Mohammed A. H. Ali | Universiti Malaya (original) (raw)

Papers by Mohammed A. H. Ali

The Egyptian Heart Journal, 2022

Myocarditis has been discovered to be a significant complication of coronavirus disease 2019 (COV... more Myocarditis has been discovered to be a significant complication of coronavirus disease 2019 (COVID-19), a condition caused by the severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) virus. COVID-19 myocarditis seems to have distinct inflammatory characteristics, which make it unique to other viral etiologies. The incidence of COVID-19 myocarditis is still not clear as a wide range of figures have been quoted in the literature; however, it seems that the risk of developing myocarditis increases with more severe infection. Furthermore, the administration of the mRNA COVID-19 vaccine has been associated with the development of myocarditis, particularly after the second dose. COVID-19 myocarditis has a wide variety of presentations, ranging from dyspnea and chest pain to acute heart failure and possibly death. It is important to catch any cases of myocarditis, particularly those presenting with fulminant myocarditis which can be characterized by signs of heart failure and arry...

Lecture notes in mechanical engineering, Oct 6, 2022

Biomedizinische Technik. Biomedical engineering, Jan 15, 2017

Owing to the increasing demand for rehabilitation services, robotics have been engaged in address... more Owing to the increasing demand for rehabilitation services, robotics have been engaged in addressing the drawbacks of conventional rehabilitation therapy. This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation that is restricted to the sagittal plane. The exoskeleton that is modelled together with a human lower limb model is subjected to a number of excitations at its joints while performing a joint space trajectory tracking, to investigate the effectiveness of the proposed controller in compensating disturbances. A particle swarm optimised active force control strategy is proposed to facilitate disturbance rejection of a conventional proportional-derivative (PD) control algorithm. The simulation study provides considerable insight into the robustness of the proposed method in attenuating the disturbance effect as compared to the conventional PD counterpart without compromising its tracking performance. The findings from the st...

Sensors

This paper aims to develop a new mobile robot path planning algorithm, called generalized laser s... more This paper aims to develop a new mobile robot path planning algorithm, called generalized laser simulator (GLS), for navigating autonomously mobile robots in the presence of static and dynamic obstacles. This algorithm enables a mobile robot to identify a feasible path while finding the target and avoiding obstacles while moving in complex regions. An optimal path between the start and target point is found by forming a wave of points in all directions towards the target position considering target minimum and border maximum distance principles. The algorithm will select the minimum path from the candidate points to target while avoiding obstacles. The obstacle borders are regarded as the environment’s borders for static obstacle avoidance. However, once dynamic obstacles appear in front of the GLS waves, the system detects them as new dynamic obstacle borders. Several experiments were carried out to validate the effectiveness and practicality of the GLS algorithm, including path-pl...

Expert Systems with Applications, 2021

A novel inertia moment estimation algorithm collaborated with Active Force Control scheme for whe... more A novel inertia moment estimation algorithm collaborated with Active Force Control scheme for wheeled mobile robot control in constrained environments (2021) Expert Systems with Applications, 183, art. no. 115454, .

This paper presents a literature review on the common control systems that have been used for rob... more This paper presents a literature review on the common control systems that have been used for robotic manipulators with a very higher concern on PID and active force control (AFC).The control of manipulator is divided into two main systems, namely are linear and non-linear control systems. A nonlinear system is used to overcome un-modeled dynamics, variable payload, fiction and disturbance torque, variation, and noise. PID controller has enhanced the performance of the manipulator in certain cases such as reducing system vibration and maintaining the tracking errors of the manipulator. On the other hand, AFC is a robust and much viable controller in comparison with others ordinary strategies in controlling dynamical systems such as robotic manipulator

This paper presents a design and modeling of wheeled mobile robot (MWR) when navigating autonomou... more This paper presents a design and modeling of wheeled mobile robot (MWR) when navigating autonomously in environment such as road and factory. It needs a good and robust design and control for wheeled mobile robot to move from one to another points with smooth moving and small tracking errors. This paper is focused on mechanical design and modeling of wheeled mobile robot. Autodesk inventor software is used to draw the design of the WMR because this software is simple to make any design and a wheeled mobile robot structure is designed with a center of gravity to be located below the axle wheels level. The wheeled mobile robot is driven using two differential drive and two castor wheels to balance robot while it is moving in the environment. Two kinds of coordinate systems are used to describe the movement of the robot in the environment; namely are Local and global coordinate system; where local is related to the heading angle and the deferential wheel shaft, however the global descr...

Robotica, 2020

SUMMARY The design and experimental works of an autonomous robotic platform for road marks painti... more SUMMARY The design and experimental works of an autonomous robotic platform for road marks painting are presented in this paper as the first autonomous system of its kind. The whole system involves two main sub-systems, namely: an autonomous mobile robot navigation system which is used for recognizing the roads and estimating the position of road marks, and automatic road marks painting system that is attached to the mobile robot platform to control the spray of the paint on the road’s surface. The experimental results show the capability of the proposed system to perform the task of autonomous road marks painting with accuracy of ±10 cm.

IOP Conference Series: Materials Science and Engineering, 2016

This paper presents the modelling and control of a two degree of freedom upper extremity exoskele... more This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton by means of an intelligent active force control (AFC) mechanism. The Newton-Euler formulation was used in deriving the dynamic modelling of both the anthropometry based human upper extremity as well as the exoskeleton that consists of the upper arm and the forearm. A proportional-derivative (PD) architecture is employed in this study to investigate its efficacy performing joint-space control objectives. An intelligent AFC algorithm is also incorporated into the PD to investigate the effectiveness of this hybrid system in compensating disturbances. The Mamdani Fuzzy based rule is employed to approximate the estimated inertial properties of the system to ensure the AFC loop responds efficiently. It is found that the IAFC-PD performed well against the disturbances introduced into the system as compared to the conventional PD control architecture in performing the desired trajectory tracking.

2022 IEEE 12th Symposium on Computer Applications & Industrial Electronics (ISCAIE)

Lecture Notes in Mechanical Engineering, 2019

The performance and reliability of an internal combustion engine depend on the robustness of the ... more The performance and reliability of an internal combustion engine depend on the robustness of the engine crankshaft as it is one of its important moving component. An internal combustion engine is affected by the vibration activities of a crankshaft. This vibration performance is hard to determine due to the complex nature of the crankshaft. To avoid failure of an engine crankshaft, calculation of the crankshaft strength becomes an importance component. In this paper, fatigue, failure and harmonic response analysis of an internal combustion engine by Finite Element method (FEM) using ANSYS workbench were carried out. The analysis is carried out in ANSYS static structural, mechanical solver on a structural steel material. Result from the transient analysis indicates presence of stress at the crankpin journals and with the appearance of deformation at its crank nose. The failure analysis safety factor is high in the Gerber theory being a structural steel material.

Materials Today: Proceedings, 2021

Abstract One of the important component of working machines or conveyer belt is the roller bearin... more Abstract One of the important component of working machines or conveyer belt is the roller bearing. They are applied in different sectors ranging from automotive to heavy duty machineries in high speed drills. Their performance greatly affects the machines. This study illustrate the analysis of the contact stress developed in a roller bearing using ANSYS software. The Finite Element simulating results revels maximum stress distribution value of 6.597E-09 MPa under the applied loading condition appearing on the roller balls. The total moment for the variation to time is 2.5868E-07 experienced at 7.7 s while the relative rotation in the Z-direction is at its peak at 6 s. Therefore, this study shows that FEA in ANSYS has provide a faster and cheaper method compared to the production of numerous prototypes.

IOP Conference Series: Materials Science and Engineering, 2020

Automotive engineering design has recently focused majorly on the stress analysis and optimizatio... more Automotive engineering design has recently focused majorly on the stress analysis and optimization of a connecting rod with keen emphases to the vital parameters such as deformation, stress, fatigue and strain, factor safety, life values among others. The performance of a connecting rod in an automobile engine is influenced by its design and weight. Hence, for the production of a durable, cheaper and lightweight connecting rod, analysis and optimization become necessary. This article provides a review of some vital work done by various researchers in designing, analyzing and optimization of connecting rod of an engine using Finite element analysis in ANSYS workbench A comprehensive comparison table and graphs for the reviewed research articles have been provided. The article will serve as a stepping stone for both old and new researchers in the field of automotive design.

Connecting rods are mechanical components used for generating motion from a crankshaft’s piston a... more Connecting rods are mechanical components used for generating motion from a crankshaft’s piston alternating motion. There have been numerous reported cases of connecting rod failure based on the structural design, loading type and the type of materials used. The main aim of this paper is to explore strength analysis investigation of a connecting rod using different materials (structural steel, aluminum alloy, titanium, and Magnesium alloy). The results obtained were compared and analyzed in terms of strength, deformation, Von-misses stress, strain and the safety factor to identify the best material capable of withstanding the subjected force. The model was first design with SolidWorks software and subsequently imported into the ANSYS workbench. Result from the analysis shows that structural steel has the highest strength compared to the other materials.

Electronics, 2022

Eye tracking is a useful technique for detecting autism spectrum disorder (ASD). One of the most ... more Eye tracking is a useful technique for detecting autism spectrum disorder (ASD). One of the most important aspects of good learning is the ability to have atypical visual attention. The eye-tracking technique provides useful information about children’s visual behaviour for early and accurate diagnosis. It works by scanning the paths of the eyes to extract a sequence of eye projection points on the image to analyse the behaviour of children with autism. In this study, three artificial-intelligence techniques were developed, namely, machine learning, deep learning, and a hybrid technique between them, for early diagnosis of autism. The first technique, neural networks [feedforward neural networks (FFNNs) and artificial neural networks (ANNs)], is based on feature classification extracted by a hybrid method between local binary pattern (LBP) and grey level co-occurrence matrix (GLCM) algorithms. This technique achieved a high accuracy of 99.8% for FFNNs and ANNs. The second technique ...

2018 IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS), 2018

This paper presents a tele-monitoring system to recognize the attendees when entering a certain p... more This paper presents a tele-monitoring system to recognize the attendees when entering a certain place without a physical contact using RFID, tags and Photo-cells. The RFID is used to recognize the tags when it's holders entered the place area, however the photcells will help to determine if there are really persons passed through the system or not. Also the photo cells helps to determine the direction of the attendees either going in or out from the monitored place. Five data sets are collected instantly for each cards namely are student name, ID number, date, time, status and IN/OUT. A small scale prototype has been constructed to test the concept of RFID-Photocell attendance system which is consisting of RFID, two photo-cell, Arduino and PLX-DAQ. The process of taking attendance will start when the attendees with tags pass through the RFID reader range where their tags code are compared with the database. If the database match with the code, the information of the attendee like name, ID number, date and time will be shown in the Excel file. For more accurate attendance system, the photocell will be incorporated with RFID to count how many persons pass through the system and detect if there is a cheating during attendance operation such as two tag's cards are located with one person. The photo cell will also detect the direction of the attendees either going in/out to help for tracking continuously the attendees. As a result, this project will assist for taking the attendance more confidentially, automatically and easily.

IOP Conference Series: Materials Science and Engineering, 2018

This paper records the research and procedures of developing a smart mobility robot with detectio... more This paper records the research and procedures of developing a smart mobility robot with detection system to collect rubbish. The objective of this paper is to design a mobile robot that can detect and recognize medium-size rubbish such as drinking cans. Besides that, the objective is also to design a mobile robot with the ability to estimate the position of rubbish from the robot. In addition, the mobile robot is also able to approach the rubbish based on position of rubbish. This paper explained about the types of image processing, detection and recognition methods and image filters. This project implements RGB subtraction method as the prior system. Other than that, algorithm for distance measurement based on image plane is implemented in this project. This project is limited to use computer webcam as the sensor. Secondly, the robot is only able to approach the nearest rubbish in the same views of camera vision and any rubbish that contain RGB colour components on its body.

A robust control algorithm for tracking the mobile robot in a pre-planned path during passing thr... more A robust control algorithm for tracking the mobile robot in a pre-planned path during passing through complicated environments such as in roundabout is presented in this paper. The proposed algorithm is derived from the kinematic and dynamic of 3wheeled Non-holonomic mobile robot motion. The control scheme is performed using Resolved Acceleration Control, Active Force Control strategy or mixed of them in Simulink-MATLAB, which are compared with each other in the matter ofenabling the robot to follow the predefined path while applying disturbances. Results show the capability of this controller to track the robot on the pre-defined path and remove the effect of the disturbances.

2017 IEEE 3rd International Symposium in Robotics and Manufacturing Automation (ROMA), 2017

In recent years, automatic visual inspection technology has become more potential and important t... more In recent years, automatic visual inspection technology has become more potential and important to fruit grading applications. This is due to that the quality of fruits are the important factor for the consumer and so essential for marketing a uniform high quality products. The automated fruits grading technique have been set up to reduce the production costs and improve fruit quality and replace the manual technique for grading of fruits as manual inspection is facing problems in maintaining consistency and uniformity. Two kinds of fruits have been inspected in this project; namely are apple and mango. A prototype of an automated fruit grading system is designed and developed in this paper to detect the defects on of the surface of fruits. The system is capturing the fruit's image using camera and the fruits are placed onto of a rotating desk. The image is transmitted then to the processing level where the grading is done using MATLAB.

IOP Conference Series: Materials Science and Engineering, 2018

This paper presents a simulation and practical control system for wheeled mobile robot in restric... more This paper presents a simulation and practical control system for wheeled mobile robot in restricted environment. A wheeled mobile robot with 3 wheels is fabricated and controlled by proportional derivative active force control (PD-AFC) to move in a pre-planned restricted environment to maintain the tracking errors at zero level. A control system with two loops, outer by PD controller and inner loop by Active Force Control, are designed to control the wheeled mobile robot. Fuzzy logic controller is implemented in the Active force Control to estimate the inertia matrix that will be used to calculate the actual torque applied on the wheeled mobile robot. The mobile robot is tested in two different trajectories, namely are circular and straight path. The actual path and desired path are compared.

The Egyptian Heart Journal, 2022

Myocarditis has been discovered to be a significant complication of coronavirus disease 2019 (COV... more Myocarditis has been discovered to be a significant complication of coronavirus disease 2019 (COVID-19), a condition caused by the severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) virus. COVID-19 myocarditis seems to have distinct inflammatory characteristics, which make it unique to other viral etiologies. The incidence of COVID-19 myocarditis is still not clear as a wide range of figures have been quoted in the literature; however, it seems that the risk of developing myocarditis increases with more severe infection. Furthermore, the administration of the mRNA COVID-19 vaccine has been associated with the development of myocarditis, particularly after the second dose. COVID-19 myocarditis has a wide variety of presentations, ranging from dyspnea and chest pain to acute heart failure and possibly death. It is important to catch any cases of myocarditis, particularly those presenting with fulminant myocarditis which can be characterized by signs of heart failure and arry...

Lecture notes in mechanical engineering, Oct 6, 2022

Biomedizinische Technik. Biomedical engineering, Jan 15, 2017

Owing to the increasing demand for rehabilitation services, robotics have been engaged in address... more Owing to the increasing demand for rehabilitation services, robotics have been engaged in addressing the drawbacks of conventional rehabilitation therapy. This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation that is restricted to the sagittal plane. The exoskeleton that is modelled together with a human lower limb model is subjected to a number of excitations at its joints while performing a joint space trajectory tracking, to investigate the effectiveness of the proposed controller in compensating disturbances. A particle swarm optimised active force control strategy is proposed to facilitate disturbance rejection of a conventional proportional-derivative (PD) control algorithm. The simulation study provides considerable insight into the robustness of the proposed method in attenuating the disturbance effect as compared to the conventional PD counterpart without compromising its tracking performance. The findings from the st...

Sensors

This paper aims to develop a new mobile robot path planning algorithm, called generalized laser s... more This paper aims to develop a new mobile robot path planning algorithm, called generalized laser simulator (GLS), for navigating autonomously mobile robots in the presence of static and dynamic obstacles. This algorithm enables a mobile robot to identify a feasible path while finding the target and avoiding obstacles while moving in complex regions. An optimal path between the start and target point is found by forming a wave of points in all directions towards the target position considering target minimum and border maximum distance principles. The algorithm will select the minimum path from the candidate points to target while avoiding obstacles. The obstacle borders are regarded as the environment’s borders for static obstacle avoidance. However, once dynamic obstacles appear in front of the GLS waves, the system detects them as new dynamic obstacle borders. Several experiments were carried out to validate the effectiveness and practicality of the GLS algorithm, including path-pl...

Expert Systems with Applications, 2021

A novel inertia moment estimation algorithm collaborated with Active Force Control scheme for whe... more A novel inertia moment estimation algorithm collaborated with Active Force Control scheme for wheeled mobile robot control in constrained environments (2021) Expert Systems with Applications, 183, art. no. 115454, .

This paper presents a literature review on the common control systems that have been used for rob... more This paper presents a literature review on the common control systems that have been used for robotic manipulators with a very higher concern on PID and active force control (AFC).The control of manipulator is divided into two main systems, namely are linear and non-linear control systems. A nonlinear system is used to overcome un-modeled dynamics, variable payload, fiction and disturbance torque, variation, and noise. PID controller has enhanced the performance of the manipulator in certain cases such as reducing system vibration and maintaining the tracking errors of the manipulator. On the other hand, AFC is a robust and much viable controller in comparison with others ordinary strategies in controlling dynamical systems such as robotic manipulator

This paper presents a design and modeling of wheeled mobile robot (MWR) when navigating autonomou... more This paper presents a design and modeling of wheeled mobile robot (MWR) when navigating autonomously in environment such as road and factory. It needs a good and robust design and control for wheeled mobile robot to move from one to another points with smooth moving and small tracking errors. This paper is focused on mechanical design and modeling of wheeled mobile robot. Autodesk inventor software is used to draw the design of the WMR because this software is simple to make any design and a wheeled mobile robot structure is designed with a center of gravity to be located below the axle wheels level. The wheeled mobile robot is driven using two differential drive and two castor wheels to balance robot while it is moving in the environment. Two kinds of coordinate systems are used to describe the movement of the robot in the environment; namely are Local and global coordinate system; where local is related to the heading angle and the deferential wheel shaft, however the global descr...

Robotica, 2020

SUMMARY The design and experimental works of an autonomous robotic platform for road marks painti... more SUMMARY The design and experimental works of an autonomous robotic platform for road marks painting are presented in this paper as the first autonomous system of its kind. The whole system involves two main sub-systems, namely: an autonomous mobile robot navigation system which is used for recognizing the roads and estimating the position of road marks, and automatic road marks painting system that is attached to the mobile robot platform to control the spray of the paint on the road’s surface. The experimental results show the capability of the proposed system to perform the task of autonomous road marks painting with accuracy of ±10 cm.

IOP Conference Series: Materials Science and Engineering, 2016

This paper presents the modelling and control of a two degree of freedom upper extremity exoskele... more This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton by means of an intelligent active force control (AFC) mechanism. The Newton-Euler formulation was used in deriving the dynamic modelling of both the anthropometry based human upper extremity as well as the exoskeleton that consists of the upper arm and the forearm. A proportional-derivative (PD) architecture is employed in this study to investigate its efficacy performing joint-space control objectives. An intelligent AFC algorithm is also incorporated into the PD to investigate the effectiveness of this hybrid system in compensating disturbances. The Mamdani Fuzzy based rule is employed to approximate the estimated inertial properties of the system to ensure the AFC loop responds efficiently. It is found that the IAFC-PD performed well against the disturbances introduced into the system as compared to the conventional PD control architecture in performing the desired trajectory tracking.

2022 IEEE 12th Symposium on Computer Applications & Industrial Electronics (ISCAIE)

Lecture Notes in Mechanical Engineering, 2019

The performance and reliability of an internal combustion engine depend on the robustness of the ... more The performance and reliability of an internal combustion engine depend on the robustness of the engine crankshaft as it is one of its important moving component. An internal combustion engine is affected by the vibration activities of a crankshaft. This vibration performance is hard to determine due to the complex nature of the crankshaft. To avoid failure of an engine crankshaft, calculation of the crankshaft strength becomes an importance component. In this paper, fatigue, failure and harmonic response analysis of an internal combustion engine by Finite Element method (FEM) using ANSYS workbench were carried out. The analysis is carried out in ANSYS static structural, mechanical solver on a structural steel material. Result from the transient analysis indicates presence of stress at the crankpin journals and with the appearance of deformation at its crank nose. The failure analysis safety factor is high in the Gerber theory being a structural steel material.

Materials Today: Proceedings, 2021

Abstract One of the important component of working machines or conveyer belt is the roller bearin... more Abstract One of the important component of working machines or conveyer belt is the roller bearing. They are applied in different sectors ranging from automotive to heavy duty machineries in high speed drills. Their performance greatly affects the machines. This study illustrate the analysis of the contact stress developed in a roller bearing using ANSYS software. The Finite Element simulating results revels maximum stress distribution value of 6.597E-09 MPa under the applied loading condition appearing on the roller balls. The total moment for the variation to time is 2.5868E-07 experienced at 7.7 s while the relative rotation in the Z-direction is at its peak at 6 s. Therefore, this study shows that FEA in ANSYS has provide a faster and cheaper method compared to the production of numerous prototypes.

IOP Conference Series: Materials Science and Engineering, 2020

Automotive engineering design has recently focused majorly on the stress analysis and optimizatio... more Automotive engineering design has recently focused majorly on the stress analysis and optimization of a connecting rod with keen emphases to the vital parameters such as deformation, stress, fatigue and strain, factor safety, life values among others. The performance of a connecting rod in an automobile engine is influenced by its design and weight. Hence, for the production of a durable, cheaper and lightweight connecting rod, analysis and optimization become necessary. This article provides a review of some vital work done by various researchers in designing, analyzing and optimization of connecting rod of an engine using Finite element analysis in ANSYS workbench A comprehensive comparison table and graphs for the reviewed research articles have been provided. The article will serve as a stepping stone for both old and new researchers in the field of automotive design.

Connecting rods are mechanical components used for generating motion from a crankshaft’s piston a... more Connecting rods are mechanical components used for generating motion from a crankshaft’s piston alternating motion. There have been numerous reported cases of connecting rod failure based on the structural design, loading type and the type of materials used. The main aim of this paper is to explore strength analysis investigation of a connecting rod using different materials (structural steel, aluminum alloy, titanium, and Magnesium alloy). The results obtained were compared and analyzed in terms of strength, deformation, Von-misses stress, strain and the safety factor to identify the best material capable of withstanding the subjected force. The model was first design with SolidWorks software and subsequently imported into the ANSYS workbench. Result from the analysis shows that structural steel has the highest strength compared to the other materials.

Electronics, 2022

Eye tracking is a useful technique for detecting autism spectrum disorder (ASD). One of the most ... more Eye tracking is a useful technique for detecting autism spectrum disorder (ASD). One of the most important aspects of good learning is the ability to have atypical visual attention. The eye-tracking technique provides useful information about children’s visual behaviour for early and accurate diagnosis. It works by scanning the paths of the eyes to extract a sequence of eye projection points on the image to analyse the behaviour of children with autism. In this study, three artificial-intelligence techniques were developed, namely, machine learning, deep learning, and a hybrid technique between them, for early diagnosis of autism. The first technique, neural networks [feedforward neural networks (FFNNs) and artificial neural networks (ANNs)], is based on feature classification extracted by a hybrid method between local binary pattern (LBP) and grey level co-occurrence matrix (GLCM) algorithms. This technique achieved a high accuracy of 99.8% for FFNNs and ANNs. The second technique ...

2018 IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS), 2018

This paper presents a tele-monitoring system to recognize the attendees when entering a certain p... more This paper presents a tele-monitoring system to recognize the attendees when entering a certain place without a physical contact using RFID, tags and Photo-cells. The RFID is used to recognize the tags when it's holders entered the place area, however the photcells will help to determine if there are really persons passed through the system or not. Also the photo cells helps to determine the direction of the attendees either going in or out from the monitored place. Five data sets are collected instantly for each cards namely are student name, ID number, date, time, status and IN/OUT. A small scale prototype has been constructed to test the concept of RFID-Photocell attendance system which is consisting of RFID, two photo-cell, Arduino and PLX-DAQ. The process of taking attendance will start when the attendees with tags pass through the RFID reader range where their tags code are compared with the database. If the database match with the code, the information of the attendee like name, ID number, date and time will be shown in the Excel file. For more accurate attendance system, the photocell will be incorporated with RFID to count how many persons pass through the system and detect if there is a cheating during attendance operation such as two tag's cards are located with one person. The photo cell will also detect the direction of the attendees either going in/out to help for tracking continuously the attendees. As a result, this project will assist for taking the attendance more confidentially, automatically and easily.

IOP Conference Series: Materials Science and Engineering, 2018

This paper records the research and procedures of developing a smart mobility robot with detectio... more This paper records the research and procedures of developing a smart mobility robot with detection system to collect rubbish. The objective of this paper is to design a mobile robot that can detect and recognize medium-size rubbish such as drinking cans. Besides that, the objective is also to design a mobile robot with the ability to estimate the position of rubbish from the robot. In addition, the mobile robot is also able to approach the rubbish based on position of rubbish. This paper explained about the types of image processing, detection and recognition methods and image filters. This project implements RGB subtraction method as the prior system. Other than that, algorithm for distance measurement based on image plane is implemented in this project. This project is limited to use computer webcam as the sensor. Secondly, the robot is only able to approach the nearest rubbish in the same views of camera vision and any rubbish that contain RGB colour components on its body.

A robust control algorithm for tracking the mobile robot in a pre-planned path during passing thr... more A robust control algorithm for tracking the mobile robot in a pre-planned path during passing through complicated environments such as in roundabout is presented in this paper. The proposed algorithm is derived from the kinematic and dynamic of 3wheeled Non-holonomic mobile robot motion. The control scheme is performed using Resolved Acceleration Control, Active Force Control strategy or mixed of them in Simulink-MATLAB, which are compared with each other in the matter ofenabling the robot to follow the predefined path while applying disturbances. Results show the capability of this controller to track the robot on the pre-defined path and remove the effect of the disturbances.

2017 IEEE 3rd International Symposium in Robotics and Manufacturing Automation (ROMA), 2017

In recent years, automatic visual inspection technology has become more potential and important t... more In recent years, automatic visual inspection technology has become more potential and important to fruit grading applications. This is due to that the quality of fruits are the important factor for the consumer and so essential for marketing a uniform high quality products. The automated fruits grading technique have been set up to reduce the production costs and improve fruit quality and replace the manual technique for grading of fruits as manual inspection is facing problems in maintaining consistency and uniformity. Two kinds of fruits have been inspected in this project; namely are apple and mango. A prototype of an automated fruit grading system is designed and developed in this paper to detect the defects on of the surface of fruits. The system is capturing the fruit's image using camera and the fruits are placed onto of a rotating desk. The image is transmitted then to the processing level where the grading is done using MATLAB.

IOP Conference Series: Materials Science and Engineering, 2018

This paper presents a simulation and practical control system for wheeled mobile robot in restric... more This paper presents a simulation and practical control system for wheeled mobile robot in restricted environment. A wheeled mobile robot with 3 wheels is fabricated and controlled by proportional derivative active force control (PD-AFC) to move in a pre-planned restricted environment to maintain the tracking errors at zero level. A control system with two loops, outer by PD controller and inner loop by Active Force Control, are designed to control the wheeled mobile robot. Fuzzy logic controller is implemented in the Active force Control to estimate the inertia matrix that will be used to calculate the actual torque applied on the wheeled mobile robot. The mobile robot is tested in two different trajectories, namely are circular and straight path. The actual path and desired path are compared.