Z. Mohamed
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View article: Strategic Control and Performance of Universities in Kenya
Strategic Control and Performance of Universities in Kenya Open
Purpose: This thesis endeavored to explore on the relationship between strategic control and performance of universities in Kenya. The thesis study was anchored by resource-based view. Methodology: The Thesis identified two research philos…
View article: Review of the Impact of Technology Use on Modern Painting
Review of the Impact of Technology Use on Modern Painting Open
In the 21st century, technology has profoundly reshaped the world of art, including the domain of modern painting. From digital tools to Artificial Intelligence (AI) driven innovations, the intersection of art and technology has opened new…
View article: Oscillation Control of a Double-Pendulum Overhead Crane Using Positive and Negative Input Shaping Techniques
Oscillation Control of a Double-Pendulum Overhead Crane Using Positive and Negative Input Shaping Techniques Open
A double-pendulum overhead crane system exhibits significant nonlinearity and is classified as an under-actuated system, making control more complex. This study focuses on designing a robust shaper to effectively mitigate oscillations in s…
View article: Kinematic Modelling of Humanoid Robot Based on Vectorial Approach
Kinematic Modelling of Humanoid Robot Based on Vectorial Approach Open
The present work is dedicated to the study of the inverse kinematics solution of a humanoid bipedal robot with 30 degrees of freedom using a newly approach based on vectors that generated from the geometric space of the robot. The solution…
View article: Mixed Reinforcement Learning and Sliding Mode Controller Design for Robot Application
Mixed Reinforcement Learning and Sliding Mode Controller Design for Robot Application Open
International audience
View article: Crafting a Real-World Problem Project-Based Learning Based on Gantry Crane System
Crafting a Real-World Problem Project-Based Learning Based on Gantry Crane System Open
This paper presents the design and implementation of project-based learning for the System Modeling and Analysis course using a real-world gantry crane system problem in the first control engineering course for electrical engineering stude…
View article: Adaptive input shaper for payload swing control of a 5-DOF tower crane with parameter uncertainties and obstacle avoidance
Adaptive input shaper for payload swing control of a 5-DOF tower crane with parameter uncertainties and obstacle avoidance Open
View article: Adaptive PID Control via Sliding Mode for Position Tracking of Quadrotor MAV: Simulation and Real-Time Experiment Evaluation
Adaptive PID Control via Sliding Mode for Position Tracking of Quadrotor MAV: Simulation and Real-Time Experiment Evaluation Open
The lightweight nature of micro air vehicles (MAVs) makes them highly sensitive to perturbations, thus emphasizing the need for effective control strategies that can sustain attitude stability throughout translational movement. This study …
View article: Real-Time Implementation of an Adaptive PID Controller for the Quadrotor MAV Embedded Flight Control System
Real-Time Implementation of an Adaptive PID Controller for the Quadrotor MAV Embedded Flight Control System Open
This paper presents the real-time implementation of an altitude-embedded flight controller using proportional, integral, and derivative (PID) control, adaptive PID (APID) control, and adaptive PID control with a fuzzy compensator (APIDFC) …
View article: Position and Attitude Tracking of MAV Quadrotor Using SMC-Based Adaptive PID Controller
Position and Attitude Tracking of MAV Quadrotor Using SMC-Based Adaptive PID Controller Open
A micro air vehicle (MAV) is physically lightweight, such that even a slight perturbation could affect its attitude and position tracking. To attain better autonomous flight system performance, MAVs require good control strategies to maint…
View article: Optimised Sliding Mode Control of a Hexacopter: Simulation and Experiments
Optimised Sliding Mode Control of a Hexacopter: Simulation and Experiments Open
Hexacopters are a kind of unmanned aerial vehicle (UAV) with six actuators and six degrees-of-freedom motions. The control of a hexacopter drone is a critical challenge. This paper presents a nonlinear dynamical model for a hexacopter and …
View article: Grey-box modelling and fuzzy logic control of a Leader–Follower robot manipulator system: A hybrid Grey Wolf–Whale Optimisation approach
Grey-box modelling and fuzzy logic control of a Leader–Follower robot manipulator system: A hybrid Grey Wolf–Whale Optimisation approach Open
This study presents the development of a grey-box modelling approach and fuzzy logic control for real time trajectory control of an experimental four degree-of-freedom Leader-Follower Robot (LFR) manipulator system using a hybrid optimisa…
View article: Estimated Use of Electrical Load Using Regression Analysis and Adaptive Neuro Fuzzy Inference System
Estimated Use of Electrical Load Using Regression Analysis and Adaptive Neuro Fuzzy Inference System Open
<p>The rapid growth of Indonesia's population increases electricity consumption. Unfortunately, this growth is not followed by the development of new electrical energy sources. Therefore, there needs to be a comprehensive study t…
View article: Modelling and State Variable Feedback Control with Proportional Action of a One-Link Flexible Manipulator Incorporating Payload
Modelling and State Variable Feedback Control with Proportional Action of a One-Link Flexible Manipulator Incorporating Payload Open
This paper presents a state variable feedback (SVF) control with proportional gain to control a one-link flexible manipulator incorporating payload. The dynamic model of a one-link flexible manipulator is developed through a finite element…
View article: Magnetorheological Fluid: Testing on Automotive Braking System
Magnetorheological Fluid: Testing on Automotive Braking System Open
This paper presents the testing of a Magnetorheological brake (MRB) in the braking system of a vehicle. Two techniques are used to determine the capability of the brake system which are the simulation via Matlab Simulink Software and exper…
View article: Simulation of Active Force Control Using MR Damper in Semi Active Seat Suspension System
Simulation of Active Force Control Using MR Damper in Semi Active Seat Suspension System Open
With the rapid development of electronic sensor and actuator technology, semi-active seat suspension system has become even more practical driven by lower power consumption. Magneto-rheological (MR) dampers are among the best and the most …
View article: VIBRATION AND TIP DEFLECTION CONTROL OF A SINGLE-LINK FLEXIBLE MANIPULATOR
VIBRATION AND TIP DEFLECTION CONTROL OF A SINGLE-LINK FLEXIBLE MANIPULATOR Open
In this paper, a hybrid control scheme for vibration and tip deflection control of a single link flexible manipulator system is presented. The purpose of this control is for input tracking, vibration control of hub angle and tip deflection…
View article: Simulation and experimental study on PID control of a quadrotor MAV with perturbation
Simulation and experimental study on PID control of a quadrotor MAV with perturbation Open
This paper presents a proportional-integral-derivative (PID) flight controller for a quadrotor micro air vehicle (MAV). The MAV (Parrot Mambo minidrones) is small, therefore, a slight perturbation will affect its performance. Hence, for th…
View article: Payload swing control of a tower crane using a neural network–based input shaper
Payload swing control of a tower crane using a neural network–based input shaper Open
This paper proposes an input shaping technique for efficient payload swing control of a tower crane with cable length variations. Artificial neural network is utilized to design a zero vibration derivative shaper that can be updated accord…
View article: High potential of affordable housing supply by using industrialised building system in Selangor
High potential of affordable housing supply by using industrialised building system in Selangor Open
The implementation of an industrialized building system (IBS) by housing developers has been a subject of argument in terms of reducing the overall costs of the housing projects which aim to sustain the supply of affordable houses to the p…
View article: Modelling and Fuzzy Logic Control of an Underactuated Tower Crane System
Modelling and Fuzzy Logic Control of an Underactuated Tower Crane System Open
Tower crane is one of the flexible maneuvering systems that has been applied pervasively as a powerful big-scale construction machine. The under-actuated tower crane system has nonlinearity behavior with a coupling between translational an…
View article: Sliding mode control for altitude and attitude stabilization of quadrotor UAV with external disturbance
Sliding mode control for altitude and attitude stabilization of quadrotor UAV with external disturbance Open
This paper addresses the problem of robust altitude and attitude control of ‘×’ mode configuration quadrotor UAV using Lyapunov stability based sliding mode control with saturation function. The dynamic model of the quadrotor was derived b…
View article: Sliding mode control for altitude and attitude stabilization of quadrotor UAV with external disturbance
Sliding mode control for altitude and attitude stabilization of quadrotor UAV with external disturbance Open
This paper addresses the problem of robust altitude and attitude control of ‘×’ mode configuration quadrotor UAV using Lyapunov stability based sliding mode control with saturation function. The dynamic model of the quadrotor was derived b…
View article: Steering control of a steer-by-wire system vehicle with time delay and actuator saturation via anti-windup controller
Steering control of a steer-by-wire system vehicle with time delay and actuator saturation via anti-windup controller Open
This paper presents a design of an anti-windup controller that aims to improve vehicle handling and stability of a Steer-by-Wire (SbW) system with consideration of time delays and actuator saturation. Due to the physical constraints of roa…
View article: Energy and Path Optimization of Robot Arm Simulator Via Multi-Objective Evolutionary Algorithm
Energy and Path Optimization of Robot Arm Simulator Via Multi-Objective Evolutionary Algorithm Open
The performance of robot arm motion generated via neural network are presented in this paper. The robot arm motion for obstacle avoidance simultaneously optimizing three functions; minimum distance, minimum time and minimum energy are gene…
View article: Multi-Configuration Stiffened Panels under Compressive Load: Part 2 – Finite Element Analysis
Multi-Configuration Stiffened Panels under Compressive Load: Part 2 – Finite Element Analysis Open
View article: Development of Universal Wheelchair Transporter
Development of Universal Wheelchair Transporter Open
This work introduces a new universal wheelchair transporter to transport a conventional wheelchair from one point to another. The chosen design concept had been selected using Pugh chart selection method [13], considering all aspect contri…
View article: Assistive Robot Simulator for Multi-Objective Evolutionary Algorithm Application
Assistive Robot Simulator for Multi-Objective Evolutionary Algorithm Application Open
This paper presents a new assistive robot simulator for multi-objective optimization application. The main function of the simulator is to simulate the trajectory of the robot arm when it moves from initial to a goal position in optimized …
View article: A novel approach in S-shaped input design for higher vibration reduction
A novel approach in S-shaped input design for higher vibration reduction Open
This paper presents development and implementation of a novel approach to produce an s-shaped command with higher residual vibration. In this work, a three dimensional gantry crane is considered where a complete nonlinear mathematical mode…
View article: Implementation of a Raspberry Pi Trainer for the Subject of Microprocessors and Microcontrollers in Vocational High Schools
Implementation of a Raspberry Pi Trainer for the Subject of Microprocessors and Microcontrollers in Vocational High Schools Open
A Raspberry Pi Trainer is a tool which is able to support and facilitate the learning process of the subject of microprocessors and microcontrollers. The objective of this study was to find out the process and the results of the implementa…