Staff Directory
Academic Qualification
- Ph.D in Mechatronic Engineering - Doctor of Philosophy, University of Dundee
- Master in Mechatronics - Masters Degree, University of Abertay, Dundee
- Bachelor in Mechanical Engineering - Bachelor Degree, University of Dundee
- Diploma in Electro-Mechanical - Diploma, Politeknik Sultan Abdul Halim Mu'adzam Shah Jitra, Kedah
Amir Akramin bin Shafie (Prof. Dr.)
Professor
IIUM Gombak Campus
KULLIYYAH OF ENGINEERING
Other's position:
Director, Research Management Centre
aashafie@iium.edu.my
4503
Expert Profile
Amir Akramin Shafie is a Professor in the Department of Mechatronics at International Islamic University Malaysia (IIUM) where he has been since 2005. He is also the Director of Research Management Centre (RMC) from 2021. Previous administrative post includes Deputy Dean Academic Affairs Kulliyyah of Engineering (2006-2010), Dean of Kulliyyah of Engineering (2010-2012), Director of Industrial Links (2013-2016) and Director of Office of International Affairs (2017 -2021). He is also appointed as visiting professor and external assessor for several public and private university in Malaysia.
Previously Dr. Amir served in the industry as Industrial Researcher in SIRIM Berhad and Engineer in Proton Berhad. Dr Amir Akramin Shafie, received his B.Eng. (Hons) in Mechanical Engineering from the University of Dundee and Master of Science in Mechatronics from University of Abertay Dundee, Scotland. He has been conferred a doctorate in the field of Engineering by University of Dundee, Scotland in 2000.
Dr Amir has been the recipients of numerous research grants which resulted in publication of patents and copyrights. Dr Amir also has published more than 500 articles in books, refereed journals and various international conferences as editors, authors and co-authors some of which have been highly cited.
Recently Dr Amir has completed an international consultancy project to upgrade a conventional factory to a smart factory with connectivity and autonomy for self-adapting manufacturing capability. Current research interest span both autonomous mechatronic system and intelligent system. The work in autonomous mechatronic system mainly in the areas of robotic development including robot design and locomotion, robotic sensing and perception and autonomous navigation system. Whereas for intelligent system the work involved development of application of machine learning in various areas which includes advanced manufacturing and health.
Area of Specialisation
- Engineering Tech ~ Engineering And Technology ~ Electrical and Electronic Engineering ~ Image Processing - Pattern and Object detection and recognition, Object classification and Verification, Industrial Vision System
- Engineering Tech ~ Engineering And Technology ~ Electrical and Electronic Engineering ~ Robotics and Mechatronics - Mechatronic System Design
- ICT ~ Information, Computer And Communications Technology (ICT) ~ Security System ~ Surveillance System - Wide area surveillance, Identification, Tracking and Verification
Professional Membership
- 2009 - 2021: Member of Profesional Body / Association: (Member), Institute of Electrical and Electronic Engineers
- 2012 - 2021: Member of Profesional Body / Association: (Graduate Member), Board of Engineers Malaysia
- 2013 - 2021: Member of Profesional Body / Association: (Graduate Member), Institute of Engineers Malaysia (IEM)
- 2018 - 2020: Member of Profesional Body / Association: (Teknologis Berijazah), Lembaga Teknologis Malaysia
- 2020 - 2021: Member of Profesional Body / Association: (Member (MAPM0198)), Akademi Profesor Malaysia
Teaching Responsibilities
| ADVANCE INSTRUMENTATION AND MEASUREMENT | 2018/2019 |
| ADVANCED TOPICS IN ROBOTICS | 2015/2016 2014/2015 |
| AUTONOMOUS AGENT SYSTEMS | 2020/2021 2018/2019 |
| AUTONOMOUS ROBOTIC SYSTEMS | 2014/2015 |
| COMPUTATIONAL METHODS AND STATISTICS | 2008/2009 2006/2007 |
| DIFFERENTIAL EQUATIONS AND LINEAR ALGEBRA | 2005/2006 |
| EMBEDDED SYSTEM DESIGN | 2013/2014 2012/2013 |
| INDUSTRIAL AUTOMATION | 2021/2022 2018/2019 2017/2018 2016/2017 2013/2014 2012/2013 |
| INDUSTRIAL ROBOTICS | 2022/2023 2020/2021 2019/2020 2018/2019 |
| INTELLIGENT MACHINES | 2019/2020 |
| INTELLIGENT SYSTEMS | 2006/2007 |
| MACHINE VISION | 2022/2023 2021/2022 2020/2021 2017/2018 2016/2017 2013/2014 2012/2013 2011/2012 2010/2011 2009/2010 2008/2009 |
| MACHINE VISIONS | 2008/2009 2007/2008 2006/2007 2005/2006 |
| MECHATRONIC SYSTEM DESIGN | 2013/2014 2008/2009 |
| MECHATRONICS ENGINEERING LAB II | 2018/2019 2017/2018 |
| MECHATRONICS SYSTEMS DESIGN | 2008/2009 2007/2008 |
| MICROCONTROLLER BASED DESIGN | 2011/2012 2010/2011 2009/2010 2008/2009 |
| MICROCONTROLLERS BASED DESIGN | 2009/2010 2008/2009 2007/2008 2006/2007 2005/2006 |
| MICROPROCESSOR BASED SYSTEMS | 2012/2013 |
| MICROPROCESSOR IN MECHANICAL SYSTEM | 2021/2022 |
| MICROPROCESSOR IN MECHANICAL SYSTEMS | 2021/2022 2015/2016 |
| NUMERICAL METHODS FOR ENGINEERS | 2008/2009 |
| POWER ELECTRONICS SYSTEMS AND DESIGN | 2017/2018 |
| PROBABILITY & STATISTICS | 2005/2006 |
| PROJECT 1 | 2019/2020 2018/2019 |
| Project II | 2020/2021 2019/2020 |
| REAL TIME SYSTEMS | 2017/2018 2006/2007 |
| ROBOTICS | 2015/2016 2014/2015 2012/2013 2005/2006 |
Research Projects
Completed
| 2021 - 2023 | Humanising Leadership |
| 2019 - 2022 | Hybrid soft computing-game theoretic evacuation simulation model with early warning capabilities of crowd disasters |
| 2018 - 2022 | P11C2-17 (SMART DRIVER ASSISTANCE SYSTEM) |
| 2018 - 2018 | GIAD Smart Factory Awarness |
| 2017 - 2019 | Low-Power Wireless Prototype for Acoustic-Based Glass-Break Detection |
| 2016 - 2020 | Investigation and Characterization of Ultrasonic Reflection Utilising Spectrum Unfolding for High Value Pure Liquid Materials |
| 2015 - 2017 | Upgrading Biomethaneas Low Carbon Fuel for Motorbike |
| 2015 - 2018 | Designing Zoning of Remote Sensing Drones/UAV in Cities and Neighborhood Area in Greater Kuala Lumpur |
| 2015 - 2017 | Development of Multi Agent Marine Robots using MOOS-IvP Autonomy Software |
| 2015 - 2017 | Accelerated Learning Program for Robotic Competition |
| 2015 - 2019 | Developing a real time localization system for autonomous robots in flexible manufacturing systems for indoor production environment |
| 2014 - 2016 | Real Time Anomaly Detection for Street Crime Surveillance |
| 2014 - 2016 | Implementation of Halal Certification System for small and Medium Size Food Enterprise under Lembaga Pertubuhan Peladang |
| 2013 - 2015 | Real-time Robust Intelligent Video Surveillance System |
| 2013 - 2016 | Effect of Snake-Scale Parameters on Motion Dynamics of Snake Robot |
| 2012 - 2014 | Mapping of Human Arm Impedance Characteristics in Spatial Movements to Control Power Assist Aid for Disable People |
| 2012 - 2015 | A Novel Theoretical Model of Smart Medical Navigation System for Computer-Assisted Surgery |
| 2012 - 2015 | Design and Development of Radiation Mapping Robot |
| 2012 - 2016 | Explanations Of The "Orange Peel" Phenomenon In The Laser Sintering Process (LS) |
| 2012 - 2014 | Intelligent Parametric Modelling of Diabetic Retinopathy |
| 2012 - 2015 | Smart Material Actuated Autonomous Snake Robot for Executing Flexible Motion |
| 2011 - 2015 | Development of a Mapping Robot |
| 2011 - 2015 | Experimental Investigation on Lower Limbs Motion Dynamics for Designing Jerk Fee Rehabilitation Assistive Robot |
| 2011 - 2012 | Mechatronics Book Series - Selected ICOM Paper (Volume 1 And 2)- KVC Project 2011 |
| 2010 - 2014 | Theoretical and Experimental Investigation on New kind of snake motion algorithm |
| 2010 - 2012 | Development of Systematic Recycling PA12 in laser Sintering Provess towards Green Manufacturing |
| 2010 - 2011 | The Development of Cognitive Humanoid Head |
| 2009 - 2010 | Automatic Diagnosis of Diabetic Retinopathy using Fundus Images |
| 2009 - 2012 | Development of omni directional mobile Robot Navigation System using RFID |
| 2009 - 2012 | A New Hybrid Pseudo Intelligent Magnetic Resonance Imaging Reconstruction (MRI)Technique |
| 2008 - 2012 | Real-Time Sign Analysis, Recognition and Synthesis Based on Image Processing and Multimedia |
| 2007 - 2011 | Feature Based Navigation and Sector Based Localisation for Autonomous Mobile Robot |
| 2007 - 2012 | Decision-theoritic Planning for Human-Robot Interaction via Partially Observable Markov Decision Process (POMDP) |
| 2006 - 2011 | MEMS Actuated Mesoscale (Order of Centimeter) Active Compliant Mechanism for Executing Motion in 3D Space |
| 2006 - 2009 | Fuzzy-Based NCTF Controller For High Precision PTP Positioning Systems |
| 2006 - 2009 | Development And Prototyping Of Intelligent Gantry Crane |
| 2006 - 2011 | Real Time Path Planning for Legged Robot Navigation via Stochastic Modelling |
On-Going
| 2021 - Present | A New Algorithm based on Convolutional Neural Network and Pixel-Level Segmentation for Pavement Crack Characterization |
| 2019 - Present | Deep Dynamic Grommet Networks for Spatial Object Recognition |
| 2018 - Present | GIAD Smart Factory Systems |
| 2017 - Present | Language and Ancient Civilization from Muslim's Perspective; A Documentary |
| 2016 - Present | Investigation on the Effect of Walking and Running Power-Exoskeleton on the Lower Limbs of the User |
| 2014 - Present | AUTONOMOUS SYSTEMS AND ROBOTICS RESEARCH UNIT |
| 2013 - Present | Disaster Rescue and Management for Radiation Related Disaster Strategic Initiative for Muslim Nations |
| 2011 - Present | IIUM STRATEGIC TECHNOLOGIES AND ENGINEERING UNIT (ISTEU) |
| 2009 - Present | Automated Media Preparation |
Award & Recognition
| 22 Feb, 2012 | Bronze Medal (IRIIE)- Identity Recognition of Human at a Distance - International Islamic University Malaysia | University |
| 22 Feb, 2012 | Bronze Medal (IRIIE) - Markerless Gesture Recognition Using Malaysian Sign Language - International Islamic University Malaysia | University |
| 22 Feb, 2012 | Bronze Medal (IRIIE) - Novel Technique for Vascular Intersection Detection in Retina Fundus Images - International Islamic University Malaysia | University |
| 22 Feb, 2012 | Silver Medal (IRIIE) - Novel Blood Glucose Level Prediction using Artificial Neural Network - International Islamic University Malaysia | University |
Publications
Article
Conference or Workshop Item
| 2022 | Design and development of a carbon dioxide gas generator for firefighting robot application. In: 8th International Conference on Mechatronics Engineering (ICOM 2022), |
| 2020 | Pneumatic actuation of a firefighting robot: A theoretical foundation and an empirical study. In: 7th International Conference on Mechatronics Engineering (ICOM) 2019, |
| 2017 | Accelerated learning programme for robotic competition. In: 3rd National Conference on Knowledge Transfer (NCKT'16), |
| 2017 | Prediction of dry ice mass for firefighting robot actuation. In: 6th International Conference on Mechatronics - ICOM'17, |
| 2017 | Time response for sensor sensed to actuator response for mobile robotic system. In: 6th International Conference on Mechatronics (ICOM'17), |
| 2016 | Chicken farm monitoring system. In: 6th International Conference on Computer and Communication Engineering 2016 (ICCCE 2016), |
| 2016 | Electroactive polymer actuated tendon driven micro actuator for robotic application. In: The 6th IEEE International Nanoelectronics Conference, |
| 2016 | SMARS-I: smart material actuated robotic snake (Ver-1). In: International Conference on Advances in Functional Materials (AFM 2015), |
| 2015 | Automated secure room system. In: 2015 4th International Conference on Software Engineering and Computer Systems (ICSECS), |
| 2015 | Electro-goniometric system: an instrumentation to capture knee movements for forward walking. In: 2015 10th Asian Control Conference (ASCC 2015), |
| 2015 | Off-Road vehicle suspension performance improvement using linear quadratic regulator techniques. In: International Conference on Mechanical And Industrial Engineering (ICMAIE’2015), |
| 2014 | Adaptive background reconstruction for street surveillance. In: International Conference on Computer and Communication Engineering (ICCCE 2014), |
| 2014 | Face recognition using illumination-invariant local patches. In: 2014 5th International Conference on Intelligent and Advanced Systems (ICIAS 2014), |
| 2014 | Multi-stereo camera system to enhance the position accuracy of image-guided surgery markers. In: 5th International Conference on Computer & Communication Engineering 2014, |
| 2014 | Real-time tracking using edge and color feature. In: International Conference on Computer and Communication Engineering (ICCCE 2014), |
| 2013 | Experimental investigation of snake robot locomotion in planar space. In: 2013 IEEE Symposium on Business, Engineering and Industrial Applications (ISBEIA 2013), |
| 2012 | Encoding of facial images into illumination-invariant spike trains. In: International Conference on Computer and Communication Engineering (ICCCE 2012), |
| 2012 | Human identification system based on moment invariant features. In: International Conference on Computer and Communication Engineering (ICCCE), 2012 , |
| 2012 | Reconnaissance mission: development of an algorithm for indoor localisation system with collaborative multi-robot. In: The World Congress on Engineering 2012, |
| 2012 | Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot. In: 1st International Conference on Intelligent Robotics, Automation and Manufacturing (IRAM) 2012, |
| 2011 | A novel gait for toddler biped and its control using PIC 16F877A. In: 4th International Conference on Mechatronics (ICOM'11), |
| 2011 | An attempt to develop a Biped Intelligent Machine BIM-UIA. In: 4th International Conference on Mechatronics (ICOM'11), |
| 2011 | Automatic fruits identification system using hybrid technique. In: 2011 Sixth IEEE International Symposium on Electronic Design, Test and Application, |
| 2011 | Component selection strategy for an anthropomorphic robot. In: 2011 National Postgraduate Conference (NPC), |
| 2011 | Design and implementation of fuzzy based person following mobile robot. In: International Conference on Mechatronics and Materials Engineering (ICMME 2011), |
| 2011 | Geometrical analysis on BIOLOID humanoid system standing on single leg. In: 4th International Conference on Mechatronics (ICOM), |
| 2011 | Joint demeanors of an anthropomorphic robot in designing the novel walking gait. In: URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, |
| 2011 | Modeling of human upper body for sign language recognition. In: Proceedings of the 5th International Conference on Automation, Robotics and Applications, |
| 2011 | Recognizing human emotional states by facial expression analysis for humanoid head AMIR-III. In: 4th International Conference on Mechatronics (ICOM'11), |
| 2011 | Speech compression using compressive sensing on a multicore system. In: 4th International Conference on Mechatronics (ICOM 2011), |
| 2011 | Support vector machine for face emotion detection on real time basis. In: 2011 4th International Conference on Mechatronics: Integrated Engineering for Industrial and Societal Development (ICOM 2011), |
| 2011 | Vision-based hand posture detection and recognition for sign language - A study. In: 2011 4th International Conference on Mechatronics: Integrated Engineering for Industrial and Societal Development (ICOM 2011), |
| 2011 | Vision-based hand posture detection and recognition for sign language- a study. In: 4th International Conference on Mechatronics (ICOM) , |
| 2010 | A hybrid method using haar-like and skin-color algorithm for hand posture detection, recognition and tracking. In: International Conference on Mechatronics and Automation, |
| 2010 | An experiment on electromechanical power steering (EPS) system of a CAR. In: 2010 International Conference on Mechanical and Aerospace Engineering (ICMAE), |
| 2010 | Application of modeling techniques to diabetes diagnosis. In: 2010 IEEE EMBS Conference on Biomedical Engineering & Sciences (IECBES 2010), |
| 2010 | Blood glucose level prediction using intelligent based modeling techniques. In: TENCON 2010, |
| 2010 | Development of a flexible video analysis system for motion detection and alarm generation. In: International Conference on Computer and Communication Engineering (ICCCE 2010), |
| 2010 | Evolution of humanoid robot and contribution of various countries in advancing the research and development of the platform. In: International Conference on Control, Automation and Systems (ICCAS), |
| 2010 | Foreground segmentation-based human detection with shadow removal. In: International Conference on Computer and Communication Engineering (ICCCE 2010), |
| 2010 | Graphical user interface for Humanoid Head Amir-II. In: International Conference on Computer and Communication Engineering (ICCCE 2010), |
| 2010 | Human detection and tracking for video surveillance system. In: IIUM Research, Innovation & Invention Exhibition (IRIIE 2010), |
| 2010 | Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis. In: 2010 International Conference on Mechatronics and Automation (ICMA 2010), |
| 2010 | Socially interactive humanoid head. In: IIUM Research, Innovation & Invention Exhibition (IRIIE 2010), |
| 2010 | Vision based hand detecting and tracking for automatic sign language translator. In: IIUM Research, Innovation & Invention Exhibition (IRIIE 2010), |
| 2010 | Visual tracking and servoing of human face for robotic head Amir-II. In: International Conference on Computer and Communication Engineering (ICCCE 2010), |
| 2009 | A new tool for assessment of mould growth on building materials. In: 3rd International Conference on Modeling, Simulation, and Applied Optimization (ICMSAO 2009), |
| 2009 | Building crack characterization using an hybrid approach. In: Third International conference on Modeling, Simulation and Applied Optimization ICMSAO, |
| 2009 | Determination of autoregressive coefficients using Complex-Valued Neural Network. In: The 6th International Workshop on Biosignal Interpretation (BSI), |
| 2009 | Fuzzy-based NCTF control of PTP positioning system. In: 4th IEEE Conference on Industrial Electronics and Applications, 2009. ICIEA 2009. , |
| 2008 | Development of a new method of crack modeling and prediction algorithm. In: Proceedings of the 3 rd International Conference on Mechatronics (ICOM’08), |
| 2008 | Increasing the speed of convergence of an artificial neural network based ARMA coefficients determination technique. In: International Conference on Computer System Engineering (ICCSE) , |
| 2008 | MRI reconstruction using discrete fourier transform: a tutorial. In: World Academy of Science, Engineering and Technology 42 2008, |
| 2008 | Optimal model order selection for Transient Error Autoregressive Moving Average (TERA) MRI reconstruction method. In: International Conference on Medical system Engineering (ICMSE), |
| 2006 | Development of intelligent air-conditioning system. In: International Conference on Energy and Environment 2006 (ICEE 2006) , |
Book
| 2014 | Advancements in computer and communications engineering . IIUM Press, ISBN: 9789674182830 |
| 2011 | High speed cutting: an approach towards improved machining performance . IIUM Press, ISBN: 978-967-418-023-2 |
| 2011 | Mechatronics book series – selected papers from ICOM’01, ICOM’05 and ICOM’08. IIUM Press, ISBN: 9789670225685 |
| 2011 | Mechatronics book series system design and signal processing (V1). IIUM Press, ISBN: 9789674181734 |
Book Section
| 2014 | Classification of phonocardiogram signals using discrete wavelet analysis. In: IIUM Press, ISBN: 9789674182830, pp. 204-214 |
| 2014 | Isolated word speech recognition of the malay digits. In: IIUM Press, ISBN: 9789674182830, pp. 181-193 |
| 2014 | The influence of EDFA's configurations on the behavioral trends of gain and noise figure. In: IIUM Press, ISBN: 9789674182830, pp. 160-167 |
| 2014 | The influence of EDFA's configurations on the behavioral trends of gain and noise figure. In: IIUM Press, ISBN: 9789674182830, pp. 160-167 |
| 2013 | Human upper body pose region estimation. In: Springer, ISBN: 9783642373862 / 9783642373879 , pp. 335-344 |
| 2011 | A case for cooperative vision system. In: IIUM Press, ISBN: 9789674181321, pp. 202-207 |
| 2011 | A success journey of Mehmet Oz in cardiothoracic surgery. In: IIUM Press, ISBN: 978-967-418-155-0, pp. 109-114 |
| 2011 | Al-Jazari on automata. In: IIUM Press, ISBN: 978-967-418-157-4, pp. 165-170 |
| 2011 | Al-Zahrawi contribution to medical instruments. In: IIUM Press, ISBN: 978-967-418-155-0, pp. 131-136 |
| 2011 | Anthropomorphic biped robot. In: IIUM Press, ISBN: 9789674181529, pp. 267-274 |
| 2011 | Contributions of Ibn-Sina in pharmaceutical sciences. In: IIUM Press, ISBN: 978-967-418-155-0, pp. 88-93 |
| 2011 | Designing human robot interaction for emotionally expressive robotic head AMIR-iii . In: IIUM Press, ISBN: 9789674181529, pp. 32-37 |
| 2011 | Development of a new method of crack modelling and prediction algorithm . In: IIUM Press, ISBN: 9789670225685, pp. 520-527 |
| 2011 | Development of cooperative mini robots . In: IIUM Press, ISBN: 9789674181529, pp. 21-25 |
| 2011 | Development of data acquisition system for Autonomous Unmanned Aerial Vehicle (UAV). In: IIUM Press, ISBN: 9789674181925, pp. 18-40 |
| 2011 | Development of neck support for humanoid robot head . In: IIUM Press, ISBN: 9789674181529, pp. 14-20 |
| 2011 | Fazlur Rahman Khan's understanding of tube structural system of skyscrapes. In: IIUM Press, ISBN: 978-967-418-157-4, pp. 115-120 |
| 2011 | Fazlur Rahman Khan's understanding of tube structural system of skyscrapes. In: IIUM Press, ISBN: 978-967-418-157-4, pp. 115-120 |
| 2011 | Human tracking algorithm for video surveillance. In: IIUM Press, ISBN: 978-967-418-156-7, pp. 178-190 |
| 2011 | Humanoid robot arm . In: IIUM Press, ISBN: 9789674181529, pp. 26-31 |
| 2011 | Humanoid robot head. In: IIUM Press, ISBN: 9789670225685, pp. 331-337 |
| 2011 | Intelligent air-conditioning system. In: IIUM Press, ISBN: 9789674181765, pp. 173-178 |
| 2011 | Intelligent automatic fruit identification system. In: IIUM Press, ISBN: 9789674181765, pp. 219-228 |
| 2011 | Jabir Ibn Hayyan's work on sulphur-mercury theory. In: IIUM Press, ISBN: 978-967-418-157-4, pp. 30-35 |
| 2011 | Path following autonomous vehicle based on vision system. In: IIUM Press, ISBN: 9789674181321, pp. 208-214 |
| 2011 | Robot design: a case study of team learning experience and outcome. In: IIUM Press, ISBN: 9789674181529, pp. 7-13 |
| 2011 | Speech coding using compressive sensing on a multicore system. In: IIUM Press, ISBN: 9789674181321, pp. 194-201 |
| 2011 | The contribution of Ibn al-Baitar in medicine. In: IIUM Press, ISBN: 978-967-418-155-0, pp. 94-98 |
| 2011 | The contribution of Ibn Sahl in refraction of light. In: IIUM Press, ISBN: 978-967-418-157-4, pp. 95-102 |
| 2011 | Trajectory planning using GPS for Unmanned Aerial Vehicle with microcontroller based system. In: IIUM Press, ISBN: 9789674181321, pp. 215-223 |
| 2011 | Visual tracking for human face . In: IIUM Press, ISBN: 9789674181529, pp. 1-6 |
| 2009 | Designing a rubric to assess student engineering projects. In: IIUM Press, ISBN: 9789833855674, pp. 301-308 |
| 2009 | Designing a rubric to assess student engineering projects. In: IIUM Press, ISBN: 9789833855674, pp. 301-308 |
Monograph
| 2020 | Investigation and characterization of ultrasonic reflection utilising spectrum unfolding for high value pure liquid materials. In: , |