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Robust control and optimized parallel control double loop design for mobile robot

10.11591/ijra.v9i3.pp160-170
Ahmed J. Abougarair , Ali S. Elmolihi
Robots have been used in many applications in the past few decades. Moreover, due to high nonlinearity behavior of these systems, an optimal and robust control design approaches have been considered to stabilize and improve their performance and robustness. The uncertainties of the time delay on the output states of the mobile robot system have a significant influence on the system nominal performance. As a result, the work becomes here to address the influence of these uncertainties on the robot system performance. In order to achieve this objective, the nonlinear controller via sliding mode control (SMC) is designed by selecting a suitable sliding surface dynamics in which the considered robot displacement and tilt angle are sliding on. The lyapunov function is considered here to accomplish  the design of the sliding control signals for robot stabilization. Furthermore, the stability of the considered system is guaranteed due to convergence of  the lyapunov functions into zero when the state trajectories tend to desired set points. In addition, we consider the trajectory tracking and stabilization of TWBMR system using parallel double loop PID controllers whose controllers gains are tuning via linear quadratic regulator (LQR) approach.  Finally, to demonstrate the effectiveness of SMC and PID-LQR design methods,  the comparison is carried out when the nominal and uncertain conditions.
Volume: 9
Issue: 3
Page: 160-170
Publish at: 2020-09-01

Evidential reasoning based decision system to select health care location

10.11591/ijaas.v9.i3.pp201-210
Md. Mahashin Mia , Atiqur Rahman , Mohammad Shahadat Hossain
The general public’s demand of Bangladesh for safe health is rising promptly with the improvement of the living standard. However, the allocation of limited and unbalanced medical resources is deteriorating the assurance of safe health of the people. Therefore, the new hospital construction with rational allocation of resources is imminent and significant. The site selection for establishing a hospital is one of the crucial policy-related decisions taken by planners and policy makers. The process of hospital site selection is inherently complicated because of this involves many factors to be measured and evaluated. These factors are expressed both in objective and subjective ways where as a hierarchical relationship exists among the factors. In addition, it is difficult to measure qualitative factors in a quantitative way, resulting incompleteness in data and hence, uncertainty. Besides it is essential to address the subject of uncertainty by using apt methodology; otherwise, the decision to choose a suitable site will become inapt. Therefore, this paper demonstrates the application of a novel method named belief rule-based inference methodology-RIMER base intelligent decision system(IDS), which is capable of addressing suitable site for hospital by taking account of large number of criteria, where there exist factors of both subjective and objective nature.
Volume: 9
Issue: 3
Page: 201-210
Publish at: 2020-09-01

Prototype development of tethered underwater robot for underwater vessel anchor release

10.11591/ijra.v9i3.pp196-210
Ezeofor Chukwunazo Joseph , Georgewill Oyengiye Moses
Tethered underwater robot (TUR) for underwater vessel anchor release is presented. In off-shore oil and gas enviromnment, there has been series of reported cases on stuck vessel anchors after mooring operations and divers are sent to release these anchors for the vessels to be in motion. The use of divers to perform such function is very risky because of human limitation and some divers have been reported dead on the process due to high pressure underwater or being attacked by underwater wide animals. This has caused very serious panic to the vessel owners and hence, this work is aimed to develop TUR that would be used by the vessel operators instead of divers to release the stuck anchor without loss. The underwater robot system comprises of three basic sections namely graphical user control interface (GUCI) that would be installed in the operator’s laptop, the WiFi LAN router for network connection, and TUR system hardware and software. Each of these sections was strictly designed. Various high-level programming languages were employed to design the GUCI and code the interface buttons, robot controller program codes etc. The implementation carried out and the prototype system tested in the University of Port Harcourt’s swimming pool of 6m depth for validation. The robot performed extremely good in swimming and release of constructed anchor underwater.
Volume: 9
Issue: 3
Page: 196-210
Publish at: 2020-09-01

Air cloud algorithm for diminution of active power loss

10.11591/ijra.v9i3.pp190-195
Kanagasabai Lenin
In this work, air cloud (AC) algorithm is used to solve the optimal reactive power problem. Clouds shape in numerous ways. Convective clouds are created when moist air is warmed and expand into floating. Air raises haulage water vapour and within it expands and gets cooled as it goes. As the temperature and pressure of the air diminish, its saturation point – the equilibrium level of evaporation and condensation – is reduced. Every x is one cloud droplet, and qualitative characteristic of one cloud is explained by the three digital character (Ex, En, He), droplets number n, where Ex (Expected value), En (Entropy) and He (Hyper entropy) of one cloud determine centre position of cloud, cover range of cloud and thickness of cloud equally. Projected AC algorithm has been tested in standard IEEE 14, 57, 300 bus systems and simulations results show the better performance of the proposed algorithm in reducing the real power loss.
Volume: 9
Issue: 3
Page: 190-195
Publish at: 2020-09-01

Deriving the system equations of unbalanced two-phase induction motor

10.11591/ijra.v9i3.pp171-177
Hany Ibrahim Shousha , Abdelsamie B. Kotb
As there is no system driven especially for the two-phase induction motor fed from unbalanced two-phase supply yet, so we start for derivation the system equations for the said motor to be generally used even for the balanced or unbalanced two-phase supply. In this paper, we will derive a system equation starting from the sequence equivalent circuit for the forward and backwards equivalent circuits, then we will re-arrange the equations with some mathematical assumptions which will lead us to the new system equations. first for the voltage equations then for the current equations and finally for both power and torque equations. Moreover, we will put an example which will cover all cases with specific values and relations charts.
Volume: 9
Issue: 3
Page: 171-177
Publish at: 2020-09-01

Miniaturized ultra-wideband coplanarwaveguide lowpass filter with extended stop band

10.11591/ijeecs.v19.i3.pp1415-1419
Elmahjouby Sghir , Ahmed Errkik , Jamal Zbitou , Otman Oulhaj , Ahmed Lakhssassi , Mohamed Latrach
In this article, we propose a novel design of large rejected band of miniaturized ultra wide band (UWB) of a planar CPW low pass filter “LPF” based on the use of periodic elements of ‘e’ slots. The goal of this work is to develop a new structure of Low Pass Filter with the following criterion: Miniature, Compact and Easy for Fabrication. The Miniaturization of this structure is achieved by entering the 'e' slot  in etching area in the ground of CPW line, to save the standard gap of the adapted coplanar line. The designed coplanar LPF is a compact filter having a large band pass and extended stop band, with the possibility to associate easily with others RF and microwave planar circuits. The entire area of the proposed structure of CPW LPF is 14.3x20 mm2.
Volume: 19
Issue: 3
Page: 1415-1419
Publish at: 2020-09-01

Temperature effect of electronic nose sampling for classifying mixture of beef and pork

10.11591/ijeecs.v19.i3.pp1626-1634
Sinarring Azi Laga , Riyanarto Sarno
Strong demand and strong price of raw foodstuffs like beef was commonly used in conventional markets by beef dealers to commit fraud in order to gain larger income. The fraud has been in the form of combining beef and pork. In Indonesia, this has been a issue of food health in recent years. Via scent, some food safety concerns can be expected. By using electronic nose that is equipped with electrochemical and air sensors  such as temperature sensors, strain, and humidity to find the pure beef or mixed beef. According to its selectivity, the sensor can detect gas to make small icurrents that are the result of chemical sensor and gas interactions with oxygen .In this study, the classification method k-NN, SVM, Naïve Bayes, and random forest was used in 5 different meat variations with a ratio of 0%, 10%, 50%, 90% and 100% with temperatures of -22°C, room temperature, and 55°C. The results showed the effect of temperature on increasing the accuracy, which is at a temperature of -22°C. The lower the temperature, the more stable the value obtained by electronic nose. At a temperature of -22°C, the method that produces the highest accuracy is the Random Forest method.
Volume: 19
Issue: 3
Page: 1626-1634
Publish at: 2020-09-01

Faulty antenna detection in a linear array using simulated annealing optimization

10.11591/ijeecs.v19.i3.pp1340-1347
Navaamsini Boopalan , Agileswari K. Ramasamy , Farrukh Hafiz Nagi
Sonar, radar and communication systems solely depend on antenna arrays for signal attainment. These arrays are capable of producing directional signals which can be steered in a certain direction. Faulty elements in an array will result in distorted radiation pattern with increased sidelobe levels.  Far-field faulty antenna detection is necessary due to the near field repairing at complex systems like spacecraft. This paper proposes simulated annealing (SA) optimizing method to find the faulty element’s location in a linear array. In this study, a Chebyshev array is presented with the SA optimization method to detect faulty element location with a random permutation of failure locations tested. This method can successfully detect faulty antenna in a linear array. Even though, this method is developed for linear array it can easily be adapted to a planar array.
Volume: 19
Issue: 3
Page: 1340-1347
Publish at: 2020-09-01

Comparison of CNNs and SVM for voice control wheelchair

10.11591/ijai.v9.i3.pp387-393
Mohammad Shahrul Izham Sharifuddin , Sharifalillah Nordin , Azliza Mohd Ali
In this paper, we develop an intelligent wheelchair using CNNs and SVM voice recognition methods. The data is collected from Google and some of them are self-recorded. There are four types of data to be recognized which are go, left, right, and stop. Voice data are extracted using MFCC feature extraction technique. CNNs and SVM are then used to classify and recognize the voice data. The motor driver is embedded in Raspberry PI 3B+  to control the movement of the wheelchair prototype. CNNs produced higher accuracy i.e. 95.30% compared to SVM which is only 72.39%. On the other hand, SVM only took 8.21 seconds while CNNs took 250.03 seconds to execute. Therefore, CNNs produce better result because noise are filtered in the feature extraction layer before classified in the classification layer. However, CNNs took longer time due to the complexity of the networks and the less complexity implementation in SVM give shorter processing time.
Volume: 9
Issue: 3
Page: 387-393
Publish at: 2020-09-01

Improvement of cluster-based WSN protocol using fuzzy logic

10.11591/ijeecs.v19.i3.pp1540-1547
Jong-Yong Lee , Daesung Lee
A wireless sensor network is a collection of wireless nodes with sensor devices that can collect data from the real world. This is because sensor nodes usually use limited-powered batteries. Therefore, if the battery on the sensor node is exhausted, the node will no longer be available. If the battery on some nodes is discharged, the sensor network will not work properly. To maintain sensor network system, there are many wireless sensor network protocols to increase energy efficiency of nodes. One of the energy-efficient methods is cluster-based protocols. These protocols divide the sensor fields into clusters and send and receive data between nodes. Thus, depending on how the cluster is constructed, the network's lifetime may be reduced or increased. Cluster-based protocols cannot always be optimal cluster configurations. These problems have been improved using fuzzy logic. In general, fuzzy logic is used to elect cluster heads based on node residual energy, node concentration and node centrality. However, it is possible that nodes close to each other at a high density area are elected as cluster heads. In this paper, we propose a method to consider the number of adjacent cluster heads instead of Node Concentration to improve the problem.
Volume: 19
Issue: 3
Page: 1540-1547
Publish at: 2020-09-01

Pedestrian detection using Doppler radar and LSTM neural network

10.11591/ijai.v9.i3.pp394-401
Mussyazwann Azizi Mustafa Azizi , Mohammad Nazrin Mohd Noh , Idnin Pasya , Ahmad Ihsan Mohd Yassin , Megat Syahirul Amin Megat Ali
Integration of radar systems as primary sensor with deep learning algorithms in driver assist systems is still limited. Its implementation would greatly help in continuous monitoring of visual blind spots from incoming pedestrians. Hence, this study proposes a single-input single-output based Doppler radar and long short-term memory (LSTM) neural network for pedestrian detection. The radar is placed in monostatic configuration at an angle of 45 degree from line of sight. Continuous wave with frequency of 1.9 GHz are continuously transmitted from the antenna. The returning signal from the approaching subjects is characterized by the branching peaks higher than the transmitted frequency. A total of 1108 spectrum traces with Doppler shifts characteristics is acquired from eight volunteers. Another 1108 spectrum traces without Doppler shifts are used for control purposes. The traces are then fed to LSTM neural network for training, validation and testing. Generally, the proposed method was able to detect pedestrian with 88.9% accuracy for training and 87.3% accuracy for testing.
Volume: 9
Issue: 3
Page: 394-401
Publish at: 2020-09-01

Illuminance levels based on different sky conditions by considering daylight harvesting

10.11591/ijeecs.v19.i3.pp1219-1225
Nik Sahidah Nik Ahmad , N. H. Radzi , Mohd Noor Abdullah
Daylight harvesting systems (DHS) offer the most effective and significant to reduce energy consumption. In the lighting system, there are various problems which include waste of energy consumption, inappropriate lighting and increasing greenhouse effect. Therefore, the waste of energy consumption should be reduced by controlling the dimming levels of artificial lighting according to the standard thus reducing the greenhouse effect. Hence, this paper considered the daylight adaptive for the lighting system to determine the dimming level and illuminance level for the office room. The simulation has been carried out using DIALux simulation lighting software to simulate the average daylight and average illuminance level with different conditions sky, which is clear, average, and overcast sky. Based on the result, the illuminance level has complied with the European Standard EN12464-1. Furthermore, the presence of daylight and weather conditions plays an essential role in the lighting system. The illuminance and dimming levels are different depending on the time and type of sky condition at that time. Therefore, the daylight adaptive in the lighting system can reduce the use of artificial light in the room.
Volume: 19
Issue: 3
Page: 1219-1225
Publish at: 2020-09-01

Power density of rectangular microstrip patch antenna arrays for 5G indoor base station

10.11591/ijeecs.v19.i3.pp1367-1374
Nor Adibah Ibrahim , Tharek Abd Rahman , Razali Ngah , Omar Abd Aziz , Olakunle Elijah
The fifth-generation (5G) network has been broadly investigated by many researchers. The capabilities of 5G include massive system capacity, incredibly high data rates everywhere, very low latency and the most important point is that it is exceptionally low device cost and low energy consumption. A key technology of 5G is the millimeter wave operating at 28 GHz and 38 GHz frequency bands which enable massive MIMO and small cell base station densification. However, there has been public concern associated with human exposure to electromagnetic fields (EMF) from 5G communication devices. Hence, this paper studies the power density of a 5G antenna array that can be used for the indoor base station. The power density is the amount of power or signal strength absorbed by a receiver such as the human body located a distance from the base station. To achieve this, the design of array antennas using CST software at 28 GHz, fabrication and measurement were carried out in an indoor and hallway environment. The measurement processes were set up at IC5G at UTM Kuala Lumpur in which the distance of the transmitter to receiver where 1 m, 4 m, 8 m, and 10 m. In this study, the measured power density is found to be below the set limit by ICNIRP and hence no health implication is feared. Regardless, sufficient act of cautionary has to be applied by those staying close to small cell base stations and more studies are still needed to ensure the safety of use of 5G base stations.
Volume: 19
Issue: 3
Page: 1367-1374
Publish at: 2020-09-01

Design and implementation of wireless system for vibration fault detection using fuzzy logic

10.11591/ijai.v9.i3.pp545-552
Moneer Ali Lilo , Maath Jasem Mahammad
This paper aims at constructing the wireless system for fault detecting and monitoring by computer depending on the wireless and fuzzy logic technique. Wireless applications are utilized to identify, classify, and monitor faults in the real time to protect machines from damage .Two schemes were tested; first scheme fault collected X-Y-Z-axes mode while the second scheme collected Y-axis mode, which is utilized to protect the induction motor (IM) from vibrations fault. The vibration signals were processed in the central computer to reduce noise by signal processing stage, and then the fault was classified and monitored based on Fuzzy Logic (FL). The wireless vibration sensor was designed depending on the wireless techniques and C++ code. A fault collection, noise reduction, vibration fault classification and monitoring were implemented by MATLAB code.  In the second scheme the processed real time was reduced to 60%, which is included collection, filtering, and monitoring fault level. Results showed that the system has the ability to early detect the fault if appears on the machine with time processing of 1.721s. This work will reduce the maintenance cost and provide the ability to utilize the system with harsh industrial applications to diagnose the fault in real time processing.
Volume: 9
Issue: 3
Page: 545-552
Publish at: 2020-09-01

Automatic segmentation of ceramic materials with relaxed possibilistic C-Means clustering for defect detection

10.11591/ijeecs.v19.i3.pp1505-1511
Kwang Baek Kim , Doo Heon Song , Hyun Jun Park
Auromatic inspection system is necessary for reliable quality control if ceramic materials to avoid operator subjectivity and fatigue in visual inspection. Automatic segmentation from material’s image is then the most important process to develop such an inspection system. In this paper, we propose a Possibilistic C-Means pixel clustering algorithm with fuzzy stretching to form the defect object in segmentation. In experiment using 50 images containing a certain amount of defects, the proposed method was successful in 49 cases or 98% of opportunities. That performance is roughly twice better than that of standard K-means clustering in defect object formation Auromatic inspection system is necessary for reliable quality control if ceramic materials to avoid operator subjectivity and fatigue in visual inspection. Automatic segmentation from material’s image is then the most important process to develop such an inspection system. In this paper, we propose a Possibilistic C-Means pixel clustering algorithm with fuzzy stretching to form the defect object in segmentation. In experiment using 50 images containing a certain amount of defects, the proposed method was successful in 49 cases or 98% of opportunities. That performance is roughly twice better than that of standard K-means clustering in defect object formation.
Volume: 19
Issue: 3
Page: 1505-1511
Publish at: 2020-09-01
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