amjed jaleel - Academia.edu (original) (raw)

Papers by amjed jaleel

ASIA LIFE SCIENCES; The Asian International Journal of Life Sciences, 2018

The active safety systems used in automotive field are largely exploiting lane detection techniqu... more The active safety systems used in automotive field are largely exploiting lane detection technique for warning the vehicle drivers to correct any unintended road departure and to reach fully autonomous vehicles. Due to its ability, to be programmed, to perform complex mathematical functions and its characterization of high speed processing, Field Programmable Gate Array (FPGA) could cope with the requirement of lane detection implementation and application. In the present work, lane detection is implemented using FPGA for day vision. This necessitates utilization of image processing techniques like filtering, edge detection and thresholding. The lane detection is performed by firstly capturing the image from a video camera and converted to gray scale. Then, a noise filtering process for gray image is performed using Gaussian and average filter. Methods from first and second order edge detection techniques have been selected for the purpose of lane edge detection. The effect of manually changing the threshold level on image enhancement has been examined. The results showed that raising threshold level would better enhance the image. The type of FPGA device used in the present work is Altera DE2. Firstly, the version DE2 Cyclone II start with (11xxxxxx-xxxx) together with Genx camera has been used. This camera supports both formats NTSC and PAL, while the above version of FPGA backups only NTSC format. The software of lane detection is designed and coded using Verilog language.

Journal of Robotics and Control (JRC)

Sliding mode (SM) has been selected as the controlling technique, and the state observer (SO) des... more Sliding mode (SM) has been selected as the controlling technique, and the state observer (SO) design is used as a component of active disturbance rejection control (ADRC) to reduce the knee position trajectory for therapeutic purposes. The suggested controller will improve the needed position performances for the Exoskeleton system when compared to the proportional-derivative controller (PD) and SMC as feed-forward in the ADRC approach, as shown theoretically and through computer simulations. Simulink tool is used in this comparison to analyze the nominal case and several disruption cases. The results of mathematical modeling and simulation studies demonstrated that SMC with a disturbance observer strategy performs better than the PD control system and SMC in feed-forward with a greater capacity to reject disturbances and significantly better than these controllers. Performance indices are used for numerical comparison to demonstrate the superiority of these controllers.

Entropy

In order to extract efficient power generation, a wind turbine (WT) system requires an accurate m... more In order to extract efficient power generation, a wind turbine (WT) system requires an accurate maximum power point tracking (MPPT) technique. Therefore, a novel robust variable-step perturb-and-observe (RVS-P&O) algorithm was developed for the machine-side converter (MSC). The control strategy was applied on a WT based permanent-magnet synchronous generator (PMSG) to overcome the downsides of the currently published P&O MPPT methods. Particularly, two main points were involved. Firstly, a systematic step-size selection on the basis of power and speed measurement normalization was proposed; secondly, to obtain acceptable robustness for high and long wind-speed variations, a new correction to calculate the power variation was carried out. The grid-side converter (GSC) was controlled using a second-order sliding mode controller (SOSMC) with an adaptive-gain super-twisting algorithm (STA) to realize the high-quality seamless setting of power injected into the grid, a satisfactory power...

Al-Khwarizmi Engineering Journal, 2017

In this work, diabetic glucose concentration level control under disturbing meal has been control... more In this work, diabetic glucose concentration level control under disturbing meal has been controlled using two set of advanced controllers. The first set is sliding mode controllers (classical and integral) and the second set is represented by optimal LQR controllers (classical and Min-, ax). Due to their characteristic features of disturbance rejection, both integral sliding mode controller and LQR Minmax controller are dedicated here for comparison. The Bergman minimal mathematical model was used to represent the dynamic behavior of a diabetic patient’s blood glucose concentration to the insulin injection. Simulations based on Matlab/Simulink, were performed to verify the performance of each controller. In spite that Min-max optimal controller gave better disturbance rejection capability than classical optimal controller, classical sliding mode controller could outperform Min-max controller. However, it has been shown that integral sliding mode controller is the best of all in ter...

Processes, 2019

This paper proposes a novel meta-heuristic optimization algorithm called the fine-tuning meta-heu... more This paper proposes a novel meta-heuristic optimization algorithm called the fine-tuning meta-heuristic algorithm (FTMA) for solving global optimization problems. In this algorithm, the solutions are fine-tuned using the fundamental steps in meta-heuristic optimization, namely, exploration, exploitation, and randomization, in such a way that if one step improves the solution, then it is unnecessary to execute the remaining steps. The performance of the proposed FTMA has been compared with that of five other optimization algorithms over ten benchmark test functions. Nine of them are well-known and already exist in the literature, while the tenth one is proposed by the authors and introduced in this article. One test trial was shown to check the performance of each algorithm, and the other test for 30 trials to measure the statistical results of the performance of the proposed algorithm against the others. Results confirm that the proposed FTMA global optimization algorithm has a comp...

International Review of Applied Sciences and Engineering

This paper compared the performance between Integer Order Fuzzy PID (IOFPID) and Fractional Order... more This paper compared the performance between Integer Order Fuzzy PID (IOFPID) and Fractional Order Fuzzy PID (FOFPID) controllers for inverted pendulum system as a controlling plant. The parameters of each controller were tuned with four evolutionary optimization algorithms (Social Spider Optimization (SSO), Swarm Optimization (PSO), Genetic Algorithm (GA), and Particle Ant Colony Optimization (ACO)). The comparisons were carried out between the two controllers IOFPID and FOFPID, as well as among the four optimization algorithms for the two controllers. The results of comparisons proved that the FOFPID controller with SSO has achieved the best time response characteristics and the least tuning time.

Actuators

In this study, synergetic-based adaptive control design is developed for trajectory tracking cont... more In this study, synergetic-based adaptive control design is developed for trajectory tracking control of joint position in knee-rehabilitation system. This system is often utilized for rehabilitation of patients with lower-limb disabilities. However, this knee-assistive system is subject to uncertainties when applied to different persons undertaking exercises. This is due to the different masses and inertias of different persons. In order to cope with these uncertainties, an adaptive scheme has been proposed. In this study, an adaptive synergetic control scheme is established, and control laws are developed to ensure stable knee exoskeleton system subjected to uncertainties in parameters. Based on Lyapunov stability analysis, the developed adaptive synergetic laws are used to estimate the potential uncertainties in the coefficients of the knee-assistive system. These developed control laws guarantee the stability of the knee rehabilitation system controlled by the adaptive synergetic...

2020 24th International Conference on System Theory, Control and Computing (ICSTCC), 2020

Current machine learning developments, in auto-translation research and text comprehension, deman... more Current machine learning developments, in auto-translation research and text comprehension, demand alphabet letter recognition as a preprocessing step. Thus, this paper presents an FPGA-implemented architecture and MATLAB-simulated model for a generalized printed letter recognition algorithm. A spiking neural network (SNN) is designed and implemented using an Altera DE2 field-programmable gate array (FPGA) for character recognition. The proposed SNN structure is a two-layer network consisting of Izhikevich neurons. A modified algorithm is proposed for training purposes. The neural structure is initially designed, trained, and implemented using a MATLAB package. The resulting weights from the training process, based on MATLAB software, are employed to synthesize the SNN for hardware implementation. The SNN software design for hardware implementation is developed using Verilog code. The designed and trained SNN classifier is used to identify four characters, the letters ‘A’ to ‘D’, on a 5×3 binary grid populated by a user through 16 toggle switches implanted on the FPGA development board. The most probable class suggested by the SNN is displayed on an LCD screen. The obtained character recognition is fully identified on the FPGA and MATLAB platforms. The letter recognition rate is 3-fold faster in the FPGA than that of the simulated.

International Journal of Engineering & Technology, 2018

In this work, Design of second order sliding mode control has been developed to control the diabe... more In this work, Design of second order sliding mode control has been developed to control the diabetic glucose concentration level under disturbing meal has been controlled using three sliding mode controllers. A comparative study of three sliding mode controllers is made in terms of robustness characteristics due to meal feeding. The first is the classical sliding mode controller, the second is integral sliding mode controller and the third is the second order sliding mode controller. Due to their characteristic features of disturbance rejection, all the three sliding mode controllers are presented here for comparison. The Bergman minimal mathematical model is used to describe the dynamic behavior of blood glucose concentration due to insulin regulator injection. Simulations, based on MATLAB/Simulink, were performed to verify the performance of each controller. It has been shown that integral and second order sliding mode controllers are the best of all in terms of disturbance reject...

TELKOMNIKA (Telecommunication Computing Electronics and Control), 2019

The active safety systems used in automotive field are largely exploiting lane detection techniqu... more The active safety systems used in automotive field are largely exploiting lane detection technique for warning the vehicle drivers to correct any unintended road departure and to reach fully autonomous vehicles. Due to its ability, to be programmed, to perform complex mathematical functions and its characterization of high speed processing, Field Programmable Gate Array (FPGA) could cope with the requirement of lane detection implementation and application. In the present work, lane detection is implemented using FPGA for day vision. This necessitates utilization of image processing techniques like filtering, edge detection and thresholding. The lane detection is performed by firstly capturing the image from a video camera and converted to gray scale. Then, a noise filtering process for gray image is performed using Gaussian and average filter. Methods from first and second order edge detection techniques have been selected for the purpose of lane edge detection. The effect of manually changing the threshold level on image enhancement has been examined. The results showed that raising threshold level would better enhance the image. The type of FPGA device used in the present work is Altera DE2. Firstly, the version DE2 Cyclone II start with (11xxxxxx-xxxx) together with Genx camera has been used. This camera supports both formats NTSC and PAL, while the above version of FPGA backups only NTSC format. The software of lane detection is designed and coded using Verilog language.

2020 24th International Conference on System Theory, Control and Computing (ICSTCC), 2020

Current machine learning developments, in auto-translation research and text comprehension, deman... more Current machine learning developments, in auto-translation research and text comprehension, demand alphabet letter recognition as a preprocessing step. Thus, this paper presents an FPGA-implemented architecture and MATLAB-simulated model for a generalized printed letter recognition algorithm. A spiking neural network (SNN) is designed and implemented using an Altera DE2 field-programmable gate array (FPGA) for character recognition. The proposed SNN structure is a two-layer network consisting of Izhikevich neurons. A modified algorithm is proposed for training purposes. The neural structure is initially designed, trained, and implemented using a MATLAB package. The resulting weights from the training process, based on MATLAB software, are employed to synthesize the SNN for hardware implementation. The SNN software design for hardware implementation is developed using Verilog code. The designed and trained SNN classifier is used to identify four characters, the letters ‘A’ to ‘D’, on...

TELKOMNIKA Telecommunication Computing Electronics and Control, 2019

The active safety systems used in automotive field are largely exploiting lane detection techniqu... more The active safety systems used in automotive field are largely exploiting lane detection technique for warning the vehicle drivers to correct any unintended road departure and to reach fully autonomous vehicles. Due to its ability, to be programmed, to perform complex mathematical functions and its characterization of high speed processing, Field Programmable Gate Array (FPGA) could cope with the requirement of lane detection implementation and application. In the present work, lane detection is implemented using FPGA for day vision. This necessitates utilization of image processing techniques like filtering, edge detection and thresholding. The lane detection is performed by firstly capturing the image from a video camera and converted to gray scale. Then, a noise filtering process for gray image is performed using Gaussian and average filter. Methods from first and second order edge detection techniques have been selected for the purpose of lane edge detection. The effect of manually changing the threshold level on image enhancement has been examined. The results showed that raising threshold level would better enhance the image. The type of FPGA device used in the present work is Altera DE2. Firstly, the version DE2 Cyclone II start with (11xxxxxx-xxxx) together with Genx camera has been used. This camera supports both formats NTSC and PAL, while the above version of FPGA backups only NTSC format. The software of lane detection is designed and coded using Verilog language.

International Journal of Engineering & Technology, 2018

In this work, Design of second order sliding mode control has been developed to control the diabe... more In this work, Design of second order sliding mode control has been developed to control the diabetic glucose concentration level under
disturbing meal has been controlled using three sliding mode controllers. A comparative study of three sliding mode controllers is made
in terms of robustness characteristics due to meal feeding. The first is the classical sliding mode controller, the second is integral sliding
mode controller and the third is the second order sliding mode controller. Due to their characteristic features of disturbance rejection, all
the three sliding mode controllers are presented here for comparison. The Bergman minimal mathematical model is used to describe the
dynamic behavior of blood glucose concentration due to insulin regulator injection. Simulations, based on MATLAB/Simulink, were
performed to verify the performance of each controller. It has been shown that integral and second order sliding mode controllers are the
best of all in terms of disturbance rejection capability.

ASIA LIFE SCIENCES; The Asian International Journal of Life Sciences, 2018

The active safety systems used in automotive field are largely exploiting lane detection techniqu... more The active safety systems used in automotive field are largely exploiting lane detection technique for warning the vehicle drivers to correct any unintended road departure and to reach fully autonomous vehicles. Due to its ability, to be programmed, to perform complex mathematical functions and its characterization of high speed processing, Field Programmable Gate Array (FPGA) could cope with the requirement of lane detection implementation and application. In the present work, lane detection is implemented using FPGA for day vision. This necessitates utilization of image processing techniques like filtering, edge detection and thresholding. The lane detection is performed by firstly capturing the image from a video camera and converted to gray scale. Then, a noise filtering process for gray image is performed using Gaussian and average filter. Methods from first and second order edge detection techniques have been selected for the purpose of lane edge detection. The effect of manually changing the threshold level on image enhancement has been examined. The results showed that raising threshold level would better enhance the image. The type of FPGA device used in the present work is Altera DE2. Firstly, the version DE2 Cyclone II start with (11xxxxxx-xxxx) together with Genx camera has been used. This camera supports both formats NTSC and PAL, while the above version of FPGA backups only NTSC format. The software of lane detection is designed and coded using Verilog language.

Journal of Robotics and Control (JRC)

Sliding mode (SM) has been selected as the controlling technique, and the state observer (SO) des... more Sliding mode (SM) has been selected as the controlling technique, and the state observer (SO) design is used as a component of active disturbance rejection control (ADRC) to reduce the knee position trajectory for therapeutic purposes. The suggested controller will improve the needed position performances for the Exoskeleton system when compared to the proportional-derivative controller (PD) and SMC as feed-forward in the ADRC approach, as shown theoretically and through computer simulations. Simulink tool is used in this comparison to analyze the nominal case and several disruption cases. The results of mathematical modeling and simulation studies demonstrated that SMC with a disturbance observer strategy performs better than the PD control system and SMC in feed-forward with a greater capacity to reject disturbances and significantly better than these controllers. Performance indices are used for numerical comparison to demonstrate the superiority of these controllers.

Entropy

In order to extract efficient power generation, a wind turbine (WT) system requires an accurate m... more In order to extract efficient power generation, a wind turbine (WT) system requires an accurate maximum power point tracking (MPPT) technique. Therefore, a novel robust variable-step perturb-and-observe (RVS-P&O) algorithm was developed for the machine-side converter (MSC). The control strategy was applied on a WT based permanent-magnet synchronous generator (PMSG) to overcome the downsides of the currently published P&O MPPT methods. Particularly, two main points were involved. Firstly, a systematic step-size selection on the basis of power and speed measurement normalization was proposed; secondly, to obtain acceptable robustness for high and long wind-speed variations, a new correction to calculate the power variation was carried out. The grid-side converter (GSC) was controlled using a second-order sliding mode controller (SOSMC) with an adaptive-gain super-twisting algorithm (STA) to realize the high-quality seamless setting of power injected into the grid, a satisfactory power...

Al-Khwarizmi Engineering Journal, 2017

In this work, diabetic glucose concentration level control under disturbing meal has been control... more In this work, diabetic glucose concentration level control under disturbing meal has been controlled using two set of advanced controllers. The first set is sliding mode controllers (classical and integral) and the second set is represented by optimal LQR controllers (classical and Min-, ax). Due to their characteristic features of disturbance rejection, both integral sliding mode controller and LQR Minmax controller are dedicated here for comparison. The Bergman minimal mathematical model was used to represent the dynamic behavior of a diabetic patient’s blood glucose concentration to the insulin injection. Simulations based on Matlab/Simulink, were performed to verify the performance of each controller. In spite that Min-max optimal controller gave better disturbance rejection capability than classical optimal controller, classical sliding mode controller could outperform Min-max controller. However, it has been shown that integral sliding mode controller is the best of all in ter...

Processes, 2019

This paper proposes a novel meta-heuristic optimization algorithm called the fine-tuning meta-heu... more This paper proposes a novel meta-heuristic optimization algorithm called the fine-tuning meta-heuristic algorithm (FTMA) for solving global optimization problems. In this algorithm, the solutions are fine-tuned using the fundamental steps in meta-heuristic optimization, namely, exploration, exploitation, and randomization, in such a way that if one step improves the solution, then it is unnecessary to execute the remaining steps. The performance of the proposed FTMA has been compared with that of five other optimization algorithms over ten benchmark test functions. Nine of them are well-known and already exist in the literature, while the tenth one is proposed by the authors and introduced in this article. One test trial was shown to check the performance of each algorithm, and the other test for 30 trials to measure the statistical results of the performance of the proposed algorithm against the others. Results confirm that the proposed FTMA global optimization algorithm has a comp...

International Review of Applied Sciences and Engineering

This paper compared the performance between Integer Order Fuzzy PID (IOFPID) and Fractional Order... more This paper compared the performance between Integer Order Fuzzy PID (IOFPID) and Fractional Order Fuzzy PID (FOFPID) controllers for inverted pendulum system as a controlling plant. The parameters of each controller were tuned with four evolutionary optimization algorithms (Social Spider Optimization (SSO), Swarm Optimization (PSO), Genetic Algorithm (GA), and Particle Ant Colony Optimization (ACO)). The comparisons were carried out between the two controllers IOFPID and FOFPID, as well as among the four optimization algorithms for the two controllers. The results of comparisons proved that the FOFPID controller with SSO has achieved the best time response characteristics and the least tuning time.

Actuators

In this study, synergetic-based adaptive control design is developed for trajectory tracking cont... more In this study, synergetic-based adaptive control design is developed for trajectory tracking control of joint position in knee-rehabilitation system. This system is often utilized for rehabilitation of patients with lower-limb disabilities. However, this knee-assistive system is subject to uncertainties when applied to different persons undertaking exercises. This is due to the different masses and inertias of different persons. In order to cope with these uncertainties, an adaptive scheme has been proposed. In this study, an adaptive synergetic control scheme is established, and control laws are developed to ensure stable knee exoskeleton system subjected to uncertainties in parameters. Based on Lyapunov stability analysis, the developed adaptive synergetic laws are used to estimate the potential uncertainties in the coefficients of the knee-assistive system. These developed control laws guarantee the stability of the knee rehabilitation system controlled by the adaptive synergetic...

2020 24th International Conference on System Theory, Control and Computing (ICSTCC), 2020

Current machine learning developments, in auto-translation research and text comprehension, deman... more Current machine learning developments, in auto-translation research and text comprehension, demand alphabet letter recognition as a preprocessing step. Thus, this paper presents an FPGA-implemented architecture and MATLAB-simulated model for a generalized printed letter recognition algorithm. A spiking neural network (SNN) is designed and implemented using an Altera DE2 field-programmable gate array (FPGA) for character recognition. The proposed SNN structure is a two-layer network consisting of Izhikevich neurons. A modified algorithm is proposed for training purposes. The neural structure is initially designed, trained, and implemented using a MATLAB package. The resulting weights from the training process, based on MATLAB software, are employed to synthesize the SNN for hardware implementation. The SNN software design for hardware implementation is developed using Verilog code. The designed and trained SNN classifier is used to identify four characters, the letters ‘A’ to ‘D’, on a 5×3 binary grid populated by a user through 16 toggle switches implanted on the FPGA development board. The most probable class suggested by the SNN is displayed on an LCD screen. The obtained character recognition is fully identified on the FPGA and MATLAB platforms. The letter recognition rate is 3-fold faster in the FPGA than that of the simulated.

International Journal of Engineering & Technology, 2018

In this work, Design of second order sliding mode control has been developed to control the diabe... more In this work, Design of second order sliding mode control has been developed to control the diabetic glucose concentration level under disturbing meal has been controlled using three sliding mode controllers. A comparative study of three sliding mode controllers is made in terms of robustness characteristics due to meal feeding. The first is the classical sliding mode controller, the second is integral sliding mode controller and the third is the second order sliding mode controller. Due to their characteristic features of disturbance rejection, all the three sliding mode controllers are presented here for comparison. The Bergman minimal mathematical model is used to describe the dynamic behavior of blood glucose concentration due to insulin regulator injection. Simulations, based on MATLAB/Simulink, were performed to verify the performance of each controller. It has been shown that integral and second order sliding mode controllers are the best of all in terms of disturbance reject...

TELKOMNIKA (Telecommunication Computing Electronics and Control), 2019

The active safety systems used in automotive field are largely exploiting lane detection techniqu... more The active safety systems used in automotive field are largely exploiting lane detection technique for warning the vehicle drivers to correct any unintended road departure and to reach fully autonomous vehicles. Due to its ability, to be programmed, to perform complex mathematical functions and its characterization of high speed processing, Field Programmable Gate Array (FPGA) could cope with the requirement of lane detection implementation and application. In the present work, lane detection is implemented using FPGA for day vision. This necessitates utilization of image processing techniques like filtering, edge detection and thresholding. The lane detection is performed by firstly capturing the image from a video camera and converted to gray scale. Then, a noise filtering process for gray image is performed using Gaussian and average filter. Methods from first and second order edge detection techniques have been selected for the purpose of lane edge detection. The effect of manually changing the threshold level on image enhancement has been examined. The results showed that raising threshold level would better enhance the image. The type of FPGA device used in the present work is Altera DE2. Firstly, the version DE2 Cyclone II start with (11xxxxxx-xxxx) together with Genx camera has been used. This camera supports both formats NTSC and PAL, while the above version of FPGA backups only NTSC format. The software of lane detection is designed and coded using Verilog language.

2020 24th International Conference on System Theory, Control and Computing (ICSTCC), 2020

Current machine learning developments, in auto-translation research and text comprehension, deman... more Current machine learning developments, in auto-translation research and text comprehension, demand alphabet letter recognition as a preprocessing step. Thus, this paper presents an FPGA-implemented architecture and MATLAB-simulated model for a generalized printed letter recognition algorithm. A spiking neural network (SNN) is designed and implemented using an Altera DE2 field-programmable gate array (FPGA) for character recognition. The proposed SNN structure is a two-layer network consisting of Izhikevich neurons. A modified algorithm is proposed for training purposes. The neural structure is initially designed, trained, and implemented using a MATLAB package. The resulting weights from the training process, based on MATLAB software, are employed to synthesize the SNN for hardware implementation. The SNN software design for hardware implementation is developed using Verilog code. The designed and trained SNN classifier is used to identify four characters, the letters ‘A’ to ‘D’, on...

TELKOMNIKA Telecommunication Computing Electronics and Control, 2019

The active safety systems used in automotive field are largely exploiting lane detection techniqu... more The active safety systems used in automotive field are largely exploiting lane detection technique for warning the vehicle drivers to correct any unintended road departure and to reach fully autonomous vehicles. Due to its ability, to be programmed, to perform complex mathematical functions and its characterization of high speed processing, Field Programmable Gate Array (FPGA) could cope with the requirement of lane detection implementation and application. In the present work, lane detection is implemented using FPGA for day vision. This necessitates utilization of image processing techniques like filtering, edge detection and thresholding. The lane detection is performed by firstly capturing the image from a video camera and converted to gray scale. Then, a noise filtering process for gray image is performed using Gaussian and average filter. Methods from first and second order edge detection techniques have been selected for the purpose of lane edge detection. The effect of manually changing the threshold level on image enhancement has been examined. The results showed that raising threshold level would better enhance the image. The type of FPGA device used in the present work is Altera DE2. Firstly, the version DE2 Cyclone II start with (11xxxxxx-xxxx) together with Genx camera has been used. This camera supports both formats NTSC and PAL, while the above version of FPGA backups only NTSC format. The software of lane detection is designed and coded using Verilog language.

International Journal of Engineering & Technology, 2018

In this work, Design of second order sliding mode control has been developed to control the diabe... more In this work, Design of second order sliding mode control has been developed to control the diabetic glucose concentration level under
disturbing meal has been controlled using three sliding mode controllers. A comparative study of three sliding mode controllers is made
in terms of robustness characteristics due to meal feeding. The first is the classical sliding mode controller, the second is integral sliding
mode controller and the third is the second order sliding mode controller. Due to their characteristic features of disturbance rejection, all
the three sliding mode controllers are presented here for comparison. The Bergman minimal mathematical model is used to describe the
dynamic behavior of blood glucose concentration due to insulin regulator injection. Simulations, based on MATLAB/Simulink, were
performed to verify the performance of each controller. It has been shown that integral and second order sliding mode controllers are the
best of all in terms of disturbance rejection capability.