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The design of a prototype system that measures the joint angles of the rotary joint of a robotic exoskeleton is presented in this work. An incremental rotary encoder is a sensor that can be connected to any rotary joint to measure the angle of rotation, speed of rotation, direction of rotation (clockwise or counter-clockwise motion) as well as the acceleration of a joint. The measurement system using a rotary encoder which generates an electrical signal either analog or digital according to the rotation movement was designed in this work. A prototype rotary joint having a 270° range of motion was fabricated with ABS plastic using 3D printing and then connected to an incremental rotary encoder to measure its speed and angle of motion. A robotic exoskeleton was then proposed to be used with the tested and developed measurement system.

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A fascinating and essential control problem for researchers is the inverted pendulum. It remains a generally accepted standard used in control and robotics for validation of emerging control technologies. A mathematical model of the inverted pendulum on a moving base system was derived, an expression of the linearised state space representation of the system was also presented, a controller to achieve specific criterion of the steady state error, rise and settling time, and was obtained, an implementation of this control on MATLAB was carried out together with the simulated animation of the system using Simulink and Simscape.

This work investigates natural light levels inside a room in Electrical & Information Engineering building, Covenant University, Ota, Ogun State, Nigeria. In order to reduce the amount of energy used on lighting, it is imperative to make the utmost use of natural daylight. The use of windows are one traditional solution, other solutions are skylights and light pipes; atria and light wells; domes and arches; structural glass which are all discussed. In high temperature regions, it is necessary to reduce the amount of sunlight entering the room because light produces heat. With the use of a Light Dependent Resistor (LDR sensor), results are presented to study the day light levels in a room by measuring the light levels at various parts of the room; by measuring the proportion of light entering through the window and measuring how the light level changes over a 24 hour period. The outcome of this work is the study and development of a system that can monitor light levels in a building. The application of this work extends to determining the period of the day when daylight is maximal in order to reduce energy cost, building an automation system for the automatic lighting of dark areas within a building as well as monitoring energy consumption used to light p a building. Further extension will be to make predictions on the natural light level based on the data available.