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

ISBN: (纸本)9789400769953

This paper presents the performance analysis of the field oriented control for a permanent magnet synchronous motor drive with a proportional-integral- derivative and artificial neural network controller in closed loop operation. The mathematical model of permanent magnet synchronous motor and artificial neural network algorithm is derived. While, the current controlled voltage source inverter feeding power to the motor is powered from space vector pulse width modulation current controlled converter. The effectiveness of the proposed method is verified by develop simulation model in MATLAB-Simulink program. The simulation results prove the proposed artificial neural network controller produce significant improvement control performance compare to the proportional-integral-derivative controller for both condition controlling speed reference variations and constant load. It can conclude that by using proposed controller, the overshoot, steady state error and rise time can be reducing significantly. © 2013 Springer Science+Business Media Dordrecht.

关键词： Neural networks

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Simple GUI Wireless Controller of Quadcopter

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International Journal of Communications, Network and System Sciences 2013年第1期6卷 52-59页

作者： Dirman Hanafi Mongkhun Qetkeaw Rozaimi Ghazali Mohd Nor Mohd Than Wahyu Mulyo Utomo Rosli Omar Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering University Tun Hussein Onn Malaysia Batu Pahat Malaysia Department of Power Engineering Faculty of Electrical and Electronic Engineering University Tun Hussein Onn Malaysia Batu Pahat Malaysia

This paper presents the development of remotely operated Quadcopter system. The Quadcopter is controlled through a graphical user interface (GUI) where the communication between GUI and Quadcopter is constructed by using wireless communication system. The Quadcopter balancing condition is sensed by FY90 controller and IMU 5DOF sensor. For smooth landing, Quadcopter is equipped with ultrasonic sensor. All signals from sensors are processed by Arduino Uno microcontroller board and output from the Arduino Uno microcontroller board is implemented to control Quadcopter propellers. The GUI is designed using Visual Basic 2008 Express as interfacing communication between the Proportional, Integral and Derivative (PID) controller and the Quadcopter system. The experiment shows that the Quadcopter system can hover while maintain it balancing and the stability is guaranteed. Moreover, the developed system is able to cope with load disturbance up to 250 gduring the hover position. Maximum operated time of Quadcopter is six minutes using 2200 mAh Lipo battery and operate time can be increased by using largest battery capacity.

关键词： Quadcopter GUI Wireless Arduino Uno PID Controller

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Dynamic Leveling Control of a Wireless Self-Balancing ROV Using Fuzzy Logic Controller

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Intelligent Control and Automation 2013年第2期4卷 235-243页

作者： Mohammad Afif Ayob Dirman Hanafi Ayob Johari Department of Communication Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Malaysia Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Malaysia

A remotely operated vehicle (ROV) is essentially an underwater mobile robot that is controlled and powered by an operator outside of the robot working environment. Like any other marine vehicle, ROV has to be designed to float in the water where its mass is supported by the buoyancy forces due to the displacement of water by its hull. Vertically positioning a mini ROV in centimeters resolution underwater and maintaining that state requires a distinctive technique partly because of the pressure and buoyance force exerted by the water towards the hull and partly because of the random waves produced by the water itself. That being said, the aim of the project is to design and develop a wireless self-balancing buoyancy system of a mini ROV using fuzzy logic controller. A liquid level sensor has been implemented to provide feedback to the controller. A user-friendly graphical user interface (GUI) has been developed for real-time data monitoring as well as controlling the vertical position of the ROV. At the end of the project, the implemented fuzzy control system shows enhanced and better performance when compared with one without a controller, a proportional-derivative (PD) controller, and a proportional-integral-derivative (PID) controller.

关键词： Fuzzy Logic Controller ROV Underwater Vehicle Wireless

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Knee joint angle measurement system using gyroscope and flex-sensors for rehabilitation

Knee joint angle measurement system using gyroscope and flex...

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6th Biomedical engineering International Conference, BMEiCON 2013

作者： Masdar, Aizan Ibrahim, B.S.K.K. Hanafi, Dirman Mahadi Abdul Jamil, M. Rahman, K.A.A. Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Parit Raja Batu Pahat 86400 Johor Malaysia Department of Electronic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Parit Raja Batu Pahat 86400 Johor Malaysia Modeling and Simulation Research Laboratory Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Pant Raja Batu Pahat 86400 Johor Malaysia

ISBN: (纸本)9781479914678

This paper focuses on developing a novel approach for measuring body joint angles, mainly the knee angles, for surface electrical stimulator system. In this work, we only focus on the sensing mechanism for measuring the knee joint angle using wearable sensors. Our system consists of multiple flex-sensors mounted on a supportive cloth and microelectromechanical systems (MEMS) vibratory gyroscope. In Body Sensor Network (BSN) field for medical purpose, body joint angle measurement system is quite important and useful for continuous monitoring in rehabilitation activities especially for Spinal Cord Injury (SCI) patients. Body joint angle measurement system is sensory type systems that provide information about angle movement of body joint. It is usually used at knee and arm joint to monitor the movement while patients do some exercises. This very important and helpful for the therapists and physicians in order to see the effectiveness of rehabilitations training. For knee angle movement evaluation, lower limb joint angles and segment angles were estimated by the Kalman filter from the data measured with wireless MEMS vibratory gyroscope and flex-sensors. Electrical stimulation was applied to the common peroneal nerve or the tibialis anterior muscle by detecting stimulus timing automatically from the data of wireless sensor attached at the back of knee which known as popliteal fossa and shank of the paraplegic side. The developed system performed well in monitoring the effectiveness of rehabilitations training with the knee joint angle measurement average error rate of 6.92°. The comparison between measured data of the gyroscope and flex-sensors for knee joint angle measurement system were also demonstrated. © 2013 IEEE.

关键词： Gyroscopes

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Features detection and matching for visual simultaneous localization and mapping (VSLAM)

Features detection and matching for visual simultaneous loca...

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IEEE International Conference on Control System, Computing and engineering (ICCSCE)

作者： Herdawatie Abdul Kadir Mohd Rizal Arshad Department of Robotic & Mechatronic Engineering Universiti Tun Hussein Onn Malaysia (UTHM) Johor Malaysia Underwater Robotics Research Group (URRG) Universiti Sains Malaysia (USM) Pulau Pinang Malaysia

This paper presents the feature detection method for aerial image. The image captured from the navigation was used to select the best landmarks for localization and mapping in SLAM. A robust visual detection method has contributed to better landmark and data association selection. Therefore, different feature detection algorithms were compared to evaluate the best landmark detector and descriptor for the VSLAM. The performances of the feature detectors were evaluated using dataset provided by the robotics Research Group at University of Oxford. The local images of matching effect on the detector and descriptor have proved the correctness of key point matching. The selected method has been validated and proven efficient for the VSLAM.

关键词： Feature extraction Detectors Visualization Image coding Conferences Control systems Testing

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Current source with low voltage controlled for surface Electrical Stimulation

Current source with low voltage controlled for surface Elect...

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International Colloquium on Signal Processing & Its Applications, CSPA

作者： Aizan Masdar B. S. K. K. Ibrahim M. Mahadi Abdul Jamil Dirman Hanafi M. K. I. Ahmad K. A. A. Rahman Modeling and Simulation Research Laboratory Faculty of Electrical and Electronic Engineering University Tun Hussein Onn Malaysia Johor Malaysia Department of Mechatronic and Robotic Engineering Department of Electronic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Parit Raja Batu Pahat 86400 Johor Malaysia

Functional Electrical Stimulation (FES) is a promising way to restore mobility to Spinal Cord Injury (SCI) patients by applying low-level electrical current to the paralyzed muscles so as to enhance that person's ability to function and live independently. However, due to the limited number of commercially available FES assisted exerciser systems and their rather high cost, the conventional devices are unaffordable for most peoples. Thus, this paper makes a comparative study of the various design of a multiple purpose portable functional electrical stimulator which is used in surface stimulation for patients with spinal cord injuries. The functionality, circuit performance and reliability of the circuits are presented.

关键词： RLC circuits Muscles Spinal cord injury Switching circuits Voltage control Neuromuscular stimulation Signal processing

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Finite element analysis of single cell surgery using rigid nanoneedle

Finite element analysis of single cell surgery using rigid n...

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IEEE EMBS Conference on Biomedical engineering and Sciences (IECBES)

作者： Md. Habibur Rahman Mohd Ridzuan Ahmad Department of Mechatronic and Robotic Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia Institute of Ibnu Sina Department of Mechatronic and Robotic Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

In this paper, we proposed a novel method for single cell surgery using rigid nanoneedle. We have developed a finite element model of rigid nanoneedle. This nanoneedle is able to penetrate a cell wall and measure a cell wall's stiffness. W303 yeast cell has been selected as a cell model and a Tungsten metal has been used to model the nanoneedle. ABAQUS 6.10 CAE/CFD by Dassault Systemes, a powerful finite element (FE) tool has been used to perform the numerical analysis. Nonlinear Mooney-Rivlin hyperelastic material has been used to develop the cell model. The parameters of yeast cell have been obtained from the previous experimental on the mechanical properties of yeast cell such as: cell diameter (3-6 μm), area, Young's modulus, Poisson's ratio and membrane failure analysis. After analyzing the parameters numerically, we have obtained single yeast cell penetration force which is 397 nN. This penetration force indicates the yeast cell wall's stiffness. This method might be used for measuring any kind of cell wall stiffness.

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Electrical and mechanical characterizations of dual nanoprobe for potential application of single cells analysis

Electrical and mechanical characterizations of dual nanoprob...

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IEEE EMBS Conference on Biomedical engineering and Sciences (IECBES)

作者： Abdul Hafiz Mat Sulaiman Mohd Ridzuan Ahmad Department of Mechatronic and Robotic Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia Department of Mechatronic and Robotic Faculty of Electrical Engineering Institute of Ibnu Sina Universiti Teknologi Malaysia Skudai Johor Malaysia

Electrical properties of a single cell can be used to infer about its physiological condition, e.g. cell viability. Conventional methods for electrical property measurement at single cell level are inaccurate, and have a slow throughput rate. Due to that, a dual nanoprobe-microfluidic system for electrical property measurement of single cells has been proposed. This paper is concerned about the mechanical and electrical characterizations of the dual nanoprobe. Electrical and mechanical characterizations have been conducted to measure the resistance and the strength of dual nanoprobe for five different materials i.e. Aluminium, Copper, Silver, Tungsten, and Zinc using finite element approach. From the findings, Tungsten's nanoprobe has the highest strength while the resistance values for the five materials are not significantly different. Therefore, Tungsten has been chosen as the material for the dual nanoprobe.

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Point-to-Point Trajectory Tracking with Two-Degree-of-Freedom Robust Control for a Non-minimum Phase Electro-hydraulic System

Point-to-Point Trajectory Tracking with Two-Degree-of-Freedo...

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World Congress on Intelligent Control and Automation

作者： Rozaimi Ghazali Yahaya Md Sam Mohd Fua'ad Rahmat Zulfatman Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia

ISBN: (纸本)9781467313971

Electro-hydraulic actuator (EHA) system inherently suffers from uncertainties, nonlinearities and time-varying in its model parameters which makes the modeling and controller designs are more complicated. The main objective of this paper is to perform a robust control design using discrete-time sliding mode control (DSMC) with two-degree-of-freedom (2-DOF) control strategy. The proposed controller consists of feedback and feedforward combination which capable to reduce phase lag and steady state error during the trajectory tracking of EHA system. The feedforward controller is developed by implementing the zero phase error tracking control (ZPETC) technique which the main difficulty arises from the nonminimum phase system with no stable inverse. A point-to-point trajectory is used in the experimental works to evaluate the performance of the DSMC. Experimental results reveal that the DMSC with 2-DOF control structure is highly robust and capable to deal with the uncertainties and disturbances occur during the position tracking control for different point of trajectories. It is also shows that the proposed controller can achieve better tracking performance as compared to conventional LQR and PID controller.

关键词： Electro-hydraulic Actuator System Discrete Sliding Mode Control Point-to-Point Trajectory Tracking Control Two-degree-of-freedom Control Structure

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Discrete Sliding mode control using Multirate Output Feedback for motion servo system

Discrete Sliding mode control using Multirate Output Feedbac...

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International Conference on Soft Computing and Intelligent Systems

作者： R. Ngadengon Y. M. Sam J. H. S. Osman R. Ghazali Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia

ISBN: (纸本)9781467327428

This paper presents a multirate output feedback based on discrete time sliding mode to control motion servo system. The method used the output information that is sampled at a faster rate than the control input to design controller. It has been shown that proper selection of the reaching law parameter can reduce the chattering problem. Simulation demonstrate that the controller is highly robust to control although exist uncertainties in the system.

关键词： Component Discrete Sliding Mode Multirate Output Feedback

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