Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018

Name: Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 | NUSYS'18
Brand: Springer
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NUSYS'18

Zainah Md Zain Hamzah Ahmad Dwi Pebrianti Mahfuzah Mustafa Nor Rul Hasma Abdullah Rosdiyana Samad Maziyah Mat Noh(Herausgeber*in)

Springer (Verlag)

1. Auflage

Erschienen am 8. Februar 2019

XIII, 635 Seiten

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978-981-13-3708-6 (ISBN)

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Inhalt

Intro
Preface
Contents
Underwater Technology and Marine
PSO Fine-Tuned Model-Free PID Controller with Derivative Filter for Depth Control of Hovering Autonomous Underwater Vehicle
1 Introduction
2 Modelling of HAUV
3 Controller Design
3.1 PIDF Controller
3.2 Particle Swarm Optimization (PSO)
4 Results and Discussion
5 Conclusion
References
Optimization of Single Input Fuzzy Logic Controller Using PSO for Unmanned Underwater Vehicle
1 Introduction
2 Single Input Fuzzy Logic Controller (SIFLC)
3 Particle Swarm Optimization (PSO)
4 Results and Discussion
5 Conclusion
References
UTeM Autonomous Underwater Vehicle Competition Initiatives: Project TUAH and PANTHER
1 Introduction
2 TUAH AUV Development
2.1 TUAH 1.0
2.2 TUAH 2.0
3 PANTHER AUV Development
3.1 PANTHER-J AUV
3.2 PANTHER AUV
4 Lesson Learned
4.1 Navigation and Planning
4.2 Localization
4.3 Object Recognition and Manipulation
5 Conclusion
References
Deep Underwater Image Enhancement Through Integration of Red Color Correction Based on Blue Color Channel and Global Contrast Stretching
1 Introduction
2 Related Works
3 Motivation
4 Methodology
4.1 Red Color Correction Based on Blue Color Channel (RCCB)
4.2 Global Contrast Stretching
5 Results and Discussion
6 Conclusion
References
Development of Surface Cleaning Robot for Shallow Water
1 Introduction
2 Surface Cleaning Robot
2.1 Concept
2.2 Design
3 Result and Discussion
3.1 Surface Cleaning
3.2 Purification Process
3.3 Real Data Monitoring
3.4 Maximum Range and Operating Time
4 Operational Test
5 Conclusion
References
Design and Development of an Autonomous Underwater Vehicle for Underwater Target Navigation Mission Module
1 Introduction
2 AUV Navigation System
3 Result and Discussion
3.1 AUV Waterproof and Buoyancy
3.2 Navigation Test
4 Conclusion
References
Development of an Autonomous Underwater Vehicle for Target Acquisition
1 Introduction
1.1 Project Background
2 Methodology
2.1 Project Design
2.2 Hull Design
2.3 Submerging
2.4 Propulsion
2.5 Electrical Power
2.6 System Design
2.7 Hardware Requirements
3 Results and Analysis
3.1 AUV Prototype
3.2 Weight Distributions of the AUV
3.3 AUV Submerging and Leaking Test
3.4 Underwater Target Acquisition Test
3.5 Experimental Results
4 Conclusion
References
Robust Controller Design for Autonomous Underwater Glider Using Backstepping Super Twisting Sliding Mode Control Algorithm
1 Introduction
2 AUG Dynamic System
3 Controller Design
3.1 Design of Super Twisting Algorithm (STSMC)
3.2 Design of Backstepping Super Twisting Sliding Mode Control (BSTSMC)
3.3 Stability Analysis
4 Result and Discussion
5 Conclusion
References
PSpHT-II: A Water Strider-Like Robot with Cylindrical Footpad
1 Introduction
2 Water Strider Mechanical Framework
2.1 PSpHT Mechanical Structure Design and Mechanism
2.2 Improved Footpad Design
3 Striding Gait Pattern Design System
4 Experimental and Results
5 Conclusion
References
An Accurate Characterization of Different Water Properties Using Resonant Method for Underwater Communication Activity
1 Introduction
2 Method of Material Characterization
2.1 Resonant Method
2.2 Inverse Problem
3 Measurement
3.1 Sample Collection and Measurement Setup
3.2 Measurement Setup
4 Results and Discussion
5 Conclusion
References
Statistical Relationship Between Multibeam Backscatter, Sediment Grain Size and Bottom Currents
1 Introduction
2 Materials and Methods
2.1 Study Area
2.2 Currents
2.3 Sediment Grain Size Information
2.4 Acoustic Data Acquisition and Processing
2.5 Linear Regression
2.6 Multiple Linear Regression
3 Result
3.1 Backscatter Map
3.2 Ground Truth Data
3.3 Relationship Between Backscatter Intensity (dB), Sediment Grain Size (Mm) and Currents (Ms-1)
4 Conclusion
References
Control, Instrumentation and Artificial Intelligent Systems
Stabilization of Two-wheeled Wheelchair with Movable Payload Based Interval Type-2 Fuzzy Logic Controller
1 Introduction
2 System Model and Parameters
3 Interval Type-2 Fuzzy Logic Controller (IT2FLC)
4 Simulation Results
5 Conclusion
References
Stabilization Control of a Two-Wheeled Triple Link Inverted Pendulum System with Disturbance Rejection
1 Introduction
2 System Modelling
3 Stabilization Control
4 Result
5 Conclusion
References
Integration of PI-Anti-windup and Fuzzy Logic Control with External Derivative Solution for Leg's Robot Angular Joint Precision
1 Introduction
2 Overview of Hexaquad Robot Mechanisms and Leg Kinematics
3 PIA-FLC-D for a Hexaquad's Leg Precision Motion
3.1 Inner Loop System of Hexaquad's Leg
3.2 An Addition of a Derivative Element into PIA-FLC
4 Results and Discussions
4.1 Experiment Setup
4.2 Performance Comparison Between PIA-FLC and PIA-FLC-D
5 Conclusion
References
Backstepping Control of Nonholonomic Car-like Mobile Robot in Chained Form
1 Introduction
2 Backstepping Control Design
3 Mobile Robot Case
4 Simulation Results
5 Conclusion
References
Analysis of Mobile Robot Path Planning with Artificial Potential Fields
1 Introduction
2 Mathematical Modelling of the Proposed System
3 Development of Artificial Potential Field
4 Result and Discussion
4.1 Simulation Setup
4.2 Robot Movements with Adjusted Control Gain of Goal, kg
4.3 Robot Movements with Adjusted Control Gain of Obstacle, ko
5 Conclusion
References
Data-Driven PID Tuning for Liquid Slosh-Free Motion Using Memory-Based SPSA Algorithm
1 Introduction
2 Formulation of Data-Driven PID Problem
3 Data-Driven PID Using Memory-Based SPSA
3.1 A Review on Basic SPSA Algorithm
3.2 Memory-Based SPSA Algorithm (M-SPSA)
3.3 Application of M-SPSA for Data-Driven PID Controller Design
4 Implementation and Findings
5 Conclusion
References
Barnacles Mating Optimizer Algorithm for Optimization
1 Introduction
2 Barnacles Mating Optimizer
2.1 Inspiration
2.2 Hardy-Weinberg Principle
2.3 Selection Process
2.4 Off-Springs Generation
2.5 Sorting
3 Results and Discussion
4 Conclusion
References
Random Search in Energy Management Strategy (EMS) for Hybrid Electric Vehicles
1 Introduction
2 HEV Model
3 Random Search
4 Result and Discussion
5 Conclusion
References
Extended Bat Algorithm (EBA) as an Improved Searching Optimization Algorithm
1 Introduction
2 Methodology
3 Result and Discussion
4 Conclusion
References
Performance Comparison of Perturbation Signals for Time-Varying Water Temperature Modeling Using NARX-Based BPSO
1 Introduction
2 Theoretical Background
2.1 NARX Model
2.2 BPSO
2.3 Model Estimation
2.4 Model Validation
3 Experimental Design
4 Methodology
5 Results and Discussion
6 Conclusion
References
Adaptive Fuzzy-PID Controller for Quad-Rotor MAV with Mass Changes
1 Introduction
2 Modelling of Quad-Rotor MAV
3 Controller Development
3.1 Proportional-Integral-Derivative (PID) Controller
3.2 Adaptive Fuzzy-PID Controller
4 Discussion and Results
5 Conclusion and Future Work
References
Investigating State Covariance Properties During Finite Escape Time in H8 Filter SLAM
1 Introduction
2 Mathematical Modelling of the Proposed System
3 Finite Escape Time Analysis and Discussion
4 Preliminary Simulation Results and Analysis
5 Conclusion
References
Diagonalization of Covariance Matrix in Simultaneous Localization and Mapping of Mobile Robot
1 Introduction
2 Issue of Formulation
2.1 Model of Simultaneous Localization and Mapping (SLAM)
2.2 SLAM Based on Extended Kalman Filter
2.3 State Error Covariance Matrix
3 Matrix Diagonalization
3.1 Diagonalization of Covariance Matrix for EKF-Based SLAM
4 Simulation Results and Discussions
5 Conclusion
References
Development and Control of Biped Walking Robot Using PI Control
1 Introduction
2 Model of Biped Walking Robot
2.1 PID Controller
2.2 Control Method
2.3 Mechanism of Biped Walking Robot
2.4 Servo Selection Based on the Stall Torque Required
2.5 Center of Mass Calculation
2.6 Calibration of Servo and Potentiometer
3 Experimental Result
3.1 Calibration Result of Servo and Potentiometer
3.2 Error of Angle Accuracy After PI Control
3.3 Effect of PI Control on the Angle Accuracy
4 Conclusion
References
Improved Generalized Cross Correlation Phase Transform Algorithm for Time Difference of Arrival Estimation
1 Introduction
2 Approach and Methods
2.1 CC and GCC-PHAT
2.2 Segmentation
3 Results and Discussions
4 Conclusion
References
Performance Evaluation of PID Controller Parameters Gain Optimization for Wheel Mobile Robot Based on Bat Algorithm and Particle Swarm Optimization
1 Introduction
2 Research Method
2.1 Wheel Mobile Robot Mathematical Model-Kinematic Model
2.2 PID Controller Design
2.3 Optimization by Bat Algorithm
2.4 Simulation
3 Result and Analysis
4 Conclusion
References
Restoration of Kids Leg Function Using Exoskeleton Robotic Leg (ExRoLEG) Device
1 Introduction
2 Methodology
2.1 Development of ExRoLEG Device
3 Result and Discussion
3.1 Restoration Perspective
3.2 Functionality Validation
4 Conclusion
References
Simulated Kalman Filter Algorithm with Improved Accuracy
1 Introduction
2 Kalman Filter, Simulated Kalman Filter and Simulated Kalman Filter with Improved Accuracy
2.1 Kalman Filter
2.2 Simulated Kalman Filter Algorithm
2.3 Simulated Kalman Filter with Improved Accuracy Algorithm
3 Benchmark Functions and Test Setup
4 Results and Discussion
5 Conclusion
References
Initial Study of Multiple Excitation Source for Electrical Resistance Tomography in Steel Pipe Application
1 Introduction
2 Basic Principle of ERT in Steel Pipe
3 Methodology
4 Results and Discussions
5 Conclusion
References
Simultaneous Perturbation Stochastic Approximation Optimization for Energy Management Strategy of HEV
1 Introduction
2 Free Model of HEV
3 Methodology
4 Result
5 Discussion
6 Conclusion
References
Applied Electronics and Computer Engineering
Image Processing-Based Flood Detection
1 Introduction
2 Literature Review
2.1 Water Level Sensor Detector
2.2 Remote Sensing Satellite Detection
3 Methods
3.1 Region of Interest
3.2 Brightness and Contrast Process
3.3 Grayscale and Threshold
3.4 Edge Detection
4 Result and Discussion
5 Conclusion
References
Enhancement on Stain Detection for Automatic Handwashing Audit Vision System
1 Introduction
2 Methodology
2.1 Enhanced Hardware Prototype
2.2 Image Processing
2.3 Handwashing Templates
2.4 Stain Detection
3 Results and Discussion
4 Conclusion
References
Classification of Transient Facial Wrinkle
1 Introduction
2 Related Works
3 Facial Wrinkle Features
4 Facial Wrinkle Classifications
4.1 Artificial Neural Network (ANN)
4.2 K-Nearest Neighbors (KNN)
5 Results and Discussion
6 Conclusion
References
Electromyograph (EMG) Signal Analysis to Predict Muscle Fatigue During Driving
1 Introduction
2 Methodology
2.1 Answering Questions
2.2 Data Collection
2.3 Removing Artefact
2.4 Signal Analysis
2.5 Validity of Questionnaire
3 Results and Discussion
3.1 Data Collection and Questionnaire
3.2 Remove Noise
3.3 Data Normalization
3.4 Time Domain Signal Analysis
3.5 Frequency Domain Signal Analysis
3.6 Analysis Comparison
4 Conclusion
References
Time-Frequency Analysis from Earthing Application
1 Introduction
2 Methodology
2.1 Pre-processing Stage
2.2 Gabor Transform
2.3 Wavelet Transform
2.4 Wigner Transform
3 Results and Discussion
3.1 Gabor Transform
3.2 Wavelet Transform
3.3 Wigner Transform
4 Conclusion
References
Energy Spectral Density Analysis of Muscle Fatigue
1 Introduction
2 Proposed Method
2.1 Data Collection
2.2 EMG Signal Preprocessing
2.3 EMG Signal Analysis
2.4 Questionnaire
3 Result and Discussion
4 Conclusion
References
Modelling Automatic IoT Home Light System (SmartLi) by NODEMCU ESP8266
1 Introduction
2 Related Works
3 Proposed Modelling
3.1 System Design
3.2 Hardware
4 Results and Discussion
4.1 Final Output Results
4.2 Limit of Parameter
4.3 Mobile Hotspot Signal Strength
4.4 Discussion
5 Conclusion
References
Development of Automated Gate Using Automatic License Plate Recognition System
1 Introduction
2 OpenALPR and Node-RED
2.1 OpenALPR
2.2 Node-RED
3 Prototype Development
3.1 Database
3.2 Graphical User Interface
4 Result and Analysis
4.1 License Plate Recognition Result
5 Conclusion
References
Design of T-Shaped UWB Antenna with Dual Band Rejection Using Inverted U- and C-Shaped Slots
1 Introduction
2 Antenna Design
2.1 Antenna Design Without Slot
2.2 Antenna Design with Inverted U-Shaped Slot
2.3 Antenna Design with C-Shaped Slot
3 Results and Discussion
3.1 Antenna Design Without Slot
3.2 U-Shaped Slot Insertion
3.3 C-Shaped Slot Insertion
3.4 U- and C-Shaped Slot Insertion
4 Conclusion
References
Inter Vehicle Communication System for Collision Avoidance
1 Introduction
1.1 Collision Avoidance
2 Literature Review
2.1 Vehicle Navigation and Control
2.2 Collision Avoidance at Intersections
2.3 Communication Between Vehicles
3 Methodology
3.1 Description of the System
3.2 Sectional Activation of Communication System
4 Results and Discussion
5 Conclusion
References
IOT-Eye Drowsiness Detection System by Using Intel Edison with GPS Navigation
1 Introduction
2 Related Works
3 Proposed Modelling
3.1 System Design
3.2 Hardware
4 Results and Discussion
4.1 Experimental
4.2 Simulation Results
5 Conclusion
References
Automatic Detection of Diabetic Retinopathy Retinal Images Using Artificial Neural Network
1 Introduction
2 Methodology
3 Result and Discussions
4 Conclusion
References
Regional Assessment of Facial Nerve Paralysis Using Optical Flow Method
1 Introduction
2 Materials and Method
2.1 Ethical Statement
2.2 Experimental Setup
2.3 Data Acquisition
2.4 Distance and Area Computation by Motion Algorithm
2.5 Distance and Area Computation by Motion Algorithm
3 Results and Discussions
4 Conclusions
References
Design of Ultra-Wideband (UWB) Horn Antenna for Non-destructive Fruit Quality Monitoring
1 Introduction
2 Methodology
3 Result and Discussion
4 Conclusion
References
Ionospheric Modeling and Precision Positioning Global Navigation Satellite System
1 Introduction
2 Methodology
2.1 TEC Calculation Using Multiple Regressions
2.2 TEC Calculation Using Leveling Process
3 Results and Discussions
4 Conclusion
References
Enhancing the Integrated Vaccine System (IVS) Using MyKidVAX Mobile Application
1 Introduction
2 Methodology
2.1 Development Phase of IVS
2.2 Implementation Phase of IVS
3 Conclusion
References
Microwave-Assisted Synthesis for Environmentally ZnO Nanoparticle Synthesis
1 Introduction
2 Methodology
2.1 Method of ZnO Nanoparticles Synthesis
2.2 Characterization
3 Result and Discussion
4 Conclusion
References
Power Systems and Sustainable Energy
Micro-Hydro Energy Estimation for Hydrokinetic Energy Harnessing at Sungai Lembing
1 Introduction
1.1 Hydrokinetic System
1.2 Principle and Operation
1.3 Turbine Classification
2 The Study Area
3 Methodology
3.1 Evaluation Method
3.2 Velocity Measurement
4 Result and Discussion
5 Conclusion
References
Investigation of Binary Search Algorithm as Maximum Power Point Tracking Technique in Solar PV System
1 Introduction
2 Maximum Power Point Tracking Algorithm
2.1 Particle Swarm Optimization
2.2 Binary Search Algorithm
3 Simulation Model Development
4 Results and Discussions
5 Conclusion
References
Filter Design for a Nine Level Voltage Source Inverter for Renewable Energy Applications
1 Introduction
2 Materials and Methods
2.1 Inverter Circuit Description
2.2 Switching Angles
3 Filter Design
3.1 LC Filter
3.2 LCL Filter
4 Simulation Results and Discussion
4.1 Inverter Output Without a Filter
4.2 Inverter Output with LC Filter
4.3 Inverter Output with LCL Filter
4.4 LCL Filter with Series Damping
4.5 LCL Filter with Parallel Damping
5 Conclusion
References
Effects of Transformer's Turn Ratio Mismatch Towards the Performance of Dual Active Bridge Converter
1 Introduction
2 Dual Active Bridge DC/DC Converter
2.1 Dual Active Bridge Application
2.2 Circuit Description
3 Methodology
4 Results and Discussions
5 Conclusion
References
Impact of Overcurrent Protection Coordination on the Location of the Distributed Generation Sources
1 Introduction
2 DG Integration Problem
3 Problem Formulation
3.1 Objective Function
3.2 Characteristic Curve
3.3 Inequality Constraints
4 Simulation Results
4.1 Radial 7 Bus Test System
5 Conclusion
References
Investigation of Power Transfer in QAB Converter Via Phase Shift Modulation
1 Introduction
2 Theory of QAB
3 Phase Shift Modulation
4 QAB Converter Design
5 Results and Discussions
6 Conclusion
References
Current Measurement of Engine Oils Under Various Voltage Application
1 Introduction
2 Methodology
2.1 Test Board
2.2 Sample
3 Results
4 Conclusion
References
Parameter (Voltage, Current) Study of Thermoelectric Cooler (TEC) for Automobile Air-Conditioner
1 Introduction
2 Methodology
2.1 Experimental Setup
2.2 Experiment with ON-OFF Controller
3 Results
3.1 Relationship Between Voltage and Current to the Temperatures of the Cold and Hot Surface of Thermoelectric Cooler
3.2 Relationship Between Voltage and Current of Thermoelectric Cooler Using ON-OFF Controller
4 Conclusion
References
Optimal Placement of TCSC for Reactive Power Planning Using Grasshopper Optimization Algorithm Considering Line Outage (N-M)
1 Introduction
2 Problem Formulation
2.1 Objective Function
2.2 Equality Constraints
2.3 Inequality Constraints
3 Thyristor-Controlled Series Compensation (TCSC)
4 IEEE 30-Bus RTS System
5 Grasshopper Optimization Algorithm
5.1 Swarming Behavior
5.2 Social Interaction, S
5.3 Gravity Force, G
5.4 Wind Advection, A
6 Simulation Results and Discussion
6.1 Case 1: Solution for 50 Population Size (IEEE 30-Bus RTS) Without Line Outage
6.2 Case 2: Solution for 50 Population Size (IEEE 30-Bus RTS) with Line Outage
7 Conclusion
References

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