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All Journal IAES International Journal of Robotics and Automation (IJRA) TELKOMNIKA (Telecommunication Computing Electronics and Control) Journal of Robotics and Control (JRC) International Journal of Robotics and Control Systems
Rozaimi Ghazali
Universiti Teknikal Malaysia Melaka
Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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An Intelligent Controller Design Approach for MIMO Coupled Tank System Mohd Hafiz Jali; Ahmad Firdaus Azhar; Rozaimi Ghazali; Chong Chee Soon
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 1: March 2018
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (585.352 KB) | DOI: 10.11591/ijra.v7i1.pp8-17

Abstract

Nowadays, versatilities of controllers have been developed to control the Coupled Tank System (CTS) such as proportional, integral, derivative (PID), fuzzy, fuzzy PID and neuro network. This paper focused on the control of the pump flow rate, in and out of the tank against the cross-sectional area of the CTS’s tank. The main objective of this paper is to design a CTS by using MATLAB since the Fuzzy Logic Controller (FLC) is widely utilized in the control of engineering applications in the industrial. Therefore, the FLC will be utilized to control and improve the performance of the CTS. The conventional PID controller will be applied, which reacts as a benchmark in the performance of the FLC. Parameters such as steady state error, settling time, and maximum overshoot will be part of the simulation results. As a result of the dynamic response executed in the closed-loop environment, it can be concluded that the FLC is capable of performing better than the conventional PID controller.
Training of Convolutional Neural Network using Transfer Learning for Aedes Aegypti Larvae Mohamad Aqil Mohd Fuad; Mohd Ruddin Ab Ghani; Rozaimi Ghazali; Tarmizi Ahmad Izzuddin; Mohamad Fani Sulaima; Zanariah Jano; Tole Sutikno
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 16, No 4: August 2018
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v16i4.8744

Abstract

The flavivirus epidemiology has reached an alarming rate which haunts the world population including Malaysia. World Health Organization has proposed and practised various methods of vector control through environmental management, chemical and biological orientations. However, from the listed control vectors, the most crucial part to be heeded are non-accessible places like water storage and artificial container. The objective of the study was to acquire and compare various accuracies and cross-entropy errors of the training sets within different learning rates in water storage tank environment which was essential for detection. This experiment performed transfer learning where Inception-V3 was implemented. About 534 images were trained to classify between Aedes Aegypti larvae and float valve within 3 different learning rates. For training accuracy and validation accuracy, learning rates were 0.1; 99.98%, 99.90% and 0.01; 99.91%, 99.77% and 0.001; 99.10%, 99.93%. Cross-entropy errors for training and validation for 0.1 were 0.0021, 0.0184 whereas for 0.01 were 0.0091, 0.0121 and 0.001; 0.0513, 0.0330. Various accuracies and cross-entropy errors of the training sets within the different learning rates were successfully acquired and compared.
A Review on Methods of Identifying and Counting Aedes Aegypti Larvae using Image Segmentation Technique Mohamad Aqil Mohd Fuad; Mohd Ruddin Ab Ghani; Rozaimi Ghazali; Mohamad Fani Sulaima; Mohd Hafiz Jali; Tole Sutikno; Tarmizi Ahmad Izzuddin; Zanariah Jano
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 15, No 3: September 2017
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v15i3.6422

Abstract

Aedes aegypti mosquitoes are a small slender fly insect that spreads the arbovirus from flavivirus vector through its sucking blood. An early detection of this species is very important because once these species turn into adult mosquitoes a population control becomes more complicated. Things become worse when difficult access places like water storage tank becomes one of the breeding favorite places for Aedes aegypti mosquitoes. Therefore, there is a need to help the field operator during the routine inspection for an automated identification and detection of Aedes aegypti larvae, especially at difficult access places. This paper reviews different methodologies that have been used by various researchers in identifying and counting Aedes aegypti. The objective of the review was to analyze the techniques and methods in identifying and counting the Aedes Aegypti larvae of various fields of study from 2008 and above by taking account their performance and accuracy. From the review, thresholding method was the most widely used with high accuracy in image segmentation followed by hidden Markov model, histogram correction and morphology operation region growing.
Improved Third Order PID Sliding Mode Controller for Electrohydraulic Actuator Tracking Control Muhamad Fadli Ghani; Rozaimi Ghazali; Hazriq Izzuan Jaafar; Chong Chee Soon; Yahaya Md Sam; Zulfatman Has
Journal of Robotics and Control (JRC) Vol 3, No 2 (2022): March
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i2.14236

Abstract

An electrohydraulic actuator (EHA) system is a combination of hydraulic systems and electrical systems which can produce a rapid response, high power-to-weight ratio, and large stiffness. Nevertheless, the EHA system has nonlinear behaviors and modeling uncertainties such as frictions, internal and external leakages, and parametric uncertainties, which lead to significant challenges in controller design for trajectory tracking. Therefore, this paper presents the design of an intelligent adaptive sliding mode proportional integral and derivative (SMCPID) controller, which is the main contribution toward the development of effective control on a third-order model of a double-acting EHA system for trajectory tracking, which significantly reduces chattering under noise disturbance. The sliding mode controller (SMC) is created by utilizing the exponential rule and the Lyapunov theorem to ensure closed-loop stability. The chattering in the SMC controller has been significantly decreased by substituting the modified sigmoid function for the signum function. Particle swarm optimization (PSO) was used to lower the total of absolute errors to adjust the controller. In order to demonstrate the efficacy of the SMCPID controller, the results for trajectory tracking and noise disturbance rejection were compared to those obtained using the proportional integral and derivative (PID), the proportional and derivative (PD), and the sliding mode proportional and derivative (SMCPD) controllers, respectively. In conclusion, the results of the extensive research given have indicated that the SMCPID controller outperforms the PD, PID, and SMCPD controllers in terms of overall performance. 
Real-Time Underground Plastic Pipeline Water Leakage Detection and Monitoring System Muhammad Haziq Hakim Rosman; Rozaimi Ghazali; Gowdie Palmer Derai; Hazriq Izzuan Jaafar; Chong Chee Soon; Dirman Hanafi; Zulfatman Has
International Journal of Robotics and Control Systems Vol 2, No 2 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i2.582

Abstract

The leaking of the water pipeline increasingly influences the quality of life and threatens the water supplier in developing countries. Proper method is required to effectively detecting the source for replacement to reduce the loses. Therefore, a water leakage detection with monitoring system is developed to detecting the precise leaking location of a buried plastic pipeline. The real-time pressure data obtained from the pressurized pipeline are transferred to the monitoring system with GUI (graphical User Interface), developed using LabVIEW software. In the experimental execution, a leaking pipeline is designed. Then, few pressure sensors are installed on the pipeline as a primary segment for the detection process. To prevent a false non-leak alarm and malfunction of the pressure sensors, the pressure threshold value and malfunction alarm is set using LabVIEW. Cross-correlation method is implemented that increase the accuracy of the leaking distance estimation. The processing and control unit in this article are manipulated using LabVIEW software and NI myRIO-1900 respectively.
Co-Authors Ahmad Firdaus Azhar Chong Chee Soon Dirman Hanafi Gowdie Palmer Derai Hazriq Izzuan Jaafar Mohamad Aqil Mohd Fuad Mohamad Fani Sulaima Mohd Hafiz Jali Mohd Ruddin Ab Ghani Muhamad Fadli Ghani Muhammad Haziq Hakim Rosman Tarmizi Ahmad Izzuddin Tole Sutikno Yahaya Md Sam Zanariah Jano Zulfatman Zulfatman