felt cover to protect it from wind and make sure you don’t glue the hole and seal it up.
  • My copter increasingly swings up and down in alt hold. It eventually get’s down to the ground: Your THROTTLE_P is too high or low. You don’t need a lot of P to do alt hold. Think of how much you move the throttle to hold alt perfectly. Not much! That’s what you need P to do. I will ramp up as your battery goes lower to make up the difference.
  • I have a sonar installed but I can’t get it to work. Your sonar may be picking up electrical noise from the ESCs. Be sure to move it a few inches from any ESCs and try a shielded cable, if possible. If it’s cold outside, your sonar may stop working.
  • My quad loiters by rotating in a CW or CCW circle: Adjust your compass declination until it stops circling.

Zoysia grass seeding progress (month 1-3)

My friend once told me, DIY grass seeding is hard work. But I have no choice since the suppliers in my area didn’t have the stock for carpeted grass. Therefore I have to take this matter with my own hands. I started seeding Zoysia grass on the 2nd May 2014, and the photos below show some progress.

Photo 1: The first month. Watered the grass everyday at 7 am and 6 pm.


Photo 2: The second month. Watering has reduced to once a day, which is only at 7 am. Trimmed the grass using Bosch Easytrim this month.


Photo 3: Luckily we are approaching monsoon season, heavy rain poured everyday for few hours at night. So no watering this month. I plan to water once a week after the rainy season ends. Trimmed the grass using Bosch Easytrim.


I must note that ideally I should not use a trimmer to cut the grass as it will not produce a level-trimmed grass. However taking into account the size of the lawn, I think that I can live with this finishing of the trimmed grass.

Event: Fundamentals and Building of Quadrotor Drone Bersama UMT-Petrosains

Pada 3 Julai yang lepas, saya telah menyampaikan sebuah bengkel latihan yang diberi nama Fundamentals and Building of Quadrotor Drone. Event ini telah dijalankan di Universiti Malaysia Terengganu, yang mana ia dihadiri oleh jemputan dari Petrosains dan ahli-ahli kumpulan penyelidikan saya iaitu Ocean Robotics & Optimization Group.

Bengkel Latihan ini dipecahkan kepada beberapa bahagian, iaitu; pengenalan asas elektronik & robotik, pengenalan kepada konsep quadrotor drone dan amali pemasangan quadrotor drone.

Bengkel amali ini adalah yang pertama seumpamanya diadakan di Universiti Malaysia Terengganu, dan mungkin pertama di Malaysia 🙂

Setiap peserta diberikan peluang untuk menerbangkan sendiri model drone dan juga diberikan sijil penyertaan.

Ucapan terima kasih saya sampaikan kepada para peserta, iaitu; Petrosains Outreach Programmes Department Director, En Kamaruddin Kassim (KK), Cik Nurhidayah Nordin (Hani), En. Johan Shah Arif (Joe), Cik Tengku Hafidah Tengku Hussian, En. Ahmad Israr Ihsan Mainong dan Dr. Syibrah di atas penglibatan mereka di dalam bengkel latihan ini.

InsyaAllah, bengkel ini akan diperluaskan lagi mengikut demand kepada peserta-peserta bermula dari peringkat lepasan SPM, universiti dan masyarakat umum.

Zoysia Grass, day 14

It’s day 14! The practice of 5 minutes watering in the morning and evening is still on, and as we can see there are some uneven patches that are trying to establish themselves. Hopefully those are the Zoysia grass. I observed that there are some pearl grass near the sprinkler, but let’s just leave them there at the moment.

I just want to see greens on my yard, and will weed out unwanted species later on 🙂


Zoysia Grass Appear On Day 7

Here in my place, the temperature were constantly hot at about 37-39 Celcius. Following some advices from the forum, I began the seeding process of the Zoysia grass that I obtained from SeedRanch via EBay.

I’ve made sure that the top soil was smooth and level, and evenly spreading the grass seed. Afterwards, I’ve used the back of the rake to softly mixing the seeds and the soil. The seeds were approximately resides at about an inch in the soft top soil.

Next, I’ve used a helicopter sprinkler to evenly water the soil. Since I’m always at work, I spent about 5 minutes watering the soil at 7.30 am, and later another 5 minutes at 5.30 pm.

I was a bit nervous, thinking whether the grass will survive or not. However most of the materials that I’ve read outlined that Zoysia grass is probably one of the type that is very robust and aggressive. The photo below shows the grass development at day-7.


Take note that the grass seeds started to germinate probably in between these 7 days. So no rush, and don’t worry if you’re just started.

Next, I’ll just keep on watering the grass morning and afternoon till the root network is strong then I can water it once a week.

Will post more on the development of the grass. Thanks for reading!