Muhammad Fahmi Miskon | Universiti Teknikal Malaysia Melaka (original) (raw)

Papers by Muhammad Fahmi Miskon

Research paper thumbnail of Analysis of Three-Link Position Control during Sit to Stand Motion

Journal of Telecommunication, Electronic and Computer Engineering, 2016

This paper presents characteristics study of Sit to Stand ( STS ) motion. There are several model... more This paper presents characteristics study of Sit to Stand ( STS ) motion. There are several model of STS including telescopic inverted pendulum, single-link, two-link and threelink(3L). Of all the system, 3L are chosen because of similar segment with human body. Previous study find a difficulty to analyze STS motion especially when the mass is changes. The characteristic of STS motion is not empirically conducted on the joint of each link. Hence the objective of the work presented here is to study the effect mass changes to each joint. Results shows that there is a possibility to estimate maximum torque needed by each link with equation derive from the experiment.

Research paper thumbnail of The Study of Limbs Torque Behaviour During Humanoid Robot Walking

The upper and lower limbs motion is a natural phenomenon that realized in humanoid robot walking.... more The upper and lower limbs motion is a natural phenomenon that realized in humanoid robot walking. The swaying arm angle range, is introduced in this study to utilize the humanoid robot arm during walking. The main idea of this technique is the employment of RShoulderPitch, LShoulderPitch, RHipPitch and LHipPitch joint angle to investigate the torque at the torso in the vertical direction. The torso torque, is computed using a method which utilizes the servo torque of RHipPitch, LHipPitch, RShoulderPitch and LShoulderPitch. The approach is tested using H25V33 NAO humanoid robot in the Webot TM Robotic Simulator. The result indicates that the method is successful in proving the torso torque, produced during humanoid robot walking.

Research paper thumbnail of Analysis Of Spinal EMG Signal When Swinging An Object

Electromyography (EMG) is a bio signal record the electricity generated by muscles during muscle ... more Electromyography (EMG) is a bio signal record the electricity generated by muscles during muscle contraction. Due to lack of research that emphasis on the recognition of EMG signal at spinal muscle, robotic or rehabilitation studies faces difficulties in designing the best response to overcome spinal injuries. Moreover, the surface EMG is affected by the noise environment, inconsistent due to bodily fatigue and inaccuracy of surface EMG pattern recognition. For data gathering, the MVC normalization method is applied to determine the spinal EMG signal on lumbar multifidus muscle when swinging an object. The MVC test shows that a higher percentage of MVC resulted in higher normalized amplitude. In order to analyse the identical and recognition of spinal EMG signal, three statistical analyses are done. One-way ANOVA analysis shows that the means value among all 15 subjects are different in the % MVC test. In addition, RMS analysis indicates that the muscle activity is increased when th...

Research paper thumbnail of Earthquake Disaster Awareness System

Earthquake is type of natural disaster which is usually very fast and unpredictable. When this ki... more Earthquake is type of natural disaster which is usually very fast and unpredictable. When this kind of disaster happens, people will usually panic and exit or run away from the facilities. Without proper guide and safety instructions, this might result in unwanted consequences, such as accidents, injuries or leaving behind family members or officemates. Due to this problem, a disaster (earthquake) awareness system is being developed. The system will at first calculate the amount of vibration in the soil of the earth. This calculation will be approximated to the Richter scale and if it is significantly large, will send safety instructions in the form of messages displayed at LED signboards available at important locations in the vicinity of the building. With this awareness system, if an earthquake happens, people will know what to do and where to go even if they are not trained with the disaster drill exercises.

Research paper thumbnail of Force Adaptation Algorithm for Finger Exercise Using Kuka Youbot

The comfort and safety is still a major impact in designing a rehabilitation robot. This paper pr... more The comfort and safety is still a major impact in designing a rehabilitation robot. This paper presents an adaptive control strategy algorithm for rehabilitation robot using KUKA Youbot for human finger. The algorithm is designed to handle the safety and comfort criteria during finger rehabilitation using finger force feedback. Two algorithms are developed to handle two different types of exercises for patient’s finger. These algorithms are tested in VREP simulation software. The spring damper system is used to simulate the human’s finger along with finger’s mechanical properties. Both algorithms used forced feedback to adapt the limitation of a patient’s finger. The 5 Nm was set as a safety threshold force that human can handle. The result shows that the algorithm has an ability to follow the safety criteria and can adapt the limitation of a human finger.

Research paper thumbnail of An Analysis of Sensor Placement for Vehicle's Blind Spot Detection and Warning System

Journal of Telecommunication, Electronic and Computer Engineering, 2016

Nowadays, the number of accidents involving motorized vehicles is increasing especially the side ... more Nowadays, the number of accidents involving motorized vehicles is increasing especially the side collision of the vehicles when the driver attempt to change from one lane to another either to left or right which is due to the carelessness of the driver and unsighted the blind spot. However, the cooperation of technology can overcome this problem. The key element is the ability to detect the incoming vehicle in the blind spot area. However, problems rises when the sensor used for the system only able to cover certain amount of area. The objectives of this study is to develop and implement a device that will warn the driver about the incoming vehicles in the blind spot area by blinking LED and to investigate the effectiveness of the system in terms of the position of the sensor used for the system. The developed system are equipped with an Arduino UNO microcontroller and SRF04 ultrasonic sensor. There are two experiments be conducted. The first experiment is carried out to make an ana...

Research paper thumbnail of STS Motion Control Using Humanoid Robot

Research Journal of Applied Sciences, Engineering and Technology, 2014

This study presents the development of Sit to Stand (STS) motion control method. The main challen... more This study presents the development of Sit to Stand (STS) motion control method. The main challenge in STS is in addressing the lift-off from chair problem. In solving the problem, the main components of the humanoid STS motion system involved are the (1) phase and trajectory planning and (2) motion control. These components should be designed so that the Zero Moment Point (ZMP), Centre of Pressure (CoP) and Centre of Mass (CoM) is always in the support polygon. Basically, in STS motion control there are two components, 1. Action selector and 2. Tracking controller. The STS motion control should able to operate in real time and continuously able to adapt any change in between the motion. In this way, the accuracy of the controller to rectify the motion error shall increase. The overall proposed method to perform the STS motion is designed to have two main phases. (1) CoM transferring that implements Alexander STS technique and (2) Stabilization Strategy that used IF-THEN rules and proportional velocity controller. This study focuses on the presentation of the development of second phase which are 1. The development of the IF-THEN rules as the action selector that operates in real time to assists the proportional controller in making the best decision and, 2. The development of Proportional Gain Identification for the proportional velocity controller that is capable to change the gain implementation by referring to the define region that represent the motion condition. The validation of the proposed method is done experimentally using NAO robot as the test platform. The coefficient of the gain identification for the proportional controller was tuned using NAO robot that was initially set at sitting position on a wooden chair. The inclination of the body from a frame perpendicular with the ground, angle y is observed. Coefficient that gives the lowest RMSE of angle y trajectory is taken as a constant. Results show the proposed control method has reduce the (Root Mean Square Error) RMSE of the motion from 6.6858° when all coefficient is set as the same to 4.0089° after the coefficient at all defined region have been identified.

Research paper thumbnail of Investigating the relationship between TIP and three-link models when the mass are varied

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS), 2015

In Humanoid robotics field, capability to perform any task that imitates human movement has been ... more In Humanoid robotics field, capability to perform any task that imitates human movement has been the major research focus. One of the critical movements is the Sit to Stand (STS) motion. STS motion can be predicted using three-link (3L) robot inverse kinematic and dynamic model. 3L multi segments is quite complicated and requires high computational resources to calculate. Telescopic Inverted Pendulum (TIP) is another model that much simpler for planning and analyzing humanoid robot since it represent whole body with one single link. However it is not clear whether TIP can represent 3L multi segment robot yet. Thus, this paper objective is to find the relationship between TIP and 3L model when the mass is varied. To do so, simulation setup for 3L and TIP model is developed using MATLAB. The torque values at each joint are observed to obtain the relationship between mass and the torque. The results show that both TIP and 3L model give a similarity result where mass and torque change in linear. For every drop of mass, the torque is also decrease.

Research paper thumbnail of Investigating the relationship between TIP and 3-link models when the links' length are varied

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS), 2015

In the field of humanoid and exoskeleton robotics, the ability to perform everyday task as human ... more In the field of humanoid and exoskeleton robotics, the ability to perform everyday task as human movement has been crucial point of research. One of the aspects that a lot of researcher put an effort is sit to stand (STS) motion. Study has shown that STS motion can be predicted using Three-link multi segment robot. But the calculation needed to perform the STS motion is complicated and requires high computational resources. One model is found that has much simpler task for planning and analyzing humanoid or exoskeleton robot which is Telescopic Inverted Pendulum (TIP). TIP is using one single link to represent whole body. However it is not clear whether TIP can represent 3L multi segment robot yet. Thus, this paper objective is trying to find the relationship between TIP and 3L model when the length of the limbs is varied. To do so, MATLAB is used to simulate the STS motion for both 3L and TIP model. The torque values at each joint are observed to obtain the relationship between length and the torque. The results show that both TIP and 3L model give a similar result where the limb's length and joint torque have linear relationship.

Research paper thumbnail of Investigating the relation between standing period and stability of humanoid robot when performing STS motion

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS), 2015

The main challenge in STS is addressing the lift-off from chair problem. In solving the problem, ... more The main challenge in STS is addressing the lift-off from chair problem. In solving the problem, two method was proposed, 1) phase and trajectory planning based on the Alexander STS technique and 2) motion control which applied IF-THEN rules to control the action given (direction and gain) with aid of proportional velocity control. This paper discussed on the trajectory planning to perform STS motion by, 1) Observation of the relationship between standing velocity i.e standing period, Ts with the stability of the STS motion and 2) Introduce a limitation on body's angular direction in y-axis on saggital plane, angle y. Nao humanoid robot is used to perform the task. Angle y trajectory and centre of pressure, CoP reading was measured to validate the proposed method. The results show that Standing period, Ts plays important role in order to perform a stable STS motion where stability increased as Ts increased. The lowest RMSE is 8.83° when Ts = 3.0. When the forward momentum decreasing with the implementation of angle y trajectory limitation, the results shows RMSE increased as Ts increased. However, the lowest RMSE is 7.07° when Ts = 1.5 where RMSE was decreased while using much lower standing period, Ts. The proposed angle y limitation has improved the motion stability and able to perform the task faster.

Research paper thumbnail of A New Data Glove Approach for Malaysian Sign Language Detection

Procedia Computer Science, 2015

A normal human being sees, listens, and reacts to his/her surroundings. There are some individual... more A normal human being sees, listens, and reacts to his/her surroundings. There are some individuals who do not have this important blessing. Such individuals, mainly deaf and dumb, depend on communication via sign language to interact with others. However, communication with ordinary individuals is a major concern for them since not everyone can comprehend their sign language. Furthermore, this will cause a problem for the deaf and dumb communities to interact with others, particularly when they attempt to involve with educational, social and work environments. In this research, the objectives are to develop a sign language translation system in order to assist the hearing or speech impaired people to communicate with normal people, and also to test the accuracy of the system in interpreting the sign language. As a first step, the best method in gesture recognition was chosen after reviewing previous researches. The configuration of the data glove includes 10 tilt sensors to capture the finger flexion, an accelerometer for recognizing the motion of the hand, a microcontroller and Bluetooth module to send the interpreted information to a mobile phone. Firstly the performance of the tilt sensor was tested. Then after assembling all connections, the accuracy of the data glove in translating some selected alphabets, numbers and words from Malaysian Sign Language is performed. The result for the first experiment shows that tilt sensor need to be tilted more than 85 degree to successfully change the digital state. For the accuracy of 4 individuals who tested this device, total average accuracy for translating alphabets is 95%, numbers is 93.33% and gestures is 78.33%. The average accuracy of data glove for translating all type of gestures is 89%. This fusion of tilt sensors and accelerometer could be improved in the future by adding more training and test data as well as underlying frameworks such as Hidden Markov Model.

Research paper thumbnail of The Effectiveness of Fish Length Measurement System Using Non-Contact Measuring Approach

Jurnal Teknologi, 2015

This paper presents the development of fish length measurement system to obtain the fish length e... more This paper presents the development of fish length measurement system to obtain the fish length effectively without any contact to the fish. The device which are small and portable, consists of a USB camera that will be connected to a computer for image capturing. A range sensor is combined with the USB camera to detect and fix the image capturing distance. A microcontroller will be the control circuit for the range sensor and LED indication light will be used to allocate the device at the right distance from the fish that it measures. Image processing software, Halcon will be used to analyze and calibrate the fish image for length measurement. Mathematical equations or algorithms are introduced in the image processing software to obtain the actual fish length from the image. The actual fish length from the calculation will be illustrated in the image processing software itself. The experimental results confirms the effectiveness of the proposed system.

Research paper thumbnail of Design and Construction of RH2000 Cybernatics Hand

Jurnal Teknologi, 2015

Recently, the number of patients with wrist and forearm amputations increased tremendously due to... more Recently, the number of patients with wrist and forearm amputations increased tremendously due to trauma, prolonged constriction, or surgery. The amputees experienced lots of problems, especially in dealings with their daily life activities. Thus, as a solution, a prototype called as RH2000 Cybernetics Hand is designed. Early design of bionic hand comprises of 14 motors with 14 degree of freedom which caused the bionic hand to be costly and complex to control. In this research, design of a bionic hand that has 10 degrees of freedom with 5 motors attached to mechanical linkages is proposed. The bionic hand designs in SolidWorks that resembled the function and size of an actual human hand. It is fabricated using aluminum 6061 as it is light in weight and durable. As for the sensor, V3 muscle sensor is utilized to identify a signal generated from the human muscle and amplified it as the primary control signal to control the movement of the bionic hand. The performance of bionic hand is...

Research paper thumbnail of Design and Development of Lead-Through Programming Method Using Low Cost Incremental Encoder Feedback

Jurnal Teknologi, 2015

Recently robots are widely used in a various field particularly in the industry. Despite this fac... more Recently robots are widely used in a various field particularly in the industry. Despite this fact robot still requires an undeniable amount of knowledge from the operators or workers who deal with them. As a result, robots cannot be easily programmed if the operator or the worker is not experienced in robotics field. One of the programming methods that has been introduced to make programming task user friendly is lead-through robot programming. However, the existing lead-through programming methods still requires an amount of knowledge that is not available for most of the operators and workers. The main objective of this project is to design a lead through method for point to point robot programming using incremental encoder feedback, which can record, save and playback the robot motion while considering the accuracy and precision of the robot. To validate the method, experiments were conducted in this project, where an operator manually moves a two DOF (degree of freedom) robotic...

Research paper thumbnail of Feasibility Study of Using Telescopic Inverted Pendulum Model to Represent a Three Link System for Sit to Stand Motion

Jurnal Teknologi, 2015

Sit to stand (STS) is a very challenging motion for any humanoid robotic system. In humanoid robo... more Sit to stand (STS) is a very challenging motion for any humanoid robotic system. In humanoid robotics field, the STS motion on the sagittal plane can be predicted using three-link robot inverse kinematic and dynamic model. However, a three-link model is complicated and requires high computational resource to compute. Hence, in this paper a much simpler model namely telescopic inverted pendulum is proposed. The objective of this project is to model and validate sit to stand motion of humanoid robot using telescopic inverted pendulum model. In order to validate the model, simulated joint torques using both three-link and TIPS model are compared using MATLAB software. Result shows that there is a linear relationship between Telescopic Inverted Pendulum with the 3 Link model thus, it is feasible to use TIPS to represent STS motion of a three-link multi-segment robot.

Research paper thumbnail of Position Control of Single Link Underwater Robot Manipulator

Jurnal Teknologi, 2015

This paper presents the responses of underwater manipulator control using conventional PID contro... more This paper presents the responses of underwater manipulator control using conventional PID controller. Underwater manipulation tasks are difficult due to the presence of water as its environment. Many underwater vehicles invented incorporate underwater manipulators which could be used for underwater rescue, recovery or operations such as welding or ship repair. It is desired to investigate the position response of underwater manipulator using conventional PID control without modelling the dynamics which includes motion in water. For this purpose, a single link manipulator was experimented and compared between the response of the manipulator underwater and the manipulator without water to compare accuracy of the position tracking. Two different reference trajectories were given, namely step and varying frequency position control.

Research paper thumbnail of The Effect of Swing Arms Posture Motion on Walking Straightness of Humanoid Robot

Applied Mechanics and Materials, 2015

The study of humanoid robot locomotion has been focusing on the development of walking pattern ge... more The study of humanoid robot locomotion has been focusing on the development of walking pattern generation. However, the robot has the possibility of slipping on the ground due to the simultaneous occurrence of translational and rotational motions as a robot is walking. Technically, both issues disrupt the walking straightness of the robot. This study investigates the influence of the robot swing arms posture with a modified walking pattern generation to minimize the problem. Simulations were done by preparing 10 different elbow joint angles with swing arms and each one of them were tested with the same value of Maximum Lifting Height, H. The analysis was done by collecting the data from the Global Positional Sensor (GPS) from the robot and calculating the Root Mean Square Error (RMSE) to determine which variable has the lowest percentage of RMSE. The angular velocity graph was used to analyze the deviation encountered by the robot while walking by determining the average of angular ...

Research paper thumbnail of Effectiveness of reference height control system for tripod hopping robot

2011 4th International Conference on Mechatronics (ICOM), 2011

In this paper, the generation of vertical jumping motion for tripod hopping robot through referen... more In this paper, the generation of vertical jumping motion for tripod hopping robot through reference height control system method in order to converge the differences of reference height for each leg of tripod hopping robot is discussed. The proposed control system is designed using MATLAB/ Simulink which is consisted of maximum height detector, PI controller system in the system of Central Pattern Generator (CPG). By using the approached method, tripod hopping robot can maintain the hopping motion and control the jumping height to achieve the reference height. As the result, we evaluate the effectiveness of CPG networks to keep the stability of tripod hopping robot besides of confirm the validity of using reference height control system to generate moving capability at different reference height.

Research paper thumbnail of Parameter Study of Stable Walking Gaits for Nao Humanoid Robot

International Journal of Research in Engineering and Technology, 2013

It is a challenge to any researcher to maintain the stability of the robot while in the walking m... more It is a challenge to any researcher to maintain the stability of the robot while in the walking motion. This paper proposes for parameter study of a walking pattern method which is inspired by the Dip Goswami (2009). The walking pattern is generated based on three points. These points are located at ankle left and right and one at the hip of the NAO humanoid robot. By using these points the walking gaits are generated to use as a reference point while walking motion. Then, an inverse kinematics with geometric solution of a ten degree-of-freedom humanoid robot is formulated from hip until the ankle joint. By sampling period of time with ten this reference point is used to find the joint angle of each link. The NAO humanoid robot is built in with force resistive sensor (FSR) located under both feet are used to determine the walking stability by using force distributer concept. The zero moment point of the robot is calculated on the normalized value between FSR reading from right leg and left leg. The result shown based on the real time simulation environment by using Webots Robotic Software. A simulation result shows that a NAO humanoid robot successfully walks in stable condition by following five different walking parameter setting. The humanoid robot is stable if and only if the normalized value of the ZMP is between 1 and-1.

Research paper thumbnail of Mapping normal sensor measurement using regions

2009 IEEE International Conference on Industrial Technology, 2009

Novelty detection, which is highlighting deviation from the normal condition, is a very useful ca... more Novelty detection, which is highlighting deviation from the normal condition, is a very useful capability for a surveillance mobile robot. In order to perform novelty detection, a robot must first learn what are normal sensor measurements in the environment. Then, during surveillance the robot can recognized any unusual measurement by comparing to what it has learned before. However, a sensor measurement which is unusual at one location could be normal at another. This paper presents a method by which a normal sensor measurement is associated with the area or region where it is observed. The method reduces the storage required for data from different types of sensors. It also reduces the number of false alarms when performing a surveillance task. This paper provides details of the novelty detection scheme and gives experimental results demonstrating its application.

Research paper thumbnail of Analysis of Three-Link Position Control during Sit to Stand Motion

Journal of Telecommunication, Electronic and Computer Engineering, 2016

This paper presents characteristics study of Sit to Stand ( STS ) motion. There are several model... more This paper presents characteristics study of Sit to Stand ( STS ) motion. There are several model of STS including telescopic inverted pendulum, single-link, two-link and threelink(3L). Of all the system, 3L are chosen because of similar segment with human body. Previous study find a difficulty to analyze STS motion especially when the mass is changes. The characteristic of STS motion is not empirically conducted on the joint of each link. Hence the objective of the work presented here is to study the effect mass changes to each joint. Results shows that there is a possibility to estimate maximum torque needed by each link with equation derive from the experiment.

Research paper thumbnail of The Study of Limbs Torque Behaviour During Humanoid Robot Walking

The upper and lower limbs motion is a natural phenomenon that realized in humanoid robot walking.... more The upper and lower limbs motion is a natural phenomenon that realized in humanoid robot walking. The swaying arm angle range, is introduced in this study to utilize the humanoid robot arm during walking. The main idea of this technique is the employment of RShoulderPitch, LShoulderPitch, RHipPitch and LHipPitch joint angle to investigate the torque at the torso in the vertical direction. The torso torque, is computed using a method which utilizes the servo torque of RHipPitch, LHipPitch, RShoulderPitch and LShoulderPitch. The approach is tested using H25V33 NAO humanoid robot in the Webot TM Robotic Simulator. The result indicates that the method is successful in proving the torso torque, produced during humanoid robot walking.

Research paper thumbnail of Analysis Of Spinal EMG Signal When Swinging An Object

Electromyography (EMG) is a bio signal record the electricity generated by muscles during muscle ... more Electromyography (EMG) is a bio signal record the electricity generated by muscles during muscle contraction. Due to lack of research that emphasis on the recognition of EMG signal at spinal muscle, robotic or rehabilitation studies faces difficulties in designing the best response to overcome spinal injuries. Moreover, the surface EMG is affected by the noise environment, inconsistent due to bodily fatigue and inaccuracy of surface EMG pattern recognition. For data gathering, the MVC normalization method is applied to determine the spinal EMG signal on lumbar multifidus muscle when swinging an object. The MVC test shows that a higher percentage of MVC resulted in higher normalized amplitude. In order to analyse the identical and recognition of spinal EMG signal, three statistical analyses are done. One-way ANOVA analysis shows that the means value among all 15 subjects are different in the % MVC test. In addition, RMS analysis indicates that the muscle activity is increased when th...

Research paper thumbnail of Earthquake Disaster Awareness System

Earthquake is type of natural disaster which is usually very fast and unpredictable. When this ki... more Earthquake is type of natural disaster which is usually very fast and unpredictable. When this kind of disaster happens, people will usually panic and exit or run away from the facilities. Without proper guide and safety instructions, this might result in unwanted consequences, such as accidents, injuries or leaving behind family members or officemates. Due to this problem, a disaster (earthquake) awareness system is being developed. The system will at first calculate the amount of vibration in the soil of the earth. This calculation will be approximated to the Richter scale and if it is significantly large, will send safety instructions in the form of messages displayed at LED signboards available at important locations in the vicinity of the building. With this awareness system, if an earthquake happens, people will know what to do and where to go even if they are not trained with the disaster drill exercises.

Research paper thumbnail of Force Adaptation Algorithm for Finger Exercise Using Kuka Youbot

The comfort and safety is still a major impact in designing a rehabilitation robot. This paper pr... more The comfort and safety is still a major impact in designing a rehabilitation robot. This paper presents an adaptive control strategy algorithm for rehabilitation robot using KUKA Youbot for human finger. The algorithm is designed to handle the safety and comfort criteria during finger rehabilitation using finger force feedback. Two algorithms are developed to handle two different types of exercises for patient’s finger. These algorithms are tested in VREP simulation software. The spring damper system is used to simulate the human’s finger along with finger’s mechanical properties. Both algorithms used forced feedback to adapt the limitation of a patient’s finger. The 5 Nm was set as a safety threshold force that human can handle. The result shows that the algorithm has an ability to follow the safety criteria and can adapt the limitation of a human finger.

Research paper thumbnail of An Analysis of Sensor Placement for Vehicle's Blind Spot Detection and Warning System

Journal of Telecommunication, Electronic and Computer Engineering, 2016

Nowadays, the number of accidents involving motorized vehicles is increasing especially the side ... more Nowadays, the number of accidents involving motorized vehicles is increasing especially the side collision of the vehicles when the driver attempt to change from one lane to another either to left or right which is due to the carelessness of the driver and unsighted the blind spot. However, the cooperation of technology can overcome this problem. The key element is the ability to detect the incoming vehicle in the blind spot area. However, problems rises when the sensor used for the system only able to cover certain amount of area. The objectives of this study is to develop and implement a device that will warn the driver about the incoming vehicles in the blind spot area by blinking LED and to investigate the effectiveness of the system in terms of the position of the sensor used for the system. The developed system are equipped with an Arduino UNO microcontroller and SRF04 ultrasonic sensor. There are two experiments be conducted. The first experiment is carried out to make an ana...

Research paper thumbnail of STS Motion Control Using Humanoid Robot

Research Journal of Applied Sciences, Engineering and Technology, 2014

This study presents the development of Sit to Stand (STS) motion control method. The main challen... more This study presents the development of Sit to Stand (STS) motion control method. The main challenge in STS is in addressing the lift-off from chair problem. In solving the problem, the main components of the humanoid STS motion system involved are the (1) phase and trajectory planning and (2) motion control. These components should be designed so that the Zero Moment Point (ZMP), Centre of Pressure (CoP) and Centre of Mass (CoM) is always in the support polygon. Basically, in STS motion control there are two components, 1. Action selector and 2. Tracking controller. The STS motion control should able to operate in real time and continuously able to adapt any change in between the motion. In this way, the accuracy of the controller to rectify the motion error shall increase. The overall proposed method to perform the STS motion is designed to have two main phases. (1) CoM transferring that implements Alexander STS technique and (2) Stabilization Strategy that used IF-THEN rules and proportional velocity controller. This study focuses on the presentation of the development of second phase which are 1. The development of the IF-THEN rules as the action selector that operates in real time to assists the proportional controller in making the best decision and, 2. The development of Proportional Gain Identification for the proportional velocity controller that is capable to change the gain implementation by referring to the define region that represent the motion condition. The validation of the proposed method is done experimentally using NAO robot as the test platform. The coefficient of the gain identification for the proportional controller was tuned using NAO robot that was initially set at sitting position on a wooden chair. The inclination of the body from a frame perpendicular with the ground, angle y is observed. Coefficient that gives the lowest RMSE of angle y trajectory is taken as a constant. Results show the proposed control method has reduce the (Root Mean Square Error) RMSE of the motion from 6.6858° when all coefficient is set as the same to 4.0089° after the coefficient at all defined region have been identified.

Research paper thumbnail of Investigating the relationship between TIP and three-link models when the mass are varied

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS), 2015

In Humanoid robotics field, capability to perform any task that imitates human movement has been ... more In Humanoid robotics field, capability to perform any task that imitates human movement has been the major research focus. One of the critical movements is the Sit to Stand (STS) motion. STS motion can be predicted using three-link (3L) robot inverse kinematic and dynamic model. 3L multi segments is quite complicated and requires high computational resources to calculate. Telescopic Inverted Pendulum (TIP) is another model that much simpler for planning and analyzing humanoid robot since it represent whole body with one single link. However it is not clear whether TIP can represent 3L multi segment robot yet. Thus, this paper objective is to find the relationship between TIP and 3L model when the mass is varied. To do so, simulation setup for 3L and TIP model is developed using MATLAB. The torque values at each joint are observed to obtain the relationship between mass and the torque. The results show that both TIP and 3L model give a similarity result where mass and torque change in linear. For every drop of mass, the torque is also decrease.

Research paper thumbnail of Investigating the relationship between TIP and 3-link models when the links' length are varied

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS), 2015

In the field of humanoid and exoskeleton robotics, the ability to perform everyday task as human ... more In the field of humanoid and exoskeleton robotics, the ability to perform everyday task as human movement has been crucial point of research. One of the aspects that a lot of researcher put an effort is sit to stand (STS) motion. Study has shown that STS motion can be predicted using Three-link multi segment robot. But the calculation needed to perform the STS motion is complicated and requires high computational resources. One model is found that has much simpler task for planning and analyzing humanoid or exoskeleton robot which is Telescopic Inverted Pendulum (TIP). TIP is using one single link to represent whole body. However it is not clear whether TIP can represent 3L multi segment robot yet. Thus, this paper objective is trying to find the relationship between TIP and 3L model when the length of the limbs is varied. To do so, MATLAB is used to simulate the STS motion for both 3L and TIP model. The torque values at each joint are observed to obtain the relationship between length and the torque. The results show that both TIP and 3L model give a similar result where the limb's length and joint torque have linear relationship.

Research paper thumbnail of Investigating the relation between standing period and stability of humanoid robot when performing STS motion

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS), 2015

The main challenge in STS is addressing the lift-off from chair problem. In solving the problem, ... more The main challenge in STS is addressing the lift-off from chair problem. In solving the problem, two method was proposed, 1) phase and trajectory planning based on the Alexander STS technique and 2) motion control which applied IF-THEN rules to control the action given (direction and gain) with aid of proportional velocity control. This paper discussed on the trajectory planning to perform STS motion by, 1) Observation of the relationship between standing velocity i.e standing period, Ts with the stability of the STS motion and 2) Introduce a limitation on body's angular direction in y-axis on saggital plane, angle y. Nao humanoid robot is used to perform the task. Angle y trajectory and centre of pressure, CoP reading was measured to validate the proposed method. The results show that Standing period, Ts plays important role in order to perform a stable STS motion where stability increased as Ts increased. The lowest RMSE is 8.83° when Ts = 3.0. When the forward momentum decreasing with the implementation of angle y trajectory limitation, the results shows RMSE increased as Ts increased. However, the lowest RMSE is 7.07° when Ts = 1.5 where RMSE was decreased while using much lower standing period, Ts. The proposed angle y limitation has improved the motion stability and able to perform the task faster.

Research paper thumbnail of A New Data Glove Approach for Malaysian Sign Language Detection

Procedia Computer Science, 2015

A normal human being sees, listens, and reacts to his/her surroundings. There are some individual... more A normal human being sees, listens, and reacts to his/her surroundings. There are some individuals who do not have this important blessing. Such individuals, mainly deaf and dumb, depend on communication via sign language to interact with others. However, communication with ordinary individuals is a major concern for them since not everyone can comprehend their sign language. Furthermore, this will cause a problem for the deaf and dumb communities to interact with others, particularly when they attempt to involve with educational, social and work environments. In this research, the objectives are to develop a sign language translation system in order to assist the hearing or speech impaired people to communicate with normal people, and also to test the accuracy of the system in interpreting the sign language. As a first step, the best method in gesture recognition was chosen after reviewing previous researches. The configuration of the data glove includes 10 tilt sensors to capture the finger flexion, an accelerometer for recognizing the motion of the hand, a microcontroller and Bluetooth module to send the interpreted information to a mobile phone. Firstly the performance of the tilt sensor was tested. Then after assembling all connections, the accuracy of the data glove in translating some selected alphabets, numbers and words from Malaysian Sign Language is performed. The result for the first experiment shows that tilt sensor need to be tilted more than 85 degree to successfully change the digital state. For the accuracy of 4 individuals who tested this device, total average accuracy for translating alphabets is 95%, numbers is 93.33% and gestures is 78.33%. The average accuracy of data glove for translating all type of gestures is 89%. This fusion of tilt sensors and accelerometer could be improved in the future by adding more training and test data as well as underlying frameworks such as Hidden Markov Model.

Research paper thumbnail of The Effectiveness of Fish Length Measurement System Using Non-Contact Measuring Approach

Jurnal Teknologi, 2015

This paper presents the development of fish length measurement system to obtain the fish length e... more This paper presents the development of fish length measurement system to obtain the fish length effectively without any contact to the fish. The device which are small and portable, consists of a USB camera that will be connected to a computer for image capturing. A range sensor is combined with the USB camera to detect and fix the image capturing distance. A microcontroller will be the control circuit for the range sensor and LED indication light will be used to allocate the device at the right distance from the fish that it measures. Image processing software, Halcon will be used to analyze and calibrate the fish image for length measurement. Mathematical equations or algorithms are introduced in the image processing software to obtain the actual fish length from the image. The actual fish length from the calculation will be illustrated in the image processing software itself. The experimental results confirms the effectiveness of the proposed system.

Research paper thumbnail of Design and Construction of RH2000 Cybernatics Hand

Jurnal Teknologi, 2015

Recently, the number of patients with wrist and forearm amputations increased tremendously due to... more Recently, the number of patients with wrist and forearm amputations increased tremendously due to trauma, prolonged constriction, or surgery. The amputees experienced lots of problems, especially in dealings with their daily life activities. Thus, as a solution, a prototype called as RH2000 Cybernetics Hand is designed. Early design of bionic hand comprises of 14 motors with 14 degree of freedom which caused the bionic hand to be costly and complex to control. In this research, design of a bionic hand that has 10 degrees of freedom with 5 motors attached to mechanical linkages is proposed. The bionic hand designs in SolidWorks that resembled the function and size of an actual human hand. It is fabricated using aluminum 6061 as it is light in weight and durable. As for the sensor, V3 muscle sensor is utilized to identify a signal generated from the human muscle and amplified it as the primary control signal to control the movement of the bionic hand. The performance of bionic hand is...

Research paper thumbnail of Design and Development of Lead-Through Programming Method Using Low Cost Incremental Encoder Feedback

Jurnal Teknologi, 2015

Recently robots are widely used in a various field particularly in the industry. Despite this fac... more Recently robots are widely used in a various field particularly in the industry. Despite this fact robot still requires an undeniable amount of knowledge from the operators or workers who deal with them. As a result, robots cannot be easily programmed if the operator or the worker is not experienced in robotics field. One of the programming methods that has been introduced to make programming task user friendly is lead-through robot programming. However, the existing lead-through programming methods still requires an amount of knowledge that is not available for most of the operators and workers. The main objective of this project is to design a lead through method for point to point robot programming using incremental encoder feedback, which can record, save and playback the robot motion while considering the accuracy and precision of the robot. To validate the method, experiments were conducted in this project, where an operator manually moves a two DOF (degree of freedom) robotic...

Research paper thumbnail of Feasibility Study of Using Telescopic Inverted Pendulum Model to Represent a Three Link System for Sit to Stand Motion

Jurnal Teknologi, 2015

Sit to stand (STS) is a very challenging motion for any humanoid robotic system. In humanoid robo... more Sit to stand (STS) is a very challenging motion for any humanoid robotic system. In humanoid robotics field, the STS motion on the sagittal plane can be predicted using three-link robot inverse kinematic and dynamic model. However, a three-link model is complicated and requires high computational resource to compute. Hence, in this paper a much simpler model namely telescopic inverted pendulum is proposed. The objective of this project is to model and validate sit to stand motion of humanoid robot using telescopic inverted pendulum model. In order to validate the model, simulated joint torques using both three-link and TIPS model are compared using MATLAB software. Result shows that there is a linear relationship between Telescopic Inverted Pendulum with the 3 Link model thus, it is feasible to use TIPS to represent STS motion of a three-link multi-segment robot.

Research paper thumbnail of Position Control of Single Link Underwater Robot Manipulator

Jurnal Teknologi, 2015

This paper presents the responses of underwater manipulator control using conventional PID contro... more This paper presents the responses of underwater manipulator control using conventional PID controller. Underwater manipulation tasks are difficult due to the presence of water as its environment. Many underwater vehicles invented incorporate underwater manipulators which could be used for underwater rescue, recovery or operations such as welding or ship repair. It is desired to investigate the position response of underwater manipulator using conventional PID control without modelling the dynamics which includes motion in water. For this purpose, a single link manipulator was experimented and compared between the response of the manipulator underwater and the manipulator without water to compare accuracy of the position tracking. Two different reference trajectories were given, namely step and varying frequency position control.

Research paper thumbnail of The Effect of Swing Arms Posture Motion on Walking Straightness of Humanoid Robot

Applied Mechanics and Materials, 2015

The study of humanoid robot locomotion has been focusing on the development of walking pattern ge... more The study of humanoid robot locomotion has been focusing on the development of walking pattern generation. However, the robot has the possibility of slipping on the ground due to the simultaneous occurrence of translational and rotational motions as a robot is walking. Technically, both issues disrupt the walking straightness of the robot. This study investigates the influence of the robot swing arms posture with a modified walking pattern generation to minimize the problem. Simulations were done by preparing 10 different elbow joint angles with swing arms and each one of them were tested with the same value of Maximum Lifting Height, H. The analysis was done by collecting the data from the Global Positional Sensor (GPS) from the robot and calculating the Root Mean Square Error (RMSE) to determine which variable has the lowest percentage of RMSE. The angular velocity graph was used to analyze the deviation encountered by the robot while walking by determining the average of angular ...

Research paper thumbnail of Effectiveness of reference height control system for tripod hopping robot

2011 4th International Conference on Mechatronics (ICOM), 2011

In this paper, the generation of vertical jumping motion for tripod hopping robot through referen... more In this paper, the generation of vertical jumping motion for tripod hopping robot through reference height control system method in order to converge the differences of reference height for each leg of tripod hopping robot is discussed. The proposed control system is designed using MATLAB/ Simulink which is consisted of maximum height detector, PI controller system in the system of Central Pattern Generator (CPG). By using the approached method, tripod hopping robot can maintain the hopping motion and control the jumping height to achieve the reference height. As the result, we evaluate the effectiveness of CPG networks to keep the stability of tripod hopping robot besides of confirm the validity of using reference height control system to generate moving capability at different reference height.

Research paper thumbnail of Parameter Study of Stable Walking Gaits for Nao Humanoid Robot

International Journal of Research in Engineering and Technology, 2013

It is a challenge to any researcher to maintain the stability of the robot while in the walking m... more It is a challenge to any researcher to maintain the stability of the robot while in the walking motion. This paper proposes for parameter study of a walking pattern method which is inspired by the Dip Goswami (2009). The walking pattern is generated based on three points. These points are located at ankle left and right and one at the hip of the NAO humanoid robot. By using these points the walking gaits are generated to use as a reference point while walking motion. Then, an inverse kinematics with geometric solution of a ten degree-of-freedom humanoid robot is formulated from hip until the ankle joint. By sampling period of time with ten this reference point is used to find the joint angle of each link. The NAO humanoid robot is built in with force resistive sensor (FSR) located under both feet are used to determine the walking stability by using force distributer concept. The zero moment point of the robot is calculated on the normalized value between FSR reading from right leg and left leg. The result shown based on the real time simulation environment by using Webots Robotic Software. A simulation result shows that a NAO humanoid robot successfully walks in stable condition by following five different walking parameter setting. The humanoid robot is stable if and only if the normalized value of the ZMP is between 1 and-1.

Research paper thumbnail of Mapping normal sensor measurement using regions

2009 IEEE International Conference on Industrial Technology, 2009

Novelty detection, which is highlighting deviation from the normal condition, is a very useful ca... more Novelty detection, which is highlighting deviation from the normal condition, is a very useful capability for a surveillance mobile robot. In order to perform novelty detection, a robot must first learn what are normal sensor measurements in the environment. Then, during surveillance the robot can recognized any unusual measurement by comparing to what it has learned before. However, a sensor measurement which is unusual at one location could be normal at another. This paper presents a method by which a normal sensor measurement is associated with the area or region where it is observed. The method reduces the storage required for data from different types of sensors. It also reduces the number of false alarms when performing a surveillance task. This paper provides details of the novelty detection scheme and gives experimental results demonstrating its application.