Sallehuddin Haris | Universiti Kebangsaan Malaysia (original) (raw)

Papers by Sallehuddin Haris

Physics Procedia, 2010

In this paper, a method to measure distance using a laser-pointer is presented. This method calcu... more In this paper, a method to measure distance using a laser-pointer is presented. This method calculates the distance of the robot from obstacles to enable it to traverse to its target location, while avoiding obstacles along the way. Images of the workspace environment are first captured using a webcam. Image processing techniques are then used to identify the existence of obstacles. Using a laser emitter, the distance to obstacles can be calculated. The rangefinder system consists of a single robot mounted webcam and a laser-pointer. The program is written in MATLAB with the Image Processing Toolbox.

Applied Sciences

Recent developments in ultrasonic material testing have increased the need to evaluate the curren... more Recent developments in ultrasonic material testing have increased the need to evaluate the current status of the different applications of piezoelectric elements (PEs). This research have reviewed state-of-the-art emerging new technology and the role of PEs in tests for a number of mechanical properties, such as creep, fracture toughness, hardness, and impact toughness, among others. In this field, importance is given to the following variables, namely, (a) values of the natural frequency to PEs, (b) type and dimensions of specimens, and (c) purpose of the tests. All these variables are listed in three tables to illustrate the nature of their differences in these kinds of tests. Furthermore, recent achievements in this field are emphasized in addition to the many important studies that highlight the role of PEs.

Materials Today: Proceedings

Metals

This paper presents the evaluation of frequency-based approach predicted spring using acceleratio... more This paper presents the evaluation of frequency-based approach predicted spring using acceleration signals that were collected from various road conditions. Random loadings in the forms of acceleration are nominal and more flexible for vehicle components fatigue assessment. In this analysis, the strain time history of the spring and acceleration signals of the suspension strut was measured from three different road conditions. The acceleration signals were then transformed into power spectra density (PSD). PSD cycle counter, like Lalanne, Dirlik, and narrow band approach, was applied to obtain equivalent load cycles. The stress response was obtained through having the equivalent load cycles with a spring modal frequency response function (FRF) and different stress criterion, like absolute maximum principal and critical plane approaches. Then, the stress response was used to predict the spring fatigue life using stress-life (S-N) approach. The results revealed that the harshest road ...

2016 International Conference on Advanced Mechatronic Systems (ICAMechS), 2016

Proceedings of 2014 International Conference on Modelling Identification Control, Dec 1, 2014

Proceedings of the 9th Wseas International Conference on Applications of Electrical Engineering, 2010

In this paper, we present a method to navigate a mobile robot using a webcam. This method determi... more In this paper, we present a method to navigate a mobile robot using a webcam. This method determines the shortest path for the robot to transverse to its target location, while avoiding obstacles along the way. The environment is first captured as an image using a webcam. Image processing methods are then performed to identify the existence of obstacles within the environment. Using the Voronoi Diagrams VD(s) method, locations with obstacles are identified and the corresponding Voronoi cells are eliminated. From the remaining Voronoi cells, the shortest path to the goal is identified. The program is written in MATLAB with the Image Processing toolbox. The proposed method does not make use of any other type of sensor other than the webcam.

In this paper, we present a method to navigate a mobile robot using a webcam. This method determi... more In this paper, we present a method to navigate a mobile robot using a webcam. This method determines the shortest path for the robot to transverse to its target location, while avoiding obstacles along the way. The environment is first captured as an image using a webcam. Image processing methods are then performed to identify the existence of obstacles within the environment. Using the Voronoi Diagrams VD(s) method, locations with obstacles are identified and the corresponding Voronoi cells are eliminated. From the remaining Voronoi cells, the shortest path to the goal is identified. The program is written in MATLAB with the Image Processing toolbox. The proposed method does not make use of any other type of sensor other than the webcam.

International Journal on Advanced Science Engineering and Information Technology, 2011

This paper is celebrating the increment of interest in the application of computer algebra in con... more This paper is celebrating the increment of interest in the application of computer algebra in control system analysis. A Maple toolbox for stabilizing state feedback controllers for a class of switched system is presented. The attention is focused on finding the existence of common Lyapunov function (CLFs), as this ensures stability for arbitrary switching sequences between several subsystems. The system considered here are restricted to second order linear systems. In order to find the common Lyapunov function and the ability of the Maple software, the toolbox is proved to be less computational demanding compared to a lot of methods that has been solved by Linear Matrix Inequalities (LMI).

Icic Express Letters, Jul 1, 2015

ABSTRACT Proportional integral controllers are well known for its simplicity and ease of implemen... more ABSTRACT Proportional integral controllers are well known for its simplicity and ease of implementation in motor control. However, it experiences coupling of tuning gains which results in difficulty in having short rising time without overshoot performance that re- quires expertise for their coexistence adjustment. Many anti-windup strategies introduced involve switching and manipulating the integral control in various ways under nonlinear state aiming to bring control back into the linear region to prevent performance degrada- tion and system instability. A generalisation function of any PI-based controller which describes the characteristics of a controller is introduced. With thorough understanding of the structure itself, a favourable controller can be designed. Mathematical analysis on this generalisation function suggests the possibility of structuring a decoupling mode control to break the dependency of the tuning gains.

Icic Express Letters, Jul 1, 2015

The Sice Annual Conference 2013, Sep 1, 2013

Advanced Materials Research

In this article, the development of an autonomous robot trajectory generation system based on a s... more In this article, the development of an autonomous robot trajectory generation system based on a single eye-in-hand webcam, where the workspace map is not known a priori, is described. The system makes use of image processing methods to identify locations of obstacles within the workspace and the Quadtree Decomposition algorithm to generate collision free paths. The shortest path is then automatically chosen as the path to be traversed by the robot end-effector. The method was implemented using MATLAB running on a PC and tested on a two-link SCARA robotic arm. The tests were successful and indicate that the method could be feasibly implemented on many practical applications.

2012 IEEE Symposium on Business, Engineering and Industrial Applications, 2012

This paper, discusses the studies of the uncertainty of measurement and deviations of strain gaug... more This paper, discusses the studies of the uncertainty of measurement and deviations of strain gauge torque transducers average values. The studies have been executed using several numbers of strain gauge torque transducers through periods time with torque values. The strain gauge torque transducers have been calibrated using the torque standard machine based on the standard calibration procedure. For this study, torque standard machine of capacity (2000Nm) has been used. Moreover, for this research a number of strain gauge torque transducers with capacities only (10Nm) have been calibrated at Sirte University Laboratory, Libya.

The advent of the 21 st century has seen the engineering profession face unprecedented challenges... more The advent of the 21 st century has seen the engineering profession face unprecedented challenges. Rapid advancement of technology, environmental preservation and globalization are some of the issues that confront the profession. In order to face such challenges, engineering education has to adapt itself, in particular, in the aspect of preparing able engineering graduates into the work market. In order

IOP Conference Series: Materials Science and Engineering, 2012

The electromagnetic braking using eddy current was studied, focused on two series of aluminium as... more The electromagnetic braking using eddy current was studied, focused on two series of aluminium as the brake disc which are Al6061 and Al7075. This paper presents the comparison for both series in a few varied parameters related to eddy current braking such as air-gap, number of turns and brake disc thickness. Optical tachometer has been used along with PULSE analyzer to capture the speed (rpm) and time (s). The findings shows that the smaller the air-gap, the larger of electromagnet turns and the thicker disc thickness is, will generate higher braking torque to stop the rotational motion of disc brake and give great performance for eddy current braking. Those parameters that been evaluated also addressed a potential on expanding this knowledge to develop an electromagnetic braking system to replace the conventional braking system.

This paper presents for the study of torque transducer (torque sensor) calibration built into a r... more This paper presents for the study of torque transducer (torque sensor) calibration built into a rotating shaft, in this case uses strain gauge, which was done with, and the output signal of the "voltage (mV/V)" has been taken for each weight, increasing and decreasing the weights. The data have been taken three times which they have been divided into three series. First and foremost, the average of the three series has been calculated. Next, the indicated strain value has been calculated. Then, the strain for each resistance has been also calculated in "µε" at "torque (M)" = 22.0725Nm and found that equals to (33.3με). Moreover, first step testing has been calibrated without loads, the results have been measured three times to be ready for the next step. Finally, the torque transducer during operation in real condition, measurement of the mechanical power and speed will be done.

In this paper, a two-link SCARA robotic arm that is autonomously controlled by an end-effector mo... more In this paper, a two-link SCARA robotic arm that is autonomously controlled by an end-effector mounted vision system is presented. The vision system is made up of only an uncalibrated consumer grade webcam, and no a priori knowledge of the workspace layout is assumed. The control system performs two main functions; it generates the optimal collision free robot trajectory using the Quad-tree Decomposition algorithm, which takes the end-effector to a targeted object location, and it performs visual servo control based on the optical flow field to ensure that the targeted location is reached. The system was implemented on an actual SCARA robot, and test runs conducted for both functions were successful

2012 International Symposium on Instrumentation & Measurement, Sensor Network and Automation (IMSNA), 2012

This paper describes three types of piezoelectric structures that can be used as an actuator and ... more This paper describes three types of piezoelectric structures that can be used as an actuator and as a sensor. These types are the Bender Element, the Plate Transducer and the Trigger-Accelerometer. Variations in usage, the internal structure and the direction of polarization are explained in order to understand the differences between the types and the responses of the piezoelectric structures. Among the many methods that are used for analyzing and building the transfer function of piezoelectric structures, the lumped parameter model was chosen as the method of analysis. This method proved very active in analyzing the effects of the internal parameters such as the dimensions of the piezoelectric structure and the elastic constant for the output response. In addition, after the transfer functions of the actuator and the sensor were built, the effect of the input signal types to the actuator and the sensor, such as the sine wave and pulse were analyzed. Finally, the results that were obtained, were compared with other previous works, and the results were very close.

2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2011

... Sallehuddin Mohamed Haris, Muhammad Khalid Zakaria and Mohd Zaki Nuawi∗ ... SM Haris, MZ Zaka... more ... Sallehuddin Mohamed Haris, Muhammad Khalid Zakaria and Mohd Zaki Nuawi∗ ... SM Haris, MZ Zakaria and MZ Nuawi are all with the Department of Mechanical & Materials Engineering, Uni-versiti Kebangsaan Malaysia, 43600 UKM Bangi, Malaysia salleh@eng.ukm.my ...

Physics Procedia, 2010

In this paper, a method to measure distance using a laser-pointer is presented. This method calcu... more In this paper, a method to measure distance using a laser-pointer is presented. This method calculates the distance of the robot from obstacles to enable it to traverse to its target location, while avoiding obstacles along the way. Images of the workspace environment are first captured using a webcam. Image processing techniques are then used to identify the existence of obstacles. Using a laser emitter, the distance to obstacles can be calculated. The rangefinder system consists of a single robot mounted webcam and a laser-pointer. The program is written in MATLAB with the Image Processing Toolbox.

Applied Sciences

Recent developments in ultrasonic material testing have increased the need to evaluate the curren... more Recent developments in ultrasonic material testing have increased the need to evaluate the current status of the different applications of piezoelectric elements (PEs). This research have reviewed state-of-the-art emerging new technology and the role of PEs in tests for a number of mechanical properties, such as creep, fracture toughness, hardness, and impact toughness, among others. In this field, importance is given to the following variables, namely, (a) values of the natural frequency to PEs, (b) type and dimensions of specimens, and (c) purpose of the tests. All these variables are listed in three tables to illustrate the nature of their differences in these kinds of tests. Furthermore, recent achievements in this field are emphasized in addition to the many important studies that highlight the role of PEs.

Materials Today: Proceedings

Metals

This paper presents the evaluation of frequency-based approach predicted spring using acceleratio... more This paper presents the evaluation of frequency-based approach predicted spring using acceleration signals that were collected from various road conditions. Random loadings in the forms of acceleration are nominal and more flexible for vehicle components fatigue assessment. In this analysis, the strain time history of the spring and acceleration signals of the suspension strut was measured from three different road conditions. The acceleration signals were then transformed into power spectra density (PSD). PSD cycle counter, like Lalanne, Dirlik, and narrow band approach, was applied to obtain equivalent load cycles. The stress response was obtained through having the equivalent load cycles with a spring modal frequency response function (FRF) and different stress criterion, like absolute maximum principal and critical plane approaches. Then, the stress response was used to predict the spring fatigue life using stress-life (S-N) approach. The results revealed that the harshest road ...

2016 International Conference on Advanced Mechatronic Systems (ICAMechS), 2016

Proceedings of 2014 International Conference on Modelling Identification Control, Dec 1, 2014

Proceedings of the 9th Wseas International Conference on Applications of Electrical Engineering, 2010

In this paper, we present a method to navigate a mobile robot using a webcam. This method determi... more In this paper, we present a method to navigate a mobile robot using a webcam. This method determines the shortest path for the robot to transverse to its target location, while avoiding obstacles along the way. The environment is first captured as an image using a webcam. Image processing methods are then performed to identify the existence of obstacles within the environment. Using the Voronoi Diagrams VD(s) method, locations with obstacles are identified and the corresponding Voronoi cells are eliminated. From the remaining Voronoi cells, the shortest path to the goal is identified. The program is written in MATLAB with the Image Processing toolbox. The proposed method does not make use of any other type of sensor other than the webcam.

In this paper, we present a method to navigate a mobile robot using a webcam. This method determi... more In this paper, we present a method to navigate a mobile robot using a webcam. This method determines the shortest path for the robot to transverse to its target location, while avoiding obstacles along the way. The environment is first captured as an image using a webcam. Image processing methods are then performed to identify the existence of obstacles within the environment. Using the Voronoi Diagrams VD(s) method, locations with obstacles are identified and the corresponding Voronoi cells are eliminated. From the remaining Voronoi cells, the shortest path to the goal is identified. The program is written in MATLAB with the Image Processing toolbox. The proposed method does not make use of any other type of sensor other than the webcam.

International Journal on Advanced Science Engineering and Information Technology, 2011

This paper is celebrating the increment of interest in the application of computer algebra in con... more This paper is celebrating the increment of interest in the application of computer algebra in control system analysis. A Maple toolbox for stabilizing state feedback controllers for a class of switched system is presented. The attention is focused on finding the existence of common Lyapunov function (CLFs), as this ensures stability for arbitrary switching sequences between several subsystems. The system considered here are restricted to second order linear systems. In order to find the common Lyapunov function and the ability of the Maple software, the toolbox is proved to be less computational demanding compared to a lot of methods that has been solved by Linear Matrix Inequalities (LMI).

Icic Express Letters, Jul 1, 2015

ABSTRACT Proportional integral controllers are well known for its simplicity and ease of implemen... more ABSTRACT Proportional integral controllers are well known for its simplicity and ease of implementation in motor control. However, it experiences coupling of tuning gains which results in difficulty in having short rising time without overshoot performance that re- quires expertise for their coexistence adjustment. Many anti-windup strategies introduced involve switching and manipulating the integral control in various ways under nonlinear state aiming to bring control back into the linear region to prevent performance degrada- tion and system instability. A generalisation function of any PI-based controller which describes the characteristics of a controller is introduced. With thorough understanding of the structure itself, a favourable controller can be designed. Mathematical analysis on this generalisation function suggests the possibility of structuring a decoupling mode control to break the dependency of the tuning gains.

Icic Express Letters, Jul 1, 2015

The Sice Annual Conference 2013, Sep 1, 2013

Advanced Materials Research

In this article, the development of an autonomous robot trajectory generation system based on a s... more In this article, the development of an autonomous robot trajectory generation system based on a single eye-in-hand webcam, where the workspace map is not known a priori, is described. The system makes use of image processing methods to identify locations of obstacles within the workspace and the Quadtree Decomposition algorithm to generate collision free paths. The shortest path is then automatically chosen as the path to be traversed by the robot end-effector. The method was implemented using MATLAB running on a PC and tested on a two-link SCARA robotic arm. The tests were successful and indicate that the method could be feasibly implemented on many practical applications.

2012 IEEE Symposium on Business, Engineering and Industrial Applications, 2012

This paper, discusses the studies of the uncertainty of measurement and deviations of strain gaug... more This paper, discusses the studies of the uncertainty of measurement and deviations of strain gauge torque transducers average values. The studies have been executed using several numbers of strain gauge torque transducers through periods time with torque values. The strain gauge torque transducers have been calibrated using the torque standard machine based on the standard calibration procedure. For this study, torque standard machine of capacity (2000Nm) has been used. Moreover, for this research a number of strain gauge torque transducers with capacities only (10Nm) have been calibrated at Sirte University Laboratory, Libya.

The advent of the 21 st century has seen the engineering profession face unprecedented challenges... more The advent of the 21 st century has seen the engineering profession face unprecedented challenges. Rapid advancement of technology, environmental preservation and globalization are some of the issues that confront the profession. In order to face such challenges, engineering education has to adapt itself, in particular, in the aspect of preparing able engineering graduates into the work market. In order

IOP Conference Series: Materials Science and Engineering, 2012

The electromagnetic braking using eddy current was studied, focused on two series of aluminium as... more The electromagnetic braking using eddy current was studied, focused on two series of aluminium as the brake disc which are Al6061 and Al7075. This paper presents the comparison for both series in a few varied parameters related to eddy current braking such as air-gap, number of turns and brake disc thickness. Optical tachometer has been used along with PULSE analyzer to capture the speed (rpm) and time (s). The findings shows that the smaller the air-gap, the larger of electromagnet turns and the thicker disc thickness is, will generate higher braking torque to stop the rotational motion of disc brake and give great performance for eddy current braking. Those parameters that been evaluated also addressed a potential on expanding this knowledge to develop an electromagnetic braking system to replace the conventional braking system.

This paper presents for the study of torque transducer (torque sensor) calibration built into a r... more This paper presents for the study of torque transducer (torque sensor) calibration built into a rotating shaft, in this case uses strain gauge, which was done with, and the output signal of the "voltage (mV/V)" has been taken for each weight, increasing and decreasing the weights. The data have been taken three times which they have been divided into three series. First and foremost, the average of the three series has been calculated. Next, the indicated strain value has been calculated. Then, the strain for each resistance has been also calculated in "µε" at "torque (M)" = 22.0725Nm and found that equals to (33.3με). Moreover, first step testing has been calibrated without loads, the results have been measured three times to be ready for the next step. Finally, the torque transducer during operation in real condition, measurement of the mechanical power and speed will be done.

In this paper, a two-link SCARA robotic arm that is autonomously controlled by an end-effector mo... more In this paper, a two-link SCARA robotic arm that is autonomously controlled by an end-effector mounted vision system is presented. The vision system is made up of only an uncalibrated consumer grade webcam, and no a priori knowledge of the workspace layout is assumed. The control system performs two main functions; it generates the optimal collision free robot trajectory using the Quad-tree Decomposition algorithm, which takes the end-effector to a targeted object location, and it performs visual servo control based on the optical flow field to ensure that the targeted location is reached. The system was implemented on an actual SCARA robot, and test runs conducted for both functions were successful

2012 International Symposium on Instrumentation & Measurement, Sensor Network and Automation (IMSNA), 2012

This paper describes three types of piezoelectric structures that can be used as an actuator and ... more This paper describes three types of piezoelectric structures that can be used as an actuator and as a sensor. These types are the Bender Element, the Plate Transducer and the Trigger-Accelerometer. Variations in usage, the internal structure and the direction of polarization are explained in order to understand the differences between the types and the responses of the piezoelectric structures. Among the many methods that are used for analyzing and building the transfer function of piezoelectric structures, the lumped parameter model was chosen as the method of analysis. This method proved very active in analyzing the effects of the internal parameters such as the dimensions of the piezoelectric structure and the elastic constant for the output response. In addition, after the transfer functions of the actuator and the sensor were built, the effect of the input signal types to the actuator and the sensor, such as the sine wave and pulse were analyzed. Finally, the results that were obtained, were compared with other previous works, and the results were very close.

2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2011

... Sallehuddin Mohamed Haris, Muhammad Khalid Zakaria and Mohd Zaki Nuawi∗ ... SM Haris, MZ Zaka... more ... Sallehuddin Mohamed Haris, Muhammad Khalid Zakaria and Mohd Zaki Nuawi∗ ... SM Haris, MZ Zakaria and MZ Nuawi are all with the Department of Mechanical & Materials Engineering, Uni-versiti Kebangsaan Malaysia, 43600 UKM Bangi, Malaysia salleh@eng.ukm.my ...