Human muscle fatigue is identified as one of the causes to musculuskeletal disorder (MSD). The ob... more Human muscle fatigue is identified as one of the causes to musculuskeletal disorder (MSD). The objective of this paper is to investigate the effect of an exoskeleton in dealing with muscle fatigue in a virtual environment. The focus of this work is, for the exoskeleton to provide support as needed by human joint. A (Proportional, Integration and Derivative) controller is used for both human and exoskeleton. Simmechanics and Simulink are used to evaluate the performance of the exoskeleton. Experiments show that human is able to maintain doing the job by wearing the exoskeleton.
Indonesian Journal of Electrical Engineering and Computer Science, 2021
In Malaysia, banana is a top fruit production which contribute to the economy growth in agricultu... more In Malaysia, banana is a top fruit production which contribute to the economy growth in agriculture field. Hence, it is significant to have a quality production of banana and important to detect the plant diseases at the early stage. There are many types of banana leaf diseases such as Banana Mosaic, Black Sigatoka and Yellow Sigatoka. These three diseases are related to color changes at banana. This research paper is an experiment based and need to identify the best color feature extraction method to classify banana leaf diseases. Total of 48 banana leaf images that are used in this research paper. Four types of color feature extraction methods which are color histogram, color moment, hue, saturation, and value (HSV) histogram and color auto correlogram are experimented to determine the best method for banana leaf diseases classification. While for the classifiers, support vector machine (SVM) and k-Nearest neighbors (k-NN) are used to evaluate the performance and accuracy of each ...
Flexible beam structure is usually applied in various fields of engineering and industrial. There... more Flexible beam structure is usually applied in various fields of engineering and industrial. There are few points of interest using flexible structure and one of the advantages is that its lighter compared to a rigid structure. Besides that, flexible beam also can save cost, reduce energy consumption, and improve operation safety. However, flexible beam structures are too sensitive and susceptible to with unwanted vibration that would cause damage or degradation to the structure system. Hence, to overcome the problem, appropriate modelling and controller for such systems should be developed. Currently, there are plenty of methods that have been developed by researchers to suppress undesired vibration. Based on previous studies, most researchers nowadays use system identification (SI) as a modelling technique to develop a dynamic model of flexible structure via swarm intelligence algorithm (SIA). Therefore, two type of algorithms was used in this work for modelling development of flex...
Indonesian Journal of Electrical Engineering and Computer Science, 2021
In Malaysia, banana is a top fruit production which contribute to the economy growth in agricultu... more In Malaysia, banana is a top fruit production which contribute to the economy growth in agriculture field. Hence, it is significant to have a quality production of banana and important to detect the plant diseases at the early stage. There are many types of banana leaf diseases such as Banana Mosaic, Black Sigatoka and Yellow Sigatoka. These three diseases are related to color changes at banana. This research paper is an experiment based and need to identify the best color feature extraction method to classify banana leaf diseases. Total of 48 banana leaf images that are used in this research paper. Four types of color feature extraction methods which are color histogram, color moment, hue, saturation, and value (HSV) histogram and color auto correlogram are experimented to determine the best method for banana leaf diseases classification. While for the classifiers, support vector machine (SVM) and k-Nearest neighbors (k-NN) are used to evaluate the performance and accuracy of each ...
2018 International Conference on Applied Engineering (ICAE), 2018
One of the most common problems in humans is a muscle fatigue. Exoskeletons are known as one of t... more One of the most common problems in humans is a muscle fatigue. Exoskeletons are known as one of the solution to deal with human muscle fatigue. However, several issues related to the development of exoskeletons for such a case have been identified. One of these is the control mechanism. Thus, the objective of this paper is to investigate development of a control strategy for the upper-limb exoskeleton. In this paper, a new control mechanism for an upper-limb exoskeleton is proposed. A fuzzy-based PD controller and PID are used in the proposed control mechanism, and a comparative assessment of the performance of both controllers is made. The results show that the control mechanism with fuzzy-based PD controller performs better than the PID controller in terms of trajectory tracking accuracy and control torque analysis.
Indonesian Journal of Electrical Engineering and Informatics (IJEEI), 2019
One of the most common issues to human is fatigue. A technology known as exoskeleton has been ide... more One of the most common issues to human is fatigue. A technology known as exoskeleton has been identified as one of the solutions to address this issue. However, there are two issues that need to be solved. One of them is the control approach. Hence, the main aim of this work, is to investigate the control design for upper-limb exoskeleton. An extended based fuzzy control is proposed to observe the effectiveness of the exoskeleton in dealing with human with different strength. Three conditions of human strength were applied. PID was used for a comparison purpose. It is shown that with the proposed control approach, the exoskeleton can assist human to achieve the desired trajectory accurately with a minimal amount of torque required.
2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR), 2016
A knowledge of human upper-limb structure and its mechanical functions are important for developi... more A knowledge of human upper-limb structure and its mechanical functions are important for developing an exoskeleton. The Sliding Mode Control with Fuzzy Type-II is proposed to control the movements of the human extremity joints. The Lagrange method is used to model the dynamics system of human upper-limb. The findings demonstrate the effectiveness of the proposed controller in tracking the desired motion and it is also able to eliminate the chattering problem as well as deal with uncertainties.
Pemudahan permukaan telah menjadi topik kajian yang menarik dalam beberapa dekad ini. Sesetengah ... more Pemudahan permukaan telah menjadi topik kajian yang menarik dalam beberapa dekad ini. Sesetengah penyelidik memperkenalkan kaedah yang baharu manakala penyelidik lain melakukan pengubahsuaian ataupun penambahbaikan terhadap kaedah yang sedia ada. Walau bagaimanapun, model yang telah dipermudahkan mempunyai kecenderungan untuk kehilangan sebahagian daripada bentuk asalnya. Dalam pada itu, untuk mengatasi segala masalah ini, satu algoritma baru diperkenalkan, di mana formula nisbah digunakan untuk mengenal pasti calon elemen yang layak untuk dibuang. Elemen yang digunakan dalam algoritma baru ini adalah segitiga. Keputusan kajian menunjukkan bahawa algoritma yang dicadangkan dapat mengekalkan bentuk permukaan model asal. Kata kunci: Permudahan permukaan; persamaan rasional; berjenis; segitiga kontraksi; penipisan permukaan Mesh simplification has become an interesting research area over the past few decades. Some researchers have introduced various new methods while others have made s...
Performing heavy physical tasks, overhead work and long working hours are some examples of activi... more Performing heavy physical tasks, overhead work and long working hours are some examples of activities that can lead to musculoskeletal problems in humans. To overcome this issue, automated robots such as the upper-limb exoskeleton is used to assist humans while performing tasks. However, several concerns in developing the exoskeleton have been raised such as the control strategies used. In this study, a control strategy known as the extended de-weight fuzz was proposed to ensure that the exoskeleton could be maneuvered to the desired position with the least number of errors and minimum torque requirement. The extended de-weight fuzzy is a combination of the fuzzy-based PD and fuzzy-based de-weight controller systems. The extended de-weight fuzzy was then compared with the fuzzy-based PD and PID controllers, and the performances of these controllers were compared in terms of their deviations and required torques to perform tasks. The findings show that the proposed control strategy p...
Mesh simplification has become an interesting research area over the past few decades. Some resea... more Mesh simplification has become an interesting research area over the past few decades. Some researchers have introduced various new methods while others have made some modifications or improvements to the existing method. However, the modified model tended to lose some of its original shape. Hence, to solve these arising problems, a new mesh simplification algorithm is introduced in this paper. Mesh simplification can be divided into two groups; mesh decimation and mesh refinement. However, in this work, mesh decimation is chosen and a rational equation is used as a cost to select elements as a candidate to be removed. The proposed algorithm also used triangular mesh as the element. The proposed algorithm was tested onto three types of data: the parametric equations, 3D data from standard database and 3D data from 3D scanner. The results clearly demonstrated that the proposed algorithm can preserve the important features of the parametric equations and 3D human shape while the boundary of the models is protected from being removed. In addition, the proposed algorithm also succeeded in simplifying the models without distorting the whole shape of the models even if the sliver triangle test is not applied on it.
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