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Abstract-The shell and tube of heat exchanger is a medium where heat transfer process occurred. The accuracy of the heat exchanger depends on the performance of both elements. Therefore, both components need to be controlled in order to achieve a substantial result in the process. For this purpose, the actual dynamics of both shell and tube of the heat exchanger is crucial. This paper discusses two methods used in deriving the mathematical modeling of the system. First, physical dynamic modeling is obtained using physics and dynamics laws where actual parameters of the shell and tube are considered. Secondly, the model is determined by applying non-parametric system identification based on experimental response on the heat exchanger. Two models are used to design the shell and tube intelligent control. The intelligent control type is a Fuzzy Proportional Derivative (FPD) control. The experiment results shows that the shell and tube heat exchanger model develop using its physical parameters and controlled with FPD controller give better response, it means it can used as a model and controller of the shell and tube heat exchanger.

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Abstract. This paper describes a novel wireless robotic hand system. The system is operated under master-slave configuration. A human operator teleoperates the slave robotic hand by wearing a master glove embedded with BendSensors. Bluetooth has been chosen as the communication medium between master and slave. The master glove is designed to acquire the joint angles of the operator's hand and send to slave robotic hand. The slave robotic hand imitates the movement of human operator. The UTHM robotic hand comprises of five fingers (four fingers and one thumb), each having four degrees of freedom (DOF), which can perform flexion, extension, abduction, adduction and also circumduction. For the actuation purpose, pneumatic muscles and springs are used. The paper exemplifies the design for the robotic hand and provides the kinematic analysis of all the joints of the robotic hand. It also discusses different robotic hands that have been developed before date.

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