Papers by mohamad shukri zainal abidin
International Journal of Power Electronics and Drive Systems (IJPEDS)
In power generation, a 24-hour load profile can vary significantly throughout the day. Therefore,... more In power generation, a 24-hour load profile can vary significantly throughout the day. Therefore, power generation must be adjusted to reduce money loss due to excess generation. This paper presents a short-term load forecasting (STLF) system design using artificial neural network (ANN). As ANN come in many different configurations, this paper analyzes the best ANN configuration via trial-and-error method. To train the ANN, historical load data from 2016 to 2018 of power south energy cooperative (AEC) is used. A simple feedforward ANN type with one hidden layer is implemented, where 48 neurons are used at the input layer. For hidden layer, an arbitrary 50 neurons are chosen and 24 neurons at output layer are used to generate a day ahead 24-hour load profile. To measure the best activation function for SLTF application, four non-linear activation functions will be tested and the best activation function is used to create two and three hidden layer ANN architecture. Finally, the perfo...
Enhanced Probabilistic Roadmap for Robot Navigation in Virtual Greenhouse Environment
Communications in Computer and Information Science
Inefficient navigation capability in dynamic agricultural field limits the application of agricul... more Inefficient navigation capability in dynamic agricultural field limits the application of agricultural robot in the field. Probabilistic roadmap however has the robustness for outdoor navigation. A path planning algorithm was established upon an enhanced probabilistic roadmap and this was implemented in a virtual greenhouse environment. A smoothing algorithm for the robot’s navigation has been proposed to improve the existing algorithm in producing an optimal path. A simulation was conducted using a crop inspection mobile robot and tested with suitable turning trajectories for lane changing. Several trajectories were initiated and compared based on travel time, distance and controller error in order to choose the best trajectories for crop inspection. The proposed smoothing algorithm was able to smooth out the initial paths in order to create an optimal path for the robot with error less than 0.1 m.
Racer: A Simulated Environment Driving Simulator to Investigate Human Driving Skill
Communications in Computer and Information Science
The identification and the quantification of human skill is one of the major characteristics to b... more The identification and the quantification of human skill is one of the major characteristics to be considered in designing an algorithm for Human Adaptive Mechatronics (HAM) application. This paper focuses on studying the Racer software, as well as the relationship of data gained and the simulated environment. The fact that Racer is chosen as the tool is described. This paper discusses the details about the software used; Racer as the driving simulator environment during the experiment. The experimental setup, data extraction process and data conversion are explained further in this paper. The experimental results meet the purpose of data collection which provides variety set of data, including many options for cars and tracks. As a conclusion, Racer is a suitable software to be used. The utmost important, the further study of this research will help during the development of car assistance system.
Autonomous mobility of a fleet of vehicles for precision pesticide application
Computers and Electronics in Agriculture
Jurnal Teknologi
In robot navigation experiment, a localization and motion control system is required to secure th... more In robot navigation experiment, a localization and motion control system is required to secure the agricultural robot motion in the environment. However, the high cost of localization system and complex structure of motion controller has limited the low cost agricultural mobile robot development. In this paper, a low-cost localization system and simple motion control system is presented. The localization system has been implemented using a dead reckoning method by accessing an incremental encoder’s reading. A simple cascaded motion control system based on proportional feedback kinematics controller and PI based controller was used to control the mobile robot motion. The performances of different turning methods: U turn and a π turn, were compared for lane changing, based on completion time, controller’s error and distance travelled. Simulation test of robot motion was conducted using a Simulink3d animation in MATLAB software. An experimental test in a real greenhouse environment was...
Due to disadvantages in manual inspection, an automated visual inspection system is needed to eli... more Due to disadvantages in manual inspection, an automated visual inspection system is needed to eliminate subjective aspects and provides fast and quantitative assessment of printed circuit board (PCB). Up to the present, there has been a lot of work and research concentrated on PCB defect detection. PCB defects detection is necessary for verification of the characteristics of PCB to make sure it is in conformity with the design specifications. However, besides the need to detect the defects, it is also essential to classify these defects so that the source of these defects can be identified. Unfortunately, this area has been neglected and not been given enough attention. Hence, this study proposes an algorithm to group the defects found on bare PCB. Using a synthetically generated PCB image, the algorithm is able to group 14 commonly known PCB defects into five groups. The proposed algorithm includes several image processing operations such as image subtraction, image adding, logical...
Non-linear PID Controller for Trajectory Tracking of a Differential Drive Mobile Robot
Umar Zangina, Salinda Buyamin, Mohamad Shukri Zainal Abidin, Mohd Saiful Azimi Mahmud, Hameedah S... more Umar Zangina, Salinda Buyamin, Mohamad Shukri Zainal Abidin, Mohd Saiful Azimi Mahmud, Hameedah Sahib Hasan School of Electrical Engineering, Faculty of Engineering, Universiti Teknologi Malaysia, 81310 UTM Skudai, Johor, Malaysia Ministry of Higher Education and Scientific Research, Al Furat Al Awsat Technical University, Iraq. Research Fellow l @ sokoto energy research centre Usmanu Danfodiyo University sokoto, Nigeria
Biased Robust Composite Nonlinear Feedback Control of Under Actuated Systems
Communications in Computer and Information Science
This paper proposes a method of designing composite nonlinear feedback (CNF) control for under ac... more This paper proposes a method of designing composite nonlinear feedback (CNF) control for under actuated systems. By biasing the output error feedback of the nonlinear part of CNF, a state that is not the reference state but also important, can be given attention not only in the linear part but in the nonlinear part of CNF as well. The proposed scheme is tested on two wheeled inverted pendulum (TWIP) mobile robot which is highly under actuated robot, and shows a better performance in balancing the robot and also in energy consumption.
The control of quadrotor helicopter in a hover condition has always been a great challenge for co... more The control of quadrotor helicopter in a hover condition has always been a great challenge for control engineers and researchers. Various algorithms have been developed to control this type of helicopter due to its high nonlinearities. This paper presents the dynamic model of quadrotor helicopter together with backstepping-based nonlinear control design which stabilizes the system. In order to verify the feasibility of the proposed controller, extensive simulations are performed using Matlab Simulink software. Here, the proper method to configure the solver options of the model design to provide an efficient and accurate simulation performance is presented. Through simulation test by using the dynamic model of a four degree of freedom quadrotor helicopter, the proposed approach can effectively perform stabilization and trajectory tracking. Besides, the simulation results indicate that the proposed design techniques can stabilize the quadrotor helicopter with better performance as co...
Agriculture is the backbone of society as it mainly functions to provide food, feed and fiber on ... more Agriculture is the backbone of society as it mainly functions to provide food, feed and fiber on which all human depends to live. Precision agriculture is implemented with a goal to apply sufficient treatments at the right place in the right time with the purpose to provide low-input, high efficiency and sustainable agricultural production. In precision agriculture, automation and robotics have become one of the main frameworks which focusing on minimizing environmental impact and simultaneously maximizing agricultural produce. The application of automation and robotics in precision agriculture is essentially implemented for precise farm management by using modern technologies. In the past decades, a significant amount of research has focused on the applications of mobile robot for agricultural operations such as planting, inspection, spraying and harvesting. This paper reviews the recent applications of automation and robotics in agriculture in the past five years. In this paper, t...
This paper presents modelling and control of DWR 1.0, a two wheeled mobile robot. This balancing ... more This paper presents modelling and control of DWR 1.0, a two wheeled mobile robot. This balancing robot is one of the applications of an inverted pendulum on a two wheel. A relatively recent offshoot of the classical inverted pendulum is the wheel inverted pendulum, popularized in contemporary culture by the Segway Personal Transporter. However, the mathematical model for a wheel inverted pendulum do not account for the full complexity of the construction of the platform. The mathematical model obtained in this work with the measured parameters is simulated using Matlab and PID control parameters are determined. Finally, PID control algorithm is implemented on the two-wheeled mobile robot to test the accuracy of the model.
Sequence design for Direct-Proportional Length-Based DNA Computing using Population-based Ant Colony Optimization
Generally, in DNA computing, the DNA sequences used for the computation should be critically desi... more Generally, in DNA computing, the DNA sequences used for the computation should be critically designed in order to reduce error that could occur during computation. In order to design a set DNA sequences for Direct-Proportional Length-Based DNA Computing (DPLB-DNAC), a Population-based Ant Colony Optimization (P-ACO) method is proposed. Previously, the DNA sequences for DPLB-DNAC are designed using graph method and Generate-and-Test approach, respectively. The both of methods are without the optimized objective functions process. The proposed method used four objective functions in their process to obtain the best solutions. The results obtained from the proposed method are compared with the sequences generated by graph and Generate-and-Test methods. The results show that P-ACO approach can generate relatively better DNA sequences in some objectives than others. It can be concluded that proposed algorithm can obtain relatively a better set of DNA sequences for DPLB-DNAC.
The paper describes the design of a prototype legged mechanism together with suction mechanism, t... more The paper describes the design of a prototype legged mechanism together with suction mechanism, the mechanical design, on-board controller and an initial performance test. The design is implemented in the form of a pneumatically powered multi-legged robot equipped with suction pads at the sole of the feet for wall climbing purpose. The whole mechanism and suction system is controlled by controller which is housed onboard the robot. The gait of the motion depended on the logic control patterns as dictated by the controller. The robot is equipped with sensors both at the front and rear ends that function as an obstacle avoidance facility. Once objects are detected, signals are sent to the controller to start an evasive action that is to move in the opposite direction. The mechanism has been tested and initial results have shown promising potential for an autonomous mobile.
A greedy approach to improve pesticide application for precision agriculture using model predictive control
Computers and Electronics in Agriculture
A model predictive controller for precision irrigation using discrete lagurre networks
Computers and Electronics in Agriculture
Abstract The increasing demand for water is depleting the natural water resources worldwide. One ... more Abstract The increasing demand for water is depleting the natural water resources worldwide. One of the major consumers of water is the agricultural industry. Traditional means of irrigation results in a lot of water wastage due to which the notion of precision irrigation was introduced using embedded devices. Many of the existing techniques for precision irrigation produce either sub-optimal results or have high computational complexity not suitable for low cost and simple embedded devices such as Raspberry-Pi (RPi). To solve this issue, this paper presents a precision irrigation technique based on discrete time model predictive control (MPC). To reduce the computational complexity of the proposed techniques, the use of Laguerre functions to approximate the control horizon is proposed. Using simulations in MATLAB, the results shows that the proposed technique can approximate the behavior of a discrete linear quadratic regulator with sufficient accuracy. The experimental results in a greenhouse environment, show that the proposed that the proposed technique can reduce water consumption by 30% over a period of 21 days. Moreover, a performance analysis of the proposed technique is presented to show that the proposed technique has significantly lower the computational complexity as compared to other conventional MPC techniques, i.e., it results in a computational complexity at least three time lower than existing techniques. Thus, the proposed precision irrigation control technique can be an attractive choice for real time agricultural application.
Multi-objective Route Planning for Underwater Cleaning Robot in Water Reservoir Tank
Journal of Intelligent & Robotic Systems
Underwater tank cleaning using robotic method is very crucial due to the concern on the diver’s s... more Underwater tank cleaning using robotic method is very crucial due to the concern on the diver’s safety in undisrupted water supply operation. A Remotely Operated Underwater Vehicles (ROV) used in the tank cleaning operation however, suffers from a high operational cost due to the lack of systematic operator guidance in robot maneuvering. This paper presents a multi-objective approach in designing a Decision Support System (DSS) for underwater cleaning robot. To explore all feasible path, the path alternatives for every cleaning point in the tank is found using Probabilistic Roadmap (PRM). Then, an optimized sequential route are identified using Non-Dominated Sorting Genetic Algorithm using Reference Point Based (NSGA-III). Several objectives such as path length and routing angle are considered to be optimized, while ensuring constraints such as similar deployment point, maximum daily time limit and cable entanglement. To measure the quality of the proposed solution, comparisons have been done based on performance of NSGA-III with Non-Dominated Sorting Genetic Algorithm II (NSGA-II) and Multi-Objective Particle Swarm Optimization (MOPSO) by considering the C-Metric value, execution time and estimated cleaning duration. In addition, comparisons with conventional path by human operator is also conducted to validate the significance of DSS application in underwater tank cleaning. Results have shown that NSGA-III has superiorities with an improvement of 11.11% in cleaning time as compared to NSGA-II and 5.12% improvement compared to MOPSO.
Design and Development of GMapping based SLAM Algorithm in Virtual Agricultural Environment
2021 11th IEEE International Conference on Control System, Computing and Engineering (ICCSCE)
The global population’s continuous growth has speeded up the search for an efficient ways of crop... more The global population’s continuous growth has speeded up the search for an efficient ways of crop production. More significant environmental and food safety considerations are pushing farmers to track and incorporate inputs reliably. The latest technology and research results are increasingly used in agriculture, especially in intensive cultures that ensure remunerative returns. This paper aims to design, simulate, verify, analyze, and develop an agricultural robot localization system in the greenhouse environment using GMapping algorithm-based SLAM approach. A simulation is conducted with an agricultural mobile robot (Turtlebot3) using GMapping algorithm-based Simultaneous Localization and Mapping (SLAM) approach for autonomous navigation and continuous data collection. By using this approach, Turtlebot3 can roam around the environment while generating a map of the environment. Besides that, continuous data from a greenhouse environment can be obtained in which can significantly improve the autonomous agricultural environment farming performance.
Science Proceedings Series
Automated guided vehicle (AGV) has great significance in material flow and distribution of goods ... more Automated guided vehicle (AGV) has great significance in material flow and distribution of goods with high precision and efficiency. Besides, Ultra-wideband (UWB) is a technology used to transmit wireless signal in nanosecond. In this paper, localization system using AGV via UWB is designed. Futhermore, the experiment of localization with AGV is introduced and the result is disscused. In addition, control system for AGV is developed by using kinematic control system via Labview.
A review on monitoring and advanced control strategies for precision irrigation
Computers and Electronics in Agriculture
Abstract The demand for freshwater is on the increase due to the rapid growth in the world’s popu... more Abstract The demand for freshwater is on the increase due to the rapid growth in the world’s population while the effect of global warming and climate change cause severe threat to water use and food security. Consequently, irrigation systems are tremendously utilized by many farmers all over the world with its associated high amount of water consumption from various sources posing a major concern. This necessitates the increased focus on improving the efficiency of water usage in irrigation agriculture. The advent and rapid successes of the Internet of Things (IoT) and advanced control strategies are being leveraged to achieve improved monitoring and control of irrigation farming. In this review, a thorough search for literature on irrigation monitoring and advanced control systems highlighting the research works within the past ten years are presented. Attention is paid on recent research works related to the monitoring and advance control concepts for precision irrigation. It is expected that this review paper will serve as a useful reference to enhance reader’s knowledge on monitoring and advanced control opportunities related to irrigation agriculture as well as assist researchers in identifying directions and gaps to future research works in this field.
Bulletin of Electrical Engineering and Informatics
This paper presents the development work for integrating an Internet of Things (IoT) with a fibro... more This paper presents the development work for integrating an Internet of Things (IoT) with a fibrous capillary irrigation system based on the climatic demand estimated by the weather condition. The monitoring and control using an IoT system is critical for such application that is targeted for precision irrigation. The fibrous capillary irrigation system is managed by manipulating a water supply depth using the potential evapotranspiration (ETo). A soil mositure sensor was used to monitor the progress of the root water uptake and input the fuzzy logic system, to determine the water requirements for the crop medium. Experiment was conducted by using a Choy sum plant as the test crop grown in a greenhouse. The monitoring of the demand and management of the watering system was successful. The ETo data was able to approximate the crop water requirement in near real time.
Uploads
Papers by mohamad shukri zainal abidin