MOHD HANIF CHE HASAN | Universiti Teknikal Malaysia Melaka (original) (raw)

Papers by MOHD HANIF CHE HASAN

The electronic wedge brake (EWB) uses self-reinforcement principles to optimise stopping power, b... more The electronic wedge brake (EWB) uses self-reinforcement principles to optimise stopping power, but its mathematical model has various actuation angles and system dynamics making controller design complex and computationally burdensome. Therefore, the model order reduction (MOR) is made based on three factors that may have a negligible influence on the EWB system: the motor inductance, lead screw axial damping, and wedge mass. Six reduced order model (ROM) types were proposed when one, two, or all factors were ignored. The ROM accuracy was analysed using the frequency and time domain. The percentage of root means square error (RMSE) response value between the EWB benchmark model, and the predicted response based on the ROM was found to be less than 2%, with ROM size reduced from 5 to 2 orders. It guarantees that the new ROM series will be useful for simpler EWB controller design. The proposed ROM simplifies the original model drastically while retaining accuracy at an adequate level. Even though the simplest EWB model is a 2 nd order linear system, the best ROM vary depending on EWB design parameters.

Bulletin of Electrical Engineering and Informatics

Yaw control is a part of an Active Front Steering (AFS) system, which is used to improve vehicle ... more Yaw control is a part of an Active Front Steering (AFS) system, which is used to improve vehicle manoeuvrability. Previously, it has been reported that the yaw rate tracking performance of a linear Steer-by-Wire (SBW) vehicle equipped with a Composite Nonlinear Feedback (CNF) controller and a Disturbance Observer (DOB) is robust with respect to side wind disturbance effects. This paper presents further investigation regarding the robustness of the combination between a CNF and a DOB in a nonlinear environment through a developed 7-DOF nonlinear SBW vehicle. Moreover, in contrast to previous studies, this paper also contributes in presenting the validation works of the proposed control system in a real-time situation using a Hardware-in-Loop (HIL) platform. Simulation and validation results show that the CNF and DOB managed to reduce the influence of the side wind disturbance in nonlinearities.

Applied Mechanics and Materials, 2014

In this paper, Composite Nonlinear Feedback (CNF) is applied on Active Front Steering (AFS) syste... more In this paper, Composite Nonlinear Feedback (CNF) is applied on Active Front Steering (AFS) system for vehicle yaw stability control in order to have an excellent transient response performance. The control method, which has linear and nonlinear parts that work concurrently capable to track reference signal very fast with minimum overshoot, fast settling time, and without exceed nature of actuator saturation limit. Beside, modelling of 7 degree of freedom for typical passenger car with magic formula to represent tyre nonlinearity behaviour is also presented to simulate controlled vehicle as close as possible with a real situation. An extensive computer simulation is performed with considering a various profile of cornering manoeuvres with external disturbance to evaluate its performance in different scenarios. The performance of the proposed controller is compared to conventional Proportional Integration and Derivative (PID) for effectiveness analysis.

Bulletin of Electrical Engineering and Informatics, 2019

Penerbit UTM Press, 2017

Graphical abstract Abstract In this paper, Robust Composite Nonlinear Feedback (CNF) was implemen... more Graphical abstract Abstract In this paper, Robust Composite Nonlinear Feedback (CNF) was implemented on Active Front Steering (AFS) vehicle system for yaw stability control. In this control system, the main objective is to get excellent transient response of vehicle yaw rate and at the same time resist to side wind disturbance. To cater unknown constant disturbance, non-integral function for Robust CNF version is used. Meanwhile for vehicle model, 7 degree of freedom vehicle body with Pacejka Tire formula model for typical passenger car is used to simulate controlled vehicle. The computer simulation by Matlab software is performed to evaluate the system performance in J-Turn and Single sine steer with magnitude from 1 to 3.1 degree with additional 400 Nm external side wind disturbance. By using typical Proportional Integration and Derivative (PID) control auto-tuned by Matlab as comparison, the new designed controller demonstrates higher capability to track reference signal faster and having minimal tracking error during disturbance occur where having less than 0.01 degree compared 0.22 degree by PID. The Robust CNF based designed control system is able to compensate disturbance effect efficiently and also has super-fast tracking as classical CNF.

This paper studies and applied the composite nonlinear feedback (CNF) control technique for impro... more This paper studies and applied the composite nonlinear feedback (CNF) control technique for improving the transient performances of vehicle yaw rate response. In the active front steering control design and analysis, the linear bicycle model is used for controller design while the 7DOF nonlinear vehicle model is used as vehicle plant for simulation and controller evaluations. The vehicle handling test of the J-turn and single lane change maneuvers are implemented in computer simulations in order to evaluate the designed yaw rate tracking controller. The simulation results show that the CNF technique could improve the transient performances of yaw rate response and enhance the vehicle maneuverability.

In the myriad of colours, black and white are strange colours to be discussed. Since black (the c... more In the myriad of colours, black and white are strange colours to be discussed. Since black (the colour that one perceives) is not in the Electromagnetic (EM) spectrum, it is duly suggested that black is an interpretation of the brain in which the existing " no signal " concept is also discussed in the article. The same goes to the colour white, it is not in the EM spectrum too, so it is also duly proposed as an interpretation of the brain. The concept of white as combination of colour is also discussed in the article. It is insignificant to discuss about both these colours of their existence in the reflection of colour representation since their non-existent in EM spectrum is similar to the colour pink or magenta. There is a hypothesis (for white light colour theory test) at the end of this article, the authors welcome any scientists or engineers or researcher all over the world to assess, deliberate and prove the truth of this theory.

– This paper investigates various approaches for automated inspection of gluing process using sha... more – This paper investigates various approaches for automated inspection of gluing process using shape-based matching application. A new supervised defect detection approach to detect gap defect, bumper defect and bubble defect in gluing application is proposed. The creation of region of interest for important region of the object is further explained. The Correlation algorithm to determine better image processing result using template matching techniques is also proposed. This technique does not only reduce execution time, but also produce high accuracy in defect detection rate. The recognition efficiency will achieve more than 95% with defect's data for further process.

– The main motivation in using Peltier Module is due to the uniqueness of producing hot and cold ... more – The main motivation in using Peltier Module is due to the uniqueness of producing hot and cold air at the same time besides able to generate electricity using Seebeck Effect. The generating system theoretically can recycle the heat loss to produce additional electricity for other usage. The efficacy of this system tested using two types of experimental using Peltier and Seebeck Effect. Both experimental is conducted using 3 specific volumes; 1) 1000cm 3 ; 2) 4000cm 3 ; and 3) 9000cm 3. As a result, temperature for heating and cooling systems achieve around 14 – 56 o C while the voltage generated around 12V in 50 minutes.

– In the era of globalisation, the electrical energy usage is the main priority in order to do ou... more – In the era of globalisation, the electrical energy usage is the main priority in order to do our job and daily activity. Unfortunately, limited power supply for the electrical energy usage makes it hard to continuously provide electrical energy for 24 hours. By using Peltier device, it is possible to develop a portable generating system using heat loss in machines and vehicles. The generating system theoretically can recycle the heat loss to produce additional electricity for other usage. Generally, the objective of the generating system is to study on the potential of Peltier device to generate useful electricity for additional power supply using heat loss. This generating system can be applied on many types of machines and other type of mechanism such as vehicle that release heat loss. Therefore, the result obtain in term of voltage can be generated by the generating system. As a result, this system has higher efficiency which 12.59% compared to 6% using proper heat sink using the same module.

Communications in Computer and Information Science, 2013

In this paper, the composite nonlinear feedback (CNF) technique is applied for yaw tracking contr... more In this paper, the composite nonlinear feedback (CNF) technique is applied for yaw tracking control of active front steering system with the objectives to improve the transient performance of yaw rate response. For lateral and yaw dynamics analysis, nonlinear and linear vehicle models are utilized as actual vehicle plant and for controller design respectively. The designed controller is evaluated using J-turn cornering manoeuvre condition in computer simulation. The simulation results demonstrate that the application of CNF for yaw rate tracking control improves the yaw stability and vehicle handling performances.

Travelling Salesman Problem is a mathematical problem that describes a salesman problem in findin... more Travelling Salesman Problem is a mathematical problem that describes a salesman problem in finding the shortest distance to travel to all the cities given that each city is visited once only. Travelling Salesman Problem is nondeterministic and a polynomial time problem, which makes the conventional mathematical optimization techniques, irrelevant to solve the problem. This paper explores the use of one of swarm intelligence available, Firefly Algorithm in finding the optimal solution of the problem. Each firefly in Firefly Algorithm represents a candidate solution of the Travelling Salesman Problem. The candidate solution is modeled using a voting technique where each dimension of the firefly in search space represents a city that need to be visited by the salesman. The city with largest vote will be the initial city of the salesman, while the city with least vote, will be the second last city visited by the salesman before going back to the first city, he comes from. Each of this candidate solution has a distance that correlates with the fitness value of the firefly. A firefly will try to improve the solution its represents by moving closer to other fireflies with better fitness values, in the search space. This process is repeated until a stopping condition reached. The performance of the proposed approach is benchmark with a case study. I.

Although wheeled robots are commonly used, it has limited ability to move to any terrains at ease... more Although wheeled robots are commonly used, it has limited ability to move to any terrains at ease. They suffer from difficulties when travelling over uneven and rough terrains. Legged robots have an advantage over the wheeled robots in that they are suited for such situations. The implementation of legged robots normally requires many motors to move every joint in a robot leg. Additional motor will increase the construction cost, robot weight, and the demand for power supply. Moreover, robot simulation becomes more complex. This research is related to the design and development of a cost effective quadruped autonomous robot. The robot can moves according to a unique pattern using three servo motors as its actuator in each of its leg. The design of the robot is firstly made with CAD program and then the structure of the body and the leg is analyzed in order to find a correct balance and to make sure the servo motors are capable to move the robot. A prototype of the quadruped robot is fabricated and tested thoroughly. Experimental studies are carried out to test its stability issues when the robot moves. The robot is capable of moving forward, backward, turn left and turn right by crawling its way. A microcontroller is used as the brain of the robot assisted by two analog distance sensor for better obstacle sensing. It uses a rechargeable battery as the power supply for the microcontroller. The servo motors on the other hand are powered by another rechargeable battery. At the end of this research, a working prototype has been developed.

Abstract The application of wireless sensor network (WS\) for a water qualify monitoring is compo... more Abstract The application of wireless sensor network (WS\) for a water qualify monitoring is composed of a number Of sensor nodes with a networking capability that can be deployed for an ad hoc or continuous monitoring purpose. The parameters involved in the water quality determination such as the pH level, turbidity and temperature is measured in the real time by (he sensors that send the data to the base station or control/monitoring room. This paper proposes how such monitoring system can he h i up emphasizing on the aspects of low cost, easy nd hoc installation and easy handling and maintenance. The use of wireless system for monitoring purpose will not only reduce the overall monitoring system cost in term of facilities setup and labor cost, but will also provide flexibility in term of distance or location. In this paper, the fundamental design and implementation of WSN featuring a high power transmission Zigbee based technology together with the IEEE 802.15.4 compatible transce...

This paper investigates various approaches for automated inspection of gluing process using shape... more This paper investigates various approaches for automated inspection of gluing process using shape-based matching application. A new supervised defect detection approach to detect gap defect, bumper defect and bubble defect in gluing application is proposed. The creation of region of interest for important region of the object is further explained. The Correlation algorithm to determine better image processing result using template matching techniques is also proposed. This technique does not only reduce execution time, but also produce high accuracy in defect detection rate. The recognition efficiency will achieve more than 95% with defect's data for further process.

In the Radio Frequency Identification (RFID) System, the tag reader is normally installed whether... more In the Radio Frequency Identification (RFID) System, the tag reader is normally installed whether in a dock door portal style, fixed mounted, handheld or embedded in mobile data collection devices. In the case of mobile data collection devices, the information is stored temporarily in the memory chip of the handheld devices before it is manually transferred into the permanent database management system. This means that the operator needs to go trough two stages; getting the information using the tag reader and then transfer it to the database system. This has caused an unnecessary redundant in the information identification process, risk the information data to losses or damages and delayed the whole process. In this paper, an alternative method is proposed where the information received is directly channeled to the permanent database management system using an Xbee platform based wireless sensor network. Through this method, a two step processes to transfer the information to the d...

Communications in Computer and Information Science, 2013

Bulletin of Electrical Engineering and Informatics

Applied Mechanics and Materials, 2014

Bulletin of Electrical Engineering and Informatics, 2019

Penerbit UTM Press, 2017

Communications in Computer and Information Science, 2013