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Optimal parameter estimation for a DC motor using genetic algorithm Mohammad Soleimani Amiri; Mohd Faisal Ibrahim; Rizauddin Ramli
International Journal of Power Electronics and Drive Systems (IJPEDS) Vol 11, No 2: June 2020
Publisher : Institute of Advanced Engineering and Science

Estimating the parameters of a geared DC motor is crucial in terms of its non-linear features. In this paper, parameters of a geared DC motor are estimated genetically. Mathematical model of the DC motor is determined by Kirchhoff’s law and dynamic model of its shafts and gearbox. Parameters of the geared DC motor are initially estimated by MATLAB/SIMULINK. The estimated parameters are defined as initial values for Genetic Algorithm (GA) to minimize the error of the simulated and actual angular trajectory captured by an encoder. The optimal estimated model of the geared DC motor is validated by different voltages as the input of the actual DC motor and its mathematical model. The results and numerical analysis illustrate it can be ascertained that GA is appropriate to estimate the parameters of platforms with non linear characteristics.

Strengthening programming skills among engineering students through experiential learning based robotics project Mohd Faisal Ibrahim; Aqilah Baseri Huddin; Fazida Hanim Hashim; Mardina Abdullah; Ashrani Aizzuddin Abd Rahni; Seri Mastura Mustaza; Aini Hussain; Mohd Hairi Mohd Zaman
International Journal of Evaluation and Research in Education (IJERE) Vol 9, No 4: December 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijere.v9i4.20653

This study examined the educational effects in strengthening programming skills among university’s undergraduate engineering students via integration of a robotics project and an experiential learning approach. In this study, a robotics project was conducted to close the gap of students’ difficulty in relating the theoretical concepts of programming and real-world problems. Hence, an experiential learning approach using the Kolb model was proposed to investigate the problem. In this project, students were split into groups whereby they were asked to develop codes for controlling the navigation of a wheeled mobile robot. They were responsible for managing their group’s activities, conducting laboratory tests, producing technical reports and preparing a video presentation. The statistical analysis performed on the students’ summative assessments of a programming course revealed a remarkable improvement in their problem-solving skills and ability to provide programming solutions to a real-world problem.

Integration of 3D printing in computer-aided design and engineering course Mohd Hairi Mohd Zaman; Mohd Hadri Hafiz Mokhtar; Mohd Faisal Ibrahim; Aqilah Baseri Huddin; Gan Kok Beng
International Journal of Evaluation and Research in Education (IJERE) Vol 9, No 4: December 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijere.v9i4.20652

Engineering students at an undergraduate level typically learn the design aspect and concept through lectures and practical sessions using computeraided software. However, the current computer-aided design and engineering (CAD/CAE) course did not expose the students to apply and relate the latest advanced technologies to solve global issues, for instance as listed in the United Nations Sustainable Development Goals (UN SDG). Therefore, an improved CAD/CAE course taken by the students of the Electrical and Electronic Engineering Programme in Universiti Kebangsaan Malaysia integrates 3D printing and conduct their project based on UN SDG themes. A total of 22 projects was produced, which involves both mechanical and electrical design with some of the physical models were 3D printed. Thus, students able to strengthen their understanding of the design concept through the integration of 3D printing and simultaneously aware of the current global issues.

GA-based Optimisation of a LiDAR Feedback Autonomous Mobile Robot Navigation System Siti Nurhafizah Anual; Mohd Faisal Ibrahim; Nurhana Ibrahim; Aini Hussain; Mohd Marzuki Mustafa; Aqilah Baseri Huddin; Fazida Hanim Hashim
Bulletin of Electrical Engineering and Informatics Vol 7, No 3: September 2018
Publisher : Institute of Advanced Engineering and Science

Autonomous mobile robots require an efficient navigation system in order to navigate from one location to another location fast and safe without hitting static or dynamic obstacles. A light-detection-and-ranging (LiDAR) based autonomous robot navigation is a multi-component navigation system consists of various parameters to be configured. With such structure and sometimes involving conflicting parameters, the process of determining the best configuration for the system is a non-trivial task. This work presents an optimisation method using Genetic algorithm (GA) to configure such navigation system with tuned parameters automatically. The proposed method can optimise parameters of a few components in a navigation system concurrently. The representation of chromosome and fitness function of GA for this specific robotic problem are discussed. The experimental results from simulation and real hardware show that the optimised navigation system outperforms a manually-tuned navigation system of an indoor mobile robot in terms of navigation time.

A Finite State Machine Fall Detection Using Quadrilateral Shape Features Mohd Fadzil Abu Hassan; Mohamad Hanif Md Saad; Mohd Faisal Ibrahim; Aini Hussain
Bulletin of Electrical Engineering and Informatics Vol 7, No 3: September 2018
Publisher : Institute of Advanced Engineering and Science

A video-based fall detection system was presented; which consists of data acquisition, image processing, feature extraction, feature selection, classification and finite state machine. A two-dimensional human posture image was represented by 12 features extracted from the generalisation of a silhouette shape to a quadrilateral. The corresponding feature vectors for three groups of human pose were statistically analysed by using a non-parametric Kruskal Wallis test to assess the different significance level between them. From the statistical test, non-significant features were discarded. Four selected kernel-based Support Vector Machine: linear, quadratics, cubic and Radial Basis Function classifiers were trained to classify three human posture groups. Among four classifiers, the last one performed the best in terms of performance matric on testing set. The classifier outperformed others with high achievement ofaverage sensitivity, precision and F-score of 99.19%, 99.25% and 99.22%, respectively. Such pose classification model output was further used in a simple finite state machine to trigger the falling event alarms. The fall detection system was tested on different fall video sets and able to detect the presence offalling events in a frame sequence of videos with accuracy of 97.32% and low computional time.

A genetic algorithm based task scheduling system for logistics service robots Sariffuddin Harun; Mohd Faisal Ibrahim
Bulletin of Electrical Engineering and Informatics Vol 8, No 1: March 2019
Publisher : Institute of Advanced Engineering and Science

The demand for autonomous logistics service robots requires an efficient task scheduling system in order to optimise cost and time for the robot to complete its tasks. This paper presents a Genetic algorithm (GA) based task scheduling system for a ground mobile robot that is able to find a global near-optimal travelling path to complete a logistics task of pick-and-deliver items at various locations. In this study, the chromosome representation and the fitness function of GA is carefully designed to cater for a single load logistics robotic task. Two variants of GA crossover are adopted to enhance the performance of the proposed algorithm. The performance of the scheduling is compared and analysed between the proposed GA algorithms and a conventional greedy algorithm in a virtual map and a real map environments that turns out the proposed GA algorithms outperform the greedy algorithm by 40% to 80% improvement.

A Finite State Machine Fall Detection Using Quadrilateral Shape Features Mohd Fadzil Abu Hassan; Mohamad Hanif Md Saad; Mohd Faisal Ibrahim; Aini Hussain
Bulletin of Electrical Engineering and Informatics Vol 7, No 3: September 2018
Publisher : Institute of Advanced Engineering and Science

A video-based fall detection system was presented; which consists of data acquisition, image processing, feature extraction, feature selection, classification and finite state machine. A two-dimensional human posture image was represented by 12 features extracted from the generalisation of a silhouette shape to a quadrilateral. The corresponding feature vectors for three groups of human pose were statistically analysed by using a non-parametric Kruskal Wallis test to assess the different significance level between them. From the statistical test, non-significant features were discarded. Four selected kernel-based Support Vector Machine: linear, quadratics, cubic and Radial Basis Function classifiers were trained to classify three human posture groups. Among four classifiers, the last one performed the best in terms of performance matric on testing set. The classifier outperformed others with high achievement ofaverage sensitivity, precision and F-score of 99.19%, 99.25% and 99.22%, respectively. Such pose classification model output was further used in a simple finite state machine to trigger the falling event alarms. The fall detection system was tested on different fall video sets and able to detect the presence offalling events in a frame sequence of videos with accuracy of 97.32% and low computional time.

A genetic algorithm based task scheduling system for logistics service robots Sariffuddin Harun; Mohd Faisal Ibrahim
Bulletin of Electrical Engineering and Informatics Vol 8, No 1: March 2019
Publisher : Institute of Advanced Engineering and Science

The demand for autonomous logistics service robots requires an efficient task scheduling system in order to optimise cost and time for the robot to complete its tasks. This paper presents a Genetic algorithm (GA) based task scheduling system for a ground mobile robot that is able to find a global near-optimal travelling path to complete a logistics task of pick-and-deliver items at various locations. In this study, the chromosome representation and the fitness function of GA is carefully designed to cater for a single load logistics robotic task. Two variants of GA crossover are adopted to enhance the performance of the proposed algorithm. The performance of the scheduling is compared and analysed between the proposed GA algorithms and a conventional greedy algorithm in a virtual map and a real map environments that turns out the proposed GA algorithms outperform the greedy algorithm by 40% to 80% improvement.

GA-based Optimisation of a LiDAR Feedback Autonomous Mobile Robot Navigation System Siti Nurhafizah Anual; Mohd Faisal Ibrahim; Nurhana Ibrahim; Aini Hussain; Mohd Marzuki Mustafa; Aqilah Baseri Huddin; Fazida Hanim Hashim
Bulletin of Electrical Engineering and Informatics Vol 7, No 3: September 2018
Publisher : Institute of Advanced Engineering and Science

Autonomous mobile robots require an efficient navigation system in order to navigate from one location to another location fast and safe without hitting static or dynamic obstacles. A light-detection-and-ranging (LiDAR) based autonomous robot navigation is a multi-component navigation system consists of various parameters to be configured. With such structure and sometimes involving conflicting parameters, the process of determining the best configuration for the system is a non-trivial task. This work presents an optimisation method using Genetic algorithm (GA) to configure such navigation system with tuned parameters automatically. The proposed method can optimise parameters of a few components in a navigation system concurrently. The representation of chromosome and fitness function of GA for this specific robotic problem are discussed. The experimental results from simulation and real hardware show that the optimised navigation system outperforms a manually-tuned navigation system of an indoor mobile robot in terms of navigation time.

A Finite State Machine Fall Detection Using Quadrilateral Shape Features Mohd Fadzil Abu Hassan; Mohamad Hanif Md Saad; Mohd Faisal Ibrahim; Aini Hussain
Bulletin of Electrical Engineering and Informatics Vol 7, No 3: September 2018
Publisher : Institute of Advanced Engineering and Science

A video-based fall detection system was presented; which consists of data acquisition, image processing, feature extraction, feature selection, classification and finite state machine. A two-dimensional human posture image was represented by 12 features extracted from the generalisation of a silhouette shape to a quadrilateral. The corresponding feature vectors for three groups of human pose were statistically analysed by using a non-parametric Kruskal Wallis test to assess the different significance level between them. From the statistical test, non-significant features were discarded. Four selected kernel-based Support Vector Machine: linear, quadratics, cubic and Radial Basis Function classifiers were trained to classify three human posture groups. Among four classifiers, the last one performed the best in terms of performance matric on testing set. The classifier outperformed others with high achievement ofaverage sensitivity, precision and F-score of 99.19%, 99.25% and 99.22%, respectively. Such pose classification model output was further used in a simple finite state machine to trigger the falling event alarms. The fall detection system was tested on different fall video sets and able to detect the presence offalling events in a frame sequence of videos with accuracy of 97.32% and low computional time.

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