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2014 IEEE 19th International Functional Electrical Stimulation Society Annual Conference, IFESS 2014

作者： Ahmad, M.K.I. Ibrahim, B.S.K.K. Shamsudrn, A.U. Hanafi, D. Jamil, M. Mahadi Abdul Nasir, N.H.M. Herwam, F. Rahman, K.A.A. Masdar, A. Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Malaysia Department of Electronic Engineering Malaysia Modeling and Simulation Research Laboratory Malaysia

ISBN: (纸本)9781479964833

Nowadays, research and developments of control system for spinal cord injury (SCI) using functional electrical stimulation (FES) is widely used. Restoring mobility to persons with paraplegia with regard to FES-approaches for function restoration is really challenging issues. A sarcastic view of FES is the complexity control of muscle motor function by the artificial activation of paralyzed muscles. Therefore;laboratory apparatus setup to study the knee joint control by FES electrical stimulation test with computer-controlled stimulator system consisted of Matlab/Simulink-Hasomed has been arranged. Anthropométrie measurements of length of the lower limb were made. Novel wearable lower limb suit developed for FES experimental. This scenario can be seen by monitoring the sinusoidal stimulation current range muscle contraction on able-bodied (AB) subject with the simulation work was applied on knee joint swinging trajectory range-of-motion. Significant value of sinusoidal stimulation current signal is determined and regulated to vary within potential of preliminary data mining attempts to model an efficient power consume of knee joint controller. At this stage, it can improve with better technique by reduce and determine overall parameter limitation using FES. © 2014 IEEE.

关键词： Simulink

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New Concept for FES-Induced Movements

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IOP Conference Series: Materials Science and engineering 2016年第1期160卷

作者： Mohammed Ahmed M. S. Huq B. S. K. K. Ibrahim Aisha Ahmed Zainab Ahmed Department Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering (FKEE) Universiti Tun Hussein Onn Malaysia (UTHM) 86400 Parit Raja Batu Pahat Johor Malaysia Advance Mechatronic Research Group (AdMiRe) Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia (UTHM) 86400 Parit Raja Batu Pahat Johor Malaysia Department of Electrical and Electronics Engineering Faculty of Engineering and Engineering Technology (FEET) Abubakar Tafawa Balewa University (ATBU) P. M. B. 0248 Bauchi Bauchi State Nigeria Department of Biological Sciences Faculty of Science (FS) Abubakar Tafawa Balewa University (ATBU) P. M. B. 0248 Bauchi Bauchi State Nigeria

Functional Electrical Stimulation (FES) had become a viable option for movement restoration, therapy and rehabilitation in neurologically impaired subjects. Although the number of such subjects increase globally but only few orthosis devices combine with the technique are available and are costly. A factor resulting to this could be stringent requirement for such devices to have passed clinical acceptance. In that regard a new approach which utilize the patient wheelchair as support and also a novel control system to synchronize the stimulation such that the movement is accomplished safely was proposed. It is expected to improve well-being, social integration, independence, cost, and healthcare delivery.

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Preliminary Approach of FES-Cycling Framework Model Development for Spinal Cord Injury Application: Part 1

Preliminary Approach of FES-Cycling Framework Model Developm...

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Asian Control Conference

作者： M. K. I. Ahmad B. S. K. K. Ibrahim M. Mahadi Abdul Jamil D. Hanafi N. H. M. Nasir K. A. A. Rahman A. Masdar F. Sherwani M. K. Hat A. U. Shamsudin N. F. Ramin Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Department of Electronic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Department of Computer Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia

ISBN: (纸本)9781479978632

Since 1960's, functional electrical stimulation (FES) applications has been used to improves, recover and restore several functions of paralyzed muscles due to spinal cord injury (SCI), stroke and any level of injury related to spinal. FES induced movement control is a significantly challenging area due to complexity and nonlinearity of musculoskeletal system which is the complexity control of muscle motor function model by the artificial activation of paralyzed muscles. Lots of research interest in lower-limb model especially for paraplegia either by exo-skeleton, gaiting exercise, robotics assistive device, wheel-chair, cycling, rowing and etc. Thus, in part one (1) of this paper discussed surface issues of several relations between software and hardware development via FES-Cycling framework model. Simple and efficient approach by using model-based design for experimental process and data gathering. The computer-based closed-loop FES-Science Mode Hasomed-GmbH system uses MATLAB/Simulink, Software Development Kit 7.1 and Real-Time Windows Target under Windows 7 for online data acquisition via microcontroller based, controlling and processing. Proposed optimization fuzzy control-strategy about FES-Cycling induced performance simulation studies against muscle fatigue and external disturbances with customized musculoskeletal mechanism lower limb model for cycling applied and majorly about result and discussions will be highlight in part two (2) for upcoming publications.

关键词： Functional Electrical Stimulation (FES) Spinal Cord Injury (SCI) Rehabilitation FES-cycling Free-Swinging Lower-limb Hasomed Arduino Matlab/Simulink

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Modelling and Control of SCARA Manipulator

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Procedia Computer Science 2014年 42卷 106-113页

作者： B.S.K.K. Ibrahim Ahmed M.A. Zargoun Department of Mechatronic and Robotic Engineering Faculty of Electrical & Electronic Engineering University Tun Hussien Onn Malaysia 86400 Batu Pahat Malaysia

Nowadays manipulators are getting more complex due to the development of the motor drives and the nonlinearities of the manipulator dynamics. Due to complexity of this system, the modeling process will become more complicated especially if modeled by using mathematical representation or white box approach. Therefore Computed Aided Design (CAD) modeling approach is more suitable to be applied in this system. In this paper presents the development of the CAD model of robot arm by using SolidWorks software. Then a controller based on Proportional-integral-derivative (PID) has been designed in simulation environment by using Matlab/Simulink platform. This paper shows the advantages of the combination of MATLAB and SolidWorks. SolidWorks is able to ease the modeling process. The performance of PID controller for 4 Degree of Freedom (DOF) of SCARA (Selective Compliance Articulated Robot Arm) manipulator has been assessed for first 2 DOF and shown good results.

关键词： MATLAB SolidWorks SCARA PID.

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Performance evaluation of feature detection and feature matching for stereo visual odometry using SIFT and SURF

Performance evaluation of feature detection and feature matc...

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IEEE Region 10 Symposium

作者： Norhayati Mohd Suaib Mohammad Hamiruce Marhaban M. Iqbal Saripan Siti Anom Ahmad Department of Electrical and Electronic Engineering UPM Serdang Selangor Malaysia Department of Robotic and Mechatronic Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Department of Computer and Communication Systems Engineering UPM Serdang Selangor Malaysia

ISBN: (纸本)9781479920297

Feature detection and feature matching are the most crucial parts in visual odometry process. In order to suit the real time process in visual odometry, both of the stages must be robust but at the same time are fast to compute. This paper presents the evaluation of Scale Invariant Feature Transform (SIFT) and Speeded Up Robust Feature (SURF) performances. The results show that SURF is outperform than SIFT in term of rate of matched points and also in computational time.

关键词： Feature extraction Visualization Detectors Robots Robustness Cameras Performance evaluation

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Preliminary study of functional electrical stimulation: Application of swinging trajectory based on knee-joint range-of-motion (ROM)

Preliminary study of functional electrical stimulation: Appl...

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IEEE International Functional Electrical Stimulation Society Annual Conference (IFESS)

作者： M. K. I. Ahmad B. S. K. K. Ibrahim A. U. Shamsudrn D. Hanafi M. Mahadi Abdul Jamil N. H. M. Nasir F. Sherwam K. A. A. Rahman A. Masdar Department of Mechatronic and Robotic Engineering Universiti Tun Hussein Onn Malaysia MALAYSIA Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia MALAYSIA Universiti Tun Hussein Onn Malaysia Batu Pahat Johor MY

Nowadays, research and developments of control system for spinal cord injury (SCI) using functional electrical stimulation (FES) is widely used. Restoring mobility to persons with paraplegia with regard to FES-approaches for function restoration is really challenging issues. A sarcastic view of FES is the complexity control of muscle motor function by the artificial activation of paralyzed muscles. Therefore; laboratory apparatus setup to study the knee joint control by FES electrical stimulation test with computer-controlled stimulator system consisted of Matlab/Simulink-Hasomed has been arranged. Anthropometric measurements of length of the lower limb were made. Novel wearable lower limb suit developed for FES experimental. This scenario can be seen by monitoring the sinusoidal stimulation current range muscle contraction on able-bodied (AB) subject with the simulation work was applied on knee joint swinging trajectory range-of-motion. Significant value of sinusoidal stimulation current signal is determined and regulated to vary within potential of preliminary data mining attempts to model an efficient power consume of knee joint controller. At this stage, it can improve with better technique by reduce and determine overall parameter limitation using FES.

关键词： Muscles Joints Knee Neuromuscular stimulation Trajectory Electrical stimulation Thigh

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Positioning of EEG electrodes for BCI-FES control system development of knee joint movement for paraplegic

Positioning of EEG electrodes for BCI-FES control system dev...

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IEEE International Functional Electrical Stimulation Society Annual Conference (IFESS)

作者： K. A. A. Rahman B. S. K. K. Ibrahim M. Mahadi Abdul Jamil N. H. M. Nasir F. Sherwani M. K. I Ahmad A. Masdar Faculty of Electrical and Electronic Engineering University Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Department of Electronic Engineering University Tun Hussein Onn Malaysia Malaysia Department of Mechatronic and Robotic Engineering University Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia

Functional Electrical Stimulation (FES) is a promising method to restore mobility to individuals paralyzed due to spinal cord injury (SCI). This method will provide the electrical pulse to the surface electrodes which are attached to paralyze part such as arm or leg and will make this part constructs because of the pulse given and can achieve the desired movement later. Depend on only FES for a rehabilitation method to SCI patient is not a very effective way. The combination between FES and Brain Computer Interface (BCI) may prove useful and effective way in SCI rehabilitation. BCI is a technology that detects a patient's intention. The main target of BCI is to create an alternative way for SCI patients between brain and others partfrom their body. This BCI will record the signal from the brain and then will transfer it to paralyze part which wants to control it. There are many methods to obtain the brain signals in BCI such as electroencephalographic (EEG) measurement technique or brain mapping technique. The EEG measurement technique is mostly used in medical rehabilitation and this technique is using EEG scalp and electrodes. The position of EEG electrodes should be correctly placed according to the appropriate movement. This paper will be discussed on the positioning of EEG electrodes for BCI-FES control system development of knee joint movement for paraplegics.

关键词： Electrodes Electroencephalography Scalp Impedance Brain modeling Electric potential Sensors

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Wall Follower Autonomous Robot Development Applying Fuzzy Incremental Controller

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Intelligent Control and Automation 2013年第1期4卷 18-25页

作者： Dirman Hanafi Yousef Moh Abueejela Mohamad Fauzi Zakaria Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Parit Raja Malaysia

This paper presents the design of an autonomous robot as a basic development of an intelligent wheeled mobile robot for air duct or corridor cleaning. The robot navigation is based on wall following algorithm. The robot is controlled using fuzzy incremental controller (FIC) and embedded in PIC18F4550 microcontroller. FIC guides the robot to move along a wall in a desired direction by maintaining a constant distance to the wall. Two ultrasonic sensors are installed in the left side of the robot to sense the wall distance. The signals from these sensors are fed to FIC that then used to determine the speed control of two DC motors. The robot movement is obtained through differentiating the speed of these two motors. The experimental results show that FIC is successfully controlling the robot to follow the wall as a guidance line and has good performance compare with PID controller.

关键词： Autonomous Robot Wall Follower Fuzzy Incremental Controller Embedded System

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Fuzzy logic control design for induction motor speed control improvement through field oriented control

Fuzzy logic control design for induction motor speed control...

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5th FTRA International Conference on Information Technology Convergence and Services, ITCS 2013 and the 3rd International Conference on Intelligent robotics, Automations, Telecommunication Facilities, and Applications, IRoA 2013

作者： Ariff, Roslina Mat Hanafi, Dirman Utomo, Whayu Mulyo Ching, Kok Boon Zin, Nooradzianie Muhd Sim, Sy Yi Bhohari, Azuwien Aida Robotic and Mechatronic Department Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Parit Raja 86400 Batu Pahat Johor Malaysia Electrical Power Department Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Parit Raja 86400 Batu Pahat Johor Malaysia

ISBN: (纸本)9789400769953

This paper focuses on improving induction motor performance by controlling its speed. The induction motor speed is controlled using field oriented control based structure associated with an induction motor. The field oriented control is implemented by combining with fuzzy logic control to reduce the uncertainties factors. The fuzzy logic control is developed based on Mamdani method. The inputs of fuzzy logic control are the error and derivative error between actual and reference speed of induction motor. The output of fuzzy logic control is the reference electric torque. The fuzzy logic control input output variables membership functions are chosen based on the parameters of the motor model. Motor state variables are identified indirect from induction motor model. The controller develops is implemented MATLAB Simulink. The simulation result shows that the fuzzy logic control is a suitable controller for improving induction motor performance with gives less settling time and steady state error than Proportional Integral Derivative control. © 2013 Springer Science+Business Media Dordrecht.

关键词： Induction motors

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Induction motor drive based neural network direct torque control

Induction motor drive based neural network direct torque con...

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作者： Sim, Sy Yi Utomo, Wahyu Mulyo Haron, Zainal Alam Bohari, Azuwien Aida Zin, Nooradzianie Muhd. Ariff, Roslina Mat Electrical Power Department Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia 86400 Parit Raja Batu Pahat Johor Malaysia Robotic and Mechatronic Department Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia 86400 Parit Raja Batu Pahat Johor Malaysia

ISBN: (纸本)9789400769953

A neural network based direct torque control of an induction motor was presented in this paper. The paper trained a neural network for speed controller of the machine to use in the feed-back loop of the control system. The description of the control system, training procedure of the neural network is given in this paper. The complete neural network based direct torque control scheme of induction motor drive is simulated using MATLAB. The acquired results compared with the conventional direct torque control reveal the effectiveness of the neural network based direct torque control schemes of induction motor drives. The proposed scheme improved the performance of transient response by reduces the overshoot. The validity of the proposed method is verified by the simulation results. © 2013 Springer Science+Business Media Dordrecht.

关键词： Induction motors

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