Browsing by Author "Liyana Ramli"
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Publication Autonomous UAV-Based Cattle Detection And Counting Using Yolov3 And Deep Sort(Universiti Sains Islam Malaysia, 2021-09-09) ;Muhammad Muaz Abni Hajar ;Noor Hanis Izzuddin Mat Lazim ;Ahmad Rasdan RosdiLiyana RamliUnmanned Aerial Vehicles (UAV) have been one of the most crucial technological advances in this era. One of the sectors that have been taken over gradually by UAV is agriculture. UAV has assisted the farmer in managing farmland autonomously especially in monitoring livestock. This study proposes the cattle detection and counting system based on deep learning via UAV. This detection and counting system is done autonomously for monitoring livestock, specifically cattle. We take advantage also of the assistant of UAVs to replace the “human eye” or real-time image in monitoring the livestock. The deep learning method used in this research is the YOLOv3 and Deep SORT that have been integrated into drone real time images to capture the real-time cattle monitoring system. Keywords: UAV, YOLOv3, Deep SORT, Real-time - Some of the metrics are blocked by yourconsent settings
Publication Consensus Tracking Control of Multiple Quadrotors with a Cooperative Leader(ARQII Publication, 2020) ;Izzuddin Mat Lazim ;Abdul Rashid Husain ;Liyana Ramli ;Nurul Adilla Mohd SubhaMohd Ariffanan Mohd BasriThis paper discusses the design of a consensus tracking algorithm with the practical implementation of solving distributed altitude and attitude tracking of multiple quadrotors. In contrast to most of the existing works that consider a leader agent that is non-cooperative, this paper proposes an algorithm that allows the leader agent to receive feedback from a subset of the followers. Firstly, the feedback linearization technique is utilized on the nonlinear quadrotor dynamics which yield a simple linear system. Then, the proposed consensus tracking algorithm is designed and employed to the resulting linear system to achieve consensus tracking on altitude and attitudes via local interaction between neighbours. Results obtained show that the proposed consensus tracking for a group of quadrotors can improve connectivity preservation as compared to the non-cooperative leader in the presence of an obstacle. Based on the formulation of the controller, the methodology can be easily adapted to various systems such as attitude synchronization of multiple satellite systems. - Some of the metrics are blocked by yourconsent settings
Publication Control of an underactuated double-pendulum overhead crane using improved model reference command shaping: Design, simulation and experiment(Academic Press, 2021) ;Jaafar H.I. ;Mohamed Z. ;Ahmad M.A. ;Wahab N.A. ;Liyana RamliShaheed M.H.This paper presents a new control scheme based on model reference command shaping (MRCS) for an overhead crane, with double-pendulum mechanism effects. The approach has an advantage in achieving an accurate trolley positioning, with low hook and payload oscillations, under various desired trolley positions and parameter uncertainties, without the requirement for measurement or estimation of system parameters. These are challenging in practice. The previously developed MRCS algorithm is improved in order to reduce its design complexity, as well as to ensure that it can be augmented with a feedback controller so that a concurrent controller tuning can be realised. The combined MRCS and feedback controller is used to achieve both, precise trolley positioning, and low hook and payload oscillations. To evaluate the effectiveness and the robustness of the approach, simulations and experiments using a nonlinear model and a laboratory double-pendulum crane are carried out. Under various desired positions and parameter uncertainties that involve varying the cable lengths (payload hoisting) and the payload mass variations, the superiority of the proposed approach is confirmed by achieving higher hook and payload oscillation reductions when compared with a recently proposed feedback controller. In addition, the desired trolley positions are achieved with smoother responses. � 2020 Elsevier Ltd - Some of the metrics are blocked by yourconsent settings
Publication Control strategies for crane systems: A comprehensive review(Academic Press, 2017) ;Liyana Ramli ;Z. Mohamed ;Auwalu M.Abdullahi ;H.I.JaafarNoor Hanis Izzuddin Mat LazimCrane systems are tremendously utilised in numerous heavy load transportation industries, and therefore, the control of crane systems is a well-established research field. As the last review paper was published more than a decade ago, there is a lack of collected and organised information regarding the latest and the newest updates on control strategies for crane control systems. Hence, this paper presents a comprehensive review of crane control strategies discussing the latest research works during the years from 2000 to 2016. Various crane types and control issues are highlighted, followed by the main focus of this paper, an extensive review of the control schemes for diverse types of crane systems that have been carried out in the 21st century. A brief review on modelling of single-pendulum and double-pendulum crane systems is also given. In addition, anti-sway control systems for industrial cranes that are available on the market is described. This paper summarises most of the related work and also pays a special focus on research trends regarding the control of crane systems that have been previously published in the literature. It is envisaged that this review paper will be helpful to new researchers when identifying research directions for this particular area of interest. - Some of the metrics are blocked by yourconsent settings
Publication Design and Development of a Seed-Sowing Robot Prototype(Penerbit USIM, 2022) ;Muhammad Afifi ;‘Adli Za’im ;Fatin Nadzirah ;Syarifah Nur Qamarina ;Izzuddin Mat LazimLiyana RamliThis study aims to develop a small prototype of a seed-sowing mobile robot, that can follow the desired path, and be able to collect, carry and drop the object of interest (seeds) at the designated places. The robot utilizes an infrared (IR) sensor for detecting the desired line, while an ultrasonic sensor for detecting the desired drop location. These sensor inputs are processed by a microcontroller, which in turn sends the control signal to the dc motor for the line-following task. The microcontroller also sends the control signal to a group of servo motors (robot arms) to collect, carry and drop the seeds onto the crop border. The functionality of the proposed robot was tested in a lab setting, where the results validated the concept. This robot serves as a proof of concept for the seed-sowing robot application in the agriculture sector.This study aims to develop a small prototype of a seed-sowing mobile robot, that can follow the desired path, and be able to collect, carry and drop the object of interest (seeds) at the designated places. The robot utilizes an infrared (IR) sensor for detecting the desired line, while an ultrasonic sensor for detecting the desired drop location. These sensor inputs are processed by a microcontroller, which in turn sends the control signal to the dc motor for the line-following task. The microcontroller also sends the control signal to a group of servo motors (robot arms) to collect, carry and drop the seeds onto the crop border. The functionality of the proposed robot was tested in a lab setting, where the results validated the concept. This robot serves as a proof of concept for the seed-sowing robot application in the agriculture sector. - Some of the metrics are blocked by yourconsent settings
Publication Design Of A Low-Cost Automatic Disinfection Chamber(Universiti Sains Islam Malaysia, 2020-10-15) ;Hanis Izzuddin ;Khairul Nabilah Zainul Ariffin ;Mus'ab Sahrim ;Irneza Ismail ;Shahnurriman Abdul Rahman ;Liyana RamliMohammad Hamiruce MarhabanThis study aims to develop a disinfection chamber that is portable and equipped with an automatics disinfectant spray system. The automatic disinfection chamber works by implementing a mechatronics system design which involves the use of the sensor, controller, and actuator. Firstly, an ultrasonic sensor is used to detect the presence of a user at the entrance of the chamber. Then, a microcontroller that acts as a brain to the system processes the sensor reading and produces an electrical signal to activate the water pump (actuator). This allows the water pump to channel the disinfectant solution from the tank to the spray nozzle for the human disinfection procedure. The proposed disinfection chamber has several advantages including automatic operation with minimal human intervention, as well as a modular design for easy transportation and assembly. - Some of the metrics are blocked by yourconsent settings
Publication Disturbance Observer-based Formation Tracking Control Of Multiple Quadrotors In The Presence Of Disturbances(SAGE Publications, 2019) ;Izzuddin M Lazim ;Abdul Rashid Husain ;Zaharuddin Mohamed ;Mohd Ariffanan Mohd Basri ;Nurul Adilla Mohd SubhaLiyana RamliThe presence of disturbances may bring adverse effects to the formation flight of multiple quadrotors. This paper proposes a robust disturbance observer-based feedback linearization that enhances the formation tracking control of quadrotors to achieve the desired formation shapes under the effect of disturbances. The method not only retains the simplicity of the control scheme using feedback linearized quadrotor model, but also has the capability to reject the disturbances. This is achieved by introducing a disturbance observer to estimate and attenuate the lumped disturbance that causes inexact inversion in the feedback linearization of the quadrotor. Then, a distributed formation tracking algorithm is adopted to ensure the quadrotors are able to form up and maintain the desired formation shape and heading via local communication between neighbours with respect to a leader that has nonzero control input. To evaluate the effectiveness of the proposed method, simulation experiments of multiple quadrotor formations using the proposed approach are conducted under several test cases. Results obtained demonstrate the superiority of the proposed control scheme for a more robust formation tracking as compared with the formation without the disturbance observer. Keywords Disturbance rejection, distributed control, feedback linearization, formation control, unmanned aerial vehicles - Some of the metrics are blocked by yourconsent settings
Publication Driver Behaviour Monitoring And Alert System By Using Machine Learning(Universiti Sains Islam Malaysia, 2020-10-15) ;Nur Arina Hazwani Samsun Zaini ;Fauzun Abdullah Asuhaimi ;Liyana RamliKhairul Nabilah Zainul AriffinA person who experienced micro-sleep tends to have decreasing concentration in their driving and this is one of the reasons why the number of road accidents system was designed to detect the sypmtom of microsleep which is the drowsiness of the driver by putting emphasis on the driver’s eyes and mouth. The system utilized the machine learning algorithm, MATLAB simulator and a camera. The camera is pointed directly towards the driver’s face and when the camera captures features like drooping eyelids and yawning, an alarm will automatically set off to alert the driver and the condition of the driver. - Some of the metrics are blocked by yourconsent settings
Publication Effective Formation Tracking of Quadrotors with Intelligent Disturbance Observer-Based Control(Springer Nature, 2021) ;Izzuddin Mat Lazim ;Abdul Rashid Husain ;Zaharuddin Mohamed ;Mohd Ariffanan Mohd Basri ;Nurul Adilla Mohd SubhaLiyana RamliThis study addresses the design and analysis of distributed formation tracking control with disturbance rejection capability for a group of quadrotors that are perturbed by time-varying external disturbances. The proposed approach consists of two control loops: inner-loop and outer-loop control. In the inner-loop control, feedback linearization (FL) of the quadrotor system in the presence of disturbance yields linear equations with unknown disturbance parts. The unknown disturbance parts are estimated in the outer-loop control by using a disturbance observer (DO). Since the DO produces an estimation error or called residual error when estimating time-varying disturbance, this study introduces a radial basis function neural network (RBFNN) with adaptive weight to effectively approximate and eliminate the residual error. Then, to complete the formation mission, a consensus-based algorithm is implemented in the outer-loop control to enable the distributed formation tracking. The capabilities of formation tracking and online approximating are proved via the Lyapunov approach. Simulation of the quadrotor formation in the presence of time-varying wind disturbance was conducted to evaluate the effectiveness of the approach where the results obtained illustrate the robustness of the quadrotor formation towards the disturbances. - Some of the metrics are blocked by yourconsent settings
Publication Efficient control of a nonlinear double-pendulum overhead crane with sensorless payload motion using an improved PSO-tuned PID controller(SAGE Publications Ltd, 2019) ;H. I. Jaafar ;Z. Mohamed ;N. A. Mohd Subha ;A. R. Husain ;F. S. Ismail ;Liyana Ramli ;M. O. TokhiM. A. ShamsudinThis paper proposes an efficient proportional–integral–derivative (PID) control of a highly nonlinear double-pendulum overhead crane without the need for a payload motion feedback signal. Optimal parameters of the PID controllers are tuned by using an improved particle swarm optimization (PSO) algorithm based on vertical distance oscillations and potential energy of the crane. In contrast to a commonly used PSO algorithm based on a horizontal distance, the approach resulted in an efficient performance with a less complex controller. To test the effectiveness of the approach, extensive simulations are carried out under various crane operating conditions involving different payload masses and cable lengths. Simulation results show that the proposed controller is superior with a better trolley position response, and lower hook and payload oscillations as compared to the previously developed PSO-tuned PID controller. In addition, the controller provides a satisfactory performance without the need for a payload motion feedback signal. Keywords Double-pendulum crane, fitness function, proportional-integral-derivative, particle swarm optimization, oscillation control - Some of the metrics are blocked by yourconsent settings
Publication Efficient Swing Control Of An Overhead Crane With Simultaneous Payload Hoisting And External Disturbances(Elsevier, 2020) ;Liyana Ramli ;Z. Mohamed ;M.O. Efe ;Noor Hanis Izzuddin Mat LazimH.I. JaafarThe effects of time varying parameters and external disturbances on a flexible system may badly degrade the control performance resulting in excessive induced vibrations/oscillations. For an overhead crane, the oscillation can be even worse when both factors occur simultaneously. This paper proposes a novel swing control approach for an underactuated overhead crane having payload hoisting and external disturbance simultaneously. The proposed scheme is designed based on a predictive unity magnitude shaper and an adaptive feedback control which efficiently suppress payload swing to handle both effects. Furthermore, the control parameters can be updated online in real time to progressively suppress the payload swing. To evaluate the effectiveness of the proposed method, experiments are carried out with a simultaneous payload hoisting and external disturbances including a non-zero initial condition, persistent disturbance (wind) and instant disturbance. The developed controller achieves higher robustness under all testing conditions with significant swing reductions of at least 45% and 69% in the overall and residual swing responses, respectively over a comparative control method. It is envisaged that the proposed method can be very beneficial as an anti-swing controller for various cranes under the influence of disturbance and hoisting simultaneously. - Some of the metrics are blocked by yourconsent settings
Publication Improved Unity Magnitude Input Shaping Scheme For Sway Control Of An Underactuated 3D Overhead Crane With Hoisting(Elsevier, 2019) ;M.J.Maghsoudi ;Liyana Ramli ;S.Sudin ;Z.Mohamed ;A.R.HusainH.WahidThis paper proposes an improved unity magnitude zero vibration (UMZV) shaper for payload sway reduction of an underactuated 3D overhead crane with hoisting effects. The proposed technique is effective in adapting to changes in the cable length and the crane dynamics during hoisting and thus provides higher sway reductions. The shaper is designed using the relationship of optimal UMZV shaper parameters and cable length obtained using a nonlinear model of a 3D overhead crane and particle swarm optimisation. A technique to choose the shaper parameters automatically during the hoisting operation is designed. To test the effectiveness of the proposed technique, MATLAB simulation and experiments are carried out on a laboratory crane under two hoisting cases. The superiority of the proposed technique is confirmed by achieving at least two-fold reductions in maximum transient and residual sways of the laboratory crane when compared to the Average Travel Length technique. The advantage of the improved UMZV shaper is also demonstrated with the simulation results. It is envisaged that the method can be useful for an operator to handle cranes in three dimensions without motion-induced sway problem. - Some of the metrics are blocked by yourconsent settings
Publication Leader-Follower Formation Control Of Quadrotors With Collision Avoidance Using Artificial Potential Field(Universiti Sains Islam Malaysia, 2021-09-09) ;Ahmad Rasdan Rosdi ;Noor Hanis Izzuddin Mat Lazim ;Muhammad Muaz Abni HajarLiyana RamliThis paper presents a collision-free virtual leader-follower formation control for a group of quadrotors using artificial potential field (APF) and proportional--derivative (PD) controller. The proposed control approach consists of PD controllers that stabilise the attitude, as well as for the position control. To avoid collision with obstacles, APF algorithm is used at the outer-most loop whereby the collision-free path is fed into the position control. Several simulation experiments were carried out to validate the proposed approach. Results show that the integration of APF to the controller were able to avoid obstacles. Keywords: Formation control, multi-agent system, leader-follower, artificial potential field, unmanned aerial vehicle - Some of the metrics are blocked by yourconsent settings
Publication Model Reference Command Shaping For Vibration Control Of Multimode Flexible Systems With Application To A Double-pendulum Overhead Crane(Elsevier, 2019) ;H.I. Jaafar, ;Z. Mohamed, ;M.A. Shamsudin, ;N.A. Mohd Subha, ;Liyana RamliA.M. AbdullahiThis paper proposes a Model Reference Command Shaping (MRCS) approach for an effective vibration and oscillation control of multimode flexible systems. The proposed MRCS is designed based on a reference model and avoids the need for measurement or estimation of several modes of frequency and damping ratio as in the case of other input shaping and command shaping approaches. To test the effectiveness and robustness, the designed MRCS is implemented for oscillation control of a double-pendulum overhead crane. Simulations on a nonlinear crane model and experiments using a laboratory overhead crane are carried out under two cases, without and with payload hoisting. Without a prior knowledge of the system frequency and damping ratio, the MRCS is shown to provide the highest reductions in the overall hook and payload oscillations when compared to the multimode Zero Vibration and Zero Vibration Derivative shapers designed based on the Average Travel Length approach. In addition, the MRCS is more robust towards changes in the frequency during payload hoisting and changes in the payload mass. It is envisaged that the proposed method can be useful in designing effective vibration control of multimode flexible systems. - Some of the metrics are blocked by yourconsent settings
Publication Modelling and Fuzzy Logic Control of an Underactuated Tower Crane System(Applications of Modelling and Simulation (AMS), 2020) ;Liyana Ramli ;Izzuddin M. Lazim ;Hazriq Izzuan JaafarZaharuddin MohamedTower 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 and slew motions which increases the crane control challenge. In practical applications, most of the tower cranes are operated by a human operator which lead to unsatisfactory control tasks. Motivated to overcome the issues, this paper proposes a fuzzy logic controller based on single input rule modules dynamically connected fuzzy inference system for slew/translational positioning and swing suppressions of a 3 degree-of-freedom tower crane system. The proposed method can reduce the number of rules significantly, resulting in a simpler controller design. The proposed method achieves higher suppressions of at least 56% and 81% in the overall in-plane and out-plane swing responses, respectively as compared to PSO based PID+PD control. - Some of the metrics are blocked by yourconsent settings
Publication Oscillation Detection Of A Quadrotor System Carrying Suspended Payload Using Image Processing Technique(Penerbit UMT, 2022) ;Noor Hanis Izzuddin Bin Mat Lazim ;Amalin Aisya Mohd Awi ;Liyana Ramli ;Zaharuddin MohamedH.I JaafarThis paper proposes using an image processing technique to detect the oscillation deflection of a quadrotor system carrying a suspended payload. A wireless smart camera is attached underneath the quadrotor to capture the payload oscillation in transit from one place to another. The image processing technique was used to measure the oscillation and response based on the output signal captured by the smart camera. A Parrot BEPOP quadrotor drone was used for the experiment and the image processing technique was realised using MATLAB software. Experiments were carried out to detect and analyse the payload oscillation response under different payload masses. The experiment results demonstrate the effectiveness of the image processing technique in detecting the payload oscillation under different payload masses. - Some of the metrics are blocked by yourconsent settings
Publication Pso-based Pid-pd Controller of a Gantry Crane with Parameter Uncertainties(Penerbit UMT, 2023) ;Zaki Hakimi Ab Rahim ;Muhamad Rafyq Roslan ;Liyana RamliIzzuddin M LazimCranes suffer from excessive swing due to the parameter uncertainties such as payload hoisting and payload mass which may affect the efficiency of the control performances. This paper presents modelling and optimal control of a gantry crane system subjected to parameter uncertainties. The Lagrange method is used for modelling the gantry crane which is derived from the Lagrange equation. An optimal controller is proposed in the system to obtain an efficient swing reduction and accurate trolley position. The proposed controller consists of two feedback control systems namely PID and PD controller which are utilized for tracking the accurate trolley position and reducing the payload swing angle, respectively. An intelligent optimization method is implemented in this study where the Particle Swarm Optimization (PSO) algorithm is used to find the optimal parameter gains for the controllers. For the robustness test, two cases are considered involving changes in payload mass and cable length. The superiority of the proposed method is confirmed by reduction of 17.7% in the maximum swing response over the comparative method. - Some of the metrics are blocked by yourconsent settings
Publication Simulation of Numerical Methods for Engineering(Penerbit USIM, 2022) ;Liyana Ramli ;Noor Hanis Izzuddin Mat Lazim ;Muhammad Asyraf Fawwaz bin Roshdan ;Syed Muhammad Hamizan bin Syed OthmanMuhammad Uwais Qarni bin Ahmad AdliSolving an equation to find its root is one of the most fundamental in mathematic. There are a lot of ways in order to solve an equation to find its root. In this report, there are 3 ways that we prioritize and focus, which is graphical method, bisection method and lastly the false position method. All of these methods has their own advantages and disadvantages that depends on how we adapt it in our calculation. Besides, all of those method, the scilab software also currently being used to carter the problems that related to the mathematical models. There result of these methods are provided in the report below, including its differences.