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2012 2nd IEEE-EMBS Conference on Biomedical engineering and Sciences, IECBES 2012

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

ISBN: (纸本)9781467316668

Functional electrical stimulation (FES) has been used to restore the function of paralyzed muscles due to spinal cord injury (SCI). FES induced movement control is a significantly challenging area due to complexity and nonlinearity of musculoskeletal system. A crucial issue of FES is the control of motor function by the artificial activation of paralyzed muscles due to the various characteristics of the underlying physiological/biomechanical system. Muscle response characteristics are nonlinear and time-varying with fatigue issues. In this approach only the quadriceps muscle is stimulated to perform the trajectory motion. This paper presents the initial development of control strategies using FLC and GA in order to optimize the system by FES-cycling trajectory control via Analog Digital Converter, ADC. © 2012 IEEE.

关键词： Fuzzy logic

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A comparative study of power consumption of electric power steering system

A comparative study of power consumption of electric power s...

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2012 IEEE International Conference on Power and Energy, PECon 2012

作者： Hassan, M.K. Aziah, N. Nizam., H.M.I. Mutalib, A.G.A. Toha, S.F. Ibrahim, B.S.K.K. PROTON Engineering Division HICOM Industrial Estate Batu 3 P.O Box 7100 40918 Shah Alam Selangor D.E Malaysia Department of Electrical and Electronic Faculty of Engineering Universiti Putra Malaysia 43400 UPM Serdang Malaysia Department of Mechatronics Faculty of Engineering International Islamic University Malaysia Kuala Lumpur Malaysia Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussien Onn Malaysia 89400 Batu Pahat Johor Malaysia

ISBN: (纸本)9781467350198

Power consumption for each component in electric vehicle (EV) is very crucial since batteries capacity have limitation. Hence, it is essential to rectify the total using up power by each component because it has significant impact on batteries selection. Electric power steering (EPS) has been a popular preference over conventional steering system due to it simplicity, efficiency and requires least maintenance. This paper describes an assessment of power consumption of EPS using Fuzzy-PID controller. The performance of Fuzzy-PID controller is compared with conventional PID controller as well as uncontrolled EPS system. The EPS system was modeled using Matlab/Simulink and two steering behavior were simulated. The results have shown a power reduction of EPS system by using Fuzzy-PID over conventional PID controller. © 2012 IEEE.

关键词： Electric power utilization

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Two-degree-of-freedom Robust Control for a Non-minimum Phase Electro-hydraulic System

Two-degree-of-freedom Robust Control for a Non-minimum Phase...

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第24届中国控制与决策会议

作者： Rozaimi Ghazali Yahaya Md Sam Mohd Fua'ad Rahmat Dirman Hanafi Zulfatman Mechatronic and Robotic Engineering Department Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia86400 Batu Pahat Johor Malaysia Control and Instrumentation Engineering Department Faculty of Electrical Engineering Universiti Teknologi Malaysia81310 Skudai Johor Malaysia

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 control strategy. The proposed controller consists of feedback and feedforward combination which capable to reduce phase lag 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. Finally, a chaotic trajectory tracking is performed in the experimental works to show the robustness of DSMC controller and performance comparison is made with Linear-Quadratic-Regulator (LQR) and Proportional-Integral-Derivative (PID) controllers. The findings show that the proposed controller with ZPETC outperforms the LQR and PID controllers in terms of tracking accuracy.

关键词： Electro-hydraulic Actuator System, Sliding Mode Control, Trajectory Tracking Control and Two-degree-freedom Control Structure

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Modeling and Contro ol Analysis of URRG Monohull Blimp

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Procedia engineering 2012年 41卷 216-223页

作者： Herdawatie Abdul Kadir M.R. Arshad A.B. Husaini Underwater Robotics Research Group (URRG) School of Electricaland Electronic EngineeringEngineering Campus Universiti Sains Malaysia (USM) 143000 Nibong Tebal Pulau Pinang Malaysia Department of Robotic & Mechatronic Engineering Facuulty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia (UTHM) 86400Batu pahatJohor Malaysia

This paper describes the design of a non rigid airship with the issue of scaling down the size. Nevertheless, the stabil lity and controllability of the airship are significant mainly due to drag and d buoyancy forces. These problems can be solved by introduci ing a proper structure design and reliable control algorithm. In this paper, wwe proposed an airship design called as “Blimp”. We have des scribed the analysis of motion characteristics without ballonet and the mode el was characterized based on URRG platform setup. Using th he computational fluid dynamic approach (CFD), the aerodynamic coeffic cients were produced by FLUENT TM package based on geom metry meshing using GAMBIT™. The blimp model has been proven to be e controllable through implementation of an optimal controller for solving the lateral model navigation issues. Simulation within a range oof data reveals that the design achieved the desired motion beha avior, thus verified its efficiency and viability.

关键词： Airship blimp modeling CFD Optimal Control

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Knee Joint Impedance Hybrid Modeling and Control of Functional Electrical Stimulation (FES)-Cycling for Paraplegic: Free Swinging trajectory

Knee Joint Impedance Hybrid Modeling and Control of Function...

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IEEE-EMBS Conference on Biomedical engineering and Sciences

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

ISBN: (纸本)9781467316644

关键词： Functional electrical stimulation Fuzzy logic Genetic algorithm Paraplegic ADC

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Fundamental study on brain signal for BCI-FES system development

Fundamental study on brain signal for BCI-FES system develop...

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IEEE EMBS Conference on Biomedical engineering and Sciences (IECBES)

作者： K. A. A. Rahman B. S. K. K. Ibrahim A.M. Leman M. M. A. Jamil Department of Mechatronic and Robotic Engineering Modeling and Simulation Research Laboratory Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Department of Plan and Automotive Faculty of Technology Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Department of Electronic Engineering Modeling and Simulation Research Laboratory Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia

Electroencephalographic measurements are commonly used in medical and research areas. This article presents an introduction into Electroencephalography (EEG) measurement and the simple experiment of EEG. Its purpose is to develop orientation in EEG field and with building basic knowledge for performing EEG recordings. The normal person used as subject was used in this experiment. It is conducted in three condition; relax, hand grasp and lastly grasp and release. At the end of the experiment, there are some changes of the brain signal due to the activity that subject has been done. It shows that the brain will generate the different signal relate to the activity or the way of thinking of the subject. This study will be used as a fundamental concept for Brain Computer Interface (BCI)-Functional Electrical Stimulation (FES) system development.

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Fuzzy-based Temperature and Humidity Control for HV AC of Electric Vehicle

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Procedia engineering 2012年 41卷 904-910页

作者： B.S.K.K. Ibrahim M.A.N. Aziah S. Ahmad R. Akmeliawati H.M.I. Nizam A.G.A. Muthalif S.F. Toha M.K. Hassan PROTON Professor Office Engineering DivisionHICOM Industrial Estate Batu 3 P. O Box 7100 40918 Shah Alam Selangor D.E Malaysia Dept of Mechatronic and Robotic Faculty of Electrical and Electronic Eng Universiti Tun Hussien Onn Malaysia 86400 Batu Pahat Johor Department of Mechatronics Faculty of Engineering International Islamic University MalaysiaKuala Lumpur Malaysia Department of Electrical and Electronic Faculty of Engineering Universiti Putra Malaysia 43400 UPM Serdang

Vehicles are the people's main means of transportation and thermal comfort in the vehicle cabin plays an important role. The heating, ventilating, and air-conditioning (HVAC) operation system in the vehicle cabin decides the degree of comfort, traffic safety as well as health of the occupants. The challenge of designing the HVAC control is to automatically achieve the thermal comfort, regardless of time varying weather conditions. Since most HVAC systems are complex with nonlinearity, distributed parameters, and multivariable therefore many classical controls do not necessarily yield a satisfactory control performance. This paper presents the development of temperature and humidity control strategy for HVAC based on Fuzzy Logic Control (FLC). The goal of the FLC-based temperature control is to satisfy the convergence and equilibrium property. The simulation test results have been shown a satisfactory to control the temperature and humidity.

关键词： HVAC Fuzzy Logic Elctric Vehicle Temperature Humidity

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Heat exchanger's shell and tube modeling for intelligent control design

Heat exchanger's shell and tube modeling for intelligent con...

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2011 IEEE 3rd International Conference on Communication Software and Networks, ICCSN 2011

作者： Hanafi, Dirman Than, Mohd Nor Mohd Emhemed, Abdulrahman A. A. Mulyana, Tatang Zaid, Amran Mohd Johari, Ayob Hj. Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia 86400 Parit Raja Batu Pahat Johor Malaysia

ISBN: (纸本)9781612844855

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. © 2011 IEEE.

关键词： Intelligent control

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Point-to-point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system

Point-to-point trajectory tracking with discrete sliding mod...

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2011 IEEE Student Conference on Research and Development, SCOReD 2011

作者： Ghazali, R. Sam, Y.M. Rahmat, M.F. Hanafi, D. Ngadengon, R. Zulfatman Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia 86400 Batu Pahat Johor Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia

ISBN: (纸本)9781467301022

This paper presents the position tracking performance of an electro-hydraulic hydraulic actuator (EHA) system by using a discrete sliding mode control (DSMC). A point-to-point trajectory is used in the experimental works to evaluate the performance of the DSMC which is design in two-degree-of-freedom (2-DOF) control structure. The design consists of DSMC and a feed forward controller. The control law is derived from the reaching law concept and its parameters are determined methodically based on the identified model. 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. © 2011 IEEE.

关键词： Hydraulic actuators

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Controller design for inverted pendulum system using discrete sliding mode control

Controller design for inverted pendulum system using discret...

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2011 2nd International Conference on Instrumentation Control and Automation, ICA 2011

作者： Ngadengon, R. Sam, Y.M. Osman, J.H.S. Ghazali, R. Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia 86400 Batu Pahat Johor Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia

ISBN: (纸本)9781457714603

This paper presents discrete sliding mode control (DSMC) for nonlinear model of an inverted pendulum system. The reaching law method is used during the DSMC design. The uncertainties are structured in that system by considering the existence of an error during the pendulum angle measurement. The designed controller is compared with Linear Quadratic Regulator (LQR) controller to observe the capability for controlling the highly nonlinear system of the inverted pendulum. The performance and reliability of the proposed algorithm are determined by performing extensive simulation works using MATLAB/Simulink platform. The result shows that DSMC can produce better response as compared to LQR control strategy. © 2011 IEEE.

关键词： Inverted pendulum

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