Hyreil Anuar Kasdirin

Technical University of Malaysia Malacca

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Mohd Shahrieel Mohd Aras

Technical University of Malaysia Malacca

Fauzal Naim Zohedi

Technical University of Malaysia Malacca

Mohd Bazli Bahar

Technical University of Malaysia Malacca

M. O. Tokhi

London South Bank University

Norafizah Abas

Technical University of Malaysia Malacca

Muhamad Khairi Aripin

Technical University of Malaysia Malacca

Mohd Safirin Karis

Technical University of Malaysia Malacca

Fadilah Abdul Azis

Technical University of Malaysia Malacca

Nafrizuan Mat Yahya

Universiti Malaysia Pahang Al-Sultan Abdullah

Alias Khamis

Technical University of Malaysia Malacca

Cooperative Institutions

Technical University of Malaysia Malacca

University of Technology Malaysia

University of Sheffield

Universiti Teknologi MARA

National University of Malaysia

Universiti Putra Malaysia

International Islamic University Malaysia

University of Manchester

London South Bank University

Universiti Malaysia Pahang Al-Sultan Abdullah

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Invasive weed optimization algorithm optimized fuzzy logic scaling parameters in controlling a lower limb exoskeleton

Ghasaq Al Rezage Hyreil Anuar Kasdirin Siti Khadijah Ali M. O. Tokhi

This paper describes a new modified versions of invasive weed optimization algorithm with exponential seeds-spread factor. The modified invasive weed optimization algorithm (MIWO) is employed to optimize the fuzzy input-output scaling factors of lower limb exoskeleton. A fuzzy logic control (FLC) system with the (MIWO) are evolved for reference tracking control. The exoskeleton is developed to enhance and upgrade the lower limb capability and augment the torque of knee and hip of elderly people during the walking cycle. Invasive weed optimization is a bio-inspired search algorithm that mimics how weeds colonize a certain area in nature. The algorithm is modified by applying local knowledge during distribution of seeds that depends on their cost function value in each generation to narrow the accuracy and improve the local search ability. The obtained results from the modified invasive weed optimization algorithm are compared with heuristic gain values to improve the performance of the exoskeleton system. The Visual Nastran 4D software is used to develop a simulation model of the humanoid and an exoskeleton for testing and verification of the developed control mechanism. Simulation results demonstrating the performance of the adopted approach are presented and discussed.

10.1109/mmar.2016.7575294

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Analysis of ANN and Fuzzy Logic Dynamic Modelling to Control the Wrist Exoskeleton

Journal of Robotics and Control (JRC) (2023)

Mohd Safirin Karis Hyreil Anuar Kasdirin Norafizah Abas Wira Hidayat Mohd Saad Muhammad Noorazlan Shah Zainudin

Human intention has long been a primary emphasis in the field of electromyography (EMG) research. This being considered, the movement of the exoskeleton hand can be accurately predicted based on the user's preferences. The EMG is a nonlinear signal formed by muscle contractions as the human hand moves and easily captured noise signal from its surroundings. Due to this fact, this study aims to estimate wrist desired velocity based on EMG signals using ANN and FL mapping methods. The output was derived using EMG signals and wrist position were directly proportional to control wrist desired velocity. Ten male subjects, ranging in age from 21 to 40, supplied EMG signal data set used for estimating the output in single and double muscles experiments. To validate the performance, a physical model of an exoskeleton hand was created using Sim-mechanics program tool. The ANN used Levenberg training method with 1 hidden layer and 10 neurons, while FL used a triangular membership function to represent muscles contraction signals amplitude at different MVC levels for each wrist position. As a result, PID was substituted to compensate fluctuation of mapping outputs, resulting in a smoother signal reading while improving the estimation of wrist desired velocity performance. As a conclusion, ANN compensates for complex nonlinear input to estimate output, but it works best with large data sets. FL allowed designers to design rules based on their knowledge, but the system will struggle due to the large number of inputs. Based on the results achieved, FL was able to show a distinct separation of wrist desired velocity hand movement when compared to ANN for similar testing datasets due to the decision making based on rules setting setup by the designer.

10.18196/jrc.v4i4.19299

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Citations (4)

Spread enhancement for firefly algorithm with application to control mechanism of exoskeleton system

Hyreil Anuar Kasdirin

Firefly algorithm (FA) is a swarm intelligence based algorithm for global optimization and has widely been used in solving problems in many areas. The FA is good at exploring the search space and locating the global optimum, but it always gets trapped at local optimum especially in case of high dimensional problems. In order to overcome such drawbacks of FA, this paper proposes a modified variant of FA, referred to as spread enhancement strategy for firefly algorithm (SE-FA), by devising a nonlinear adaptive spread mechanism for the control parameters of the algorithm. The performance of the proposed algorithm is compared with the original FA and one variant of FA on six benchmark functions. Experimental and statistical results of the approach show better solutions in terms of reliability and convergence speed than the original FA especially in the case of high-dimensional problems. The algorithms are further tested with control of dynamic systems. The systems considered comprise assistive exoskeletons mechanism for upper and lower extremities. The performance results are evaluated in comparison to the original firefly and invasive weed algorithms. It is demonstrated that the proposed approaches are superior over the individual algorithms in terms of efficiency, convergence speed and quality of the optimal solution achieved.

Firefly Algorithm

10.15282/mekatronika.v1i1.163

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Citations (2)

Modelling and controlling of Underwater Remotely Operated Vehicle vertical trajectory using Gradient Descent Algorithm Single Input Fuzzy Logic Controller and Fuzzy Logic Controller

Fauzal Naim Zohedi Mohd Shahrieel Mohd Aras Hyreil Anuar Kasdirin Mohd Bazli Bahar Muhamad Khairi Aripin

Nowadays, an underwater exploration and inspection are done by using underwater remotely operated vehicle (ROV) to enhance safety to human and ease of any underwater task. It is challenging to control an underwater ROV due to the uncertainty of underwater environment. Simultaneous maneuvering and manipulating manipulator make it even harder for ROV operator to control ROV in certain positions. To ease the operator job, ROV vertical trajectory controller was designed. The trajectory movement was modelled using System Identification (SI) modeling technique. The SI technique was implement using MATLAB SI toolbox. Step and multiple steps input were given to the system to get the relationships of input and output. Then, the controller used to control the ROV were classical fuzzy logic (FLC) controller and Single Input Fuzzy Logic tuned by Gradient Descent Algorithm (GDA-SIFLC). The SI modelling result 84.7% best fit and verified with the actual output. The actual model has high percent overshoot (%OS) and steady state error (SSE). The model was then implemented with FLC controller and GDA-SIFLC controller to enhance the response. The FLC controller and GDA-SIFLC controller implementation has successfully reduce the %OS and almost eliminate the SSE.

Overshoot (microwave communication)

Remotely operated vehicle

10.1109/usys56283.2022.10072761

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Performance analysis of Lambda Tuning Single Input Fuzzy Logic Controller for Remotely Operated Vehicle depth control

Fauzal Naim Zohedi Mohd Shahrieel Mohd Aras Hyreil Anuar Kasdirin Mohd Bazli Bahar Muhamad Khairi Aripin

Underwater Remotely Operated Vehicle (ROV) is important to substitute human in doing underwater task. In marine industries, ROV is used to do underwater surveillance or observation. Due uncertainty of underwater environment and dynamic of ROV itself, depth trajectory control of ROV is difficult. Lambda tuning single input fuzzy logic (SIFLC) controller was implemented to the ROV to control the depth trajectory of the ROV. Performance analysis of Lambda SIFLC had been conducted for open frame and close frame ROV. The close frame ROV model is first order system while the open frame ROV is second order system. The transient responds analysis had been made using MATLAB Simulink. The implementation of the Lambda SIFLC shows significant improvement in the transient responds of the system.

Remotely operated vehicle

Transient (computer programming)

10.1109/usys56283.2022.10073238

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A new bats echolocation-based algorithm for single objective optimisation

Evolutionary Intelligence (2016)

Nafrizuan Mat Yahya M. O. Tokhi Hyreil Anuar Kasdirin

Bats sonar algorithm (BSA) as a swarm intelligence approach utilises the concept of echolocation of bats to find prey. However, the algorithm is unable to achieve good precision and fast convergence rate to the optimum solution. With this in mind, an adaptive bats sonar algorithm is introduced with new paradigms of real bats echolocation behaviour. The performance of the algorithm is validated through rigorous tests with several single objective optimisation benchmark test functions. The obtained results show that the proposed scheme outperforms the BSA in terms of accuracy and convergence speed and can be efficiently employed to solve engineering problems.

Human echolocation

Benchmark (surveying)

Swarm intelligence

10.1007/s12065-016-0134-5

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Citations (11)

EMG BASED CONTROL OF WRIST EXOSKELETON

IIUM Engineering Journal (2023)

Mohd Safirin Karis Hyreil Anuar Kasdirin Norafizah Abas Wira Hidayat Mohd Saad Mohd Shahrieel Mohd Aras

The significance of human motion intentions in a designed exoskeleton wrist control hand is essential for stroke survivors, thus making EMG signals an integral part of the overall system is critically important. However, EMG is a nonlinear signal that is easily influenced by several errors from its surroundings and certain of its applications require close monitoring to provide decent outcomes. Hence, this paper proposes to establish the relationship between EMG signals and wrist joint angle to estimate the desired wrist velocity. Fuzzy logic has been selected to form a dynamic modelling of wrist movement for a single muscle at different MVC levels and double muscles at a similar MVC level. The physical model of the exoskeleton hand using Simmechanics Matlab software has been developed to validate the performance of the fuzzy logic output result from both dynamic modelling approaches. A PID controller has been developed to smooth the exoskeleton hand movement fluctuations caused by the fuzzy logic decision-making process. As a conclusion, results showed a strong relationship between EMG signals and wrist joint angle improved the estimation results of desired wrist velocity for both dynamic modelling approaches hence strengthened the prediction process by providing a myoelectronic control device for the exoskeleton hand. ABSTRAK: Kepentingan dalam mengetahui kehendak gerakan pergelangan tangan manusia adalah penting untuk pesakit strok yang terselamat, justeru menjadikan isyarat EMG amat penting pada keseluruhan sistem. Walau bagaimanapun, EMG adalah isyarat tidak linear yang mudah dipengaruhi ralat sekitaran dan memerlukan pemantauan rapi bagi hasil yang baik. Oleh itu, kajian ini mencadangkan kewujudan hubungan antara isyarat EMG dan sudut sendi pergelangan tangan bagi menganggarkan halaju pergelangan tangan yang dikehendaki. Logik kabur (fuzzy logic) telah dipilih bagi membentuk model dinamik pergerakan pergelangan tangan pada otot tunggal di tahap MVC yang berbeza dan otot berganda pada tahap MVC yang serupa. Model fizikal rangka luar tangan menggunakan perisian Matlab Simmekanik telah dibangunkan bagi mengesahkan prestasi Logik Kabur daripada kedua-dua pendekatan model dinamik. Pengawal PID telah dibangunkan bagi melicinkan gerakan turun naik tangan yang disebabkan proses membuat keputusan oleh Logik Kabur. Sebagai kesimpulan, dapatan kajian menunjukkan hubungan yang kukuh antara isyarat EMG dan sudut sendi pergelangan tangan. Ini meningkatkan anggaran dapatan halaju pergelangan tangan yang dikehendaki bagi kedua-dua pendekatan model dinamik seterusnya mengukuhkan proses ramalan melalui peranti kawalan mioelektronik rangka tangan.

10.31436/iiumej.v24i2.2804

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Citations (3)

A new tuning approach of Single Input Fuzzy Logic Controller (SIFLC) for Remotely Operated Vehicle (ROV) Depth Control

Evergreen (2021)

Fauzal Naim Zohedi Mohd Shahrieel Mohd Aras Hyreil Anuar Kasdirin Mohd Bazli Bahar

on ROV controller for holding position had been conducted. Proportional, Integral and Derivative (PID), Fuzzy Logic Controller (FLC) and Single Input Fuzzy Logic Controller (SIFLC) was designed and compared. This paper discusses the modelling of developed ROV and tuning the SIFLC to get the best transient response. Steady state error (SSE), percent overshoot (%OS), time rise (Tr) and settling time (Ts) were analyzed to select the best controller. The result shows ROV depth can be controlled more precisely using SIFLC with 1.5 %OS, 11.5s Ts and 7.06s Tr.

Remotely operated vehicle

10.5109/4491657

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Citations (17)

EMG-based Assessment Device for Hand Rehabilitation with Cloud Analysis

2022 11th International Conference on Control, Automation and Information Sciences (ICCAIS) (2023)

Chan Hwa Seng Norafizah Abas Hyreil Anuar Kasdirin Mohd Azman Abas Normaniha Abd Ghani

Stroke has become a prevalent cardiovascular ailment that impacts human lives due to aging, chronic health issues, or injuries. Often, stroke survivors require rehabilitation to regain muscle function and relearn their motor skills. Unfortunately, the insufficient availability of rehabilitation services and a shortage of practitioners impede their recovery progress. Therefore, the development of an assessment device for hand rehabilitation based on electromyography (EMG) is proposed. The main challenge is to design an assessment device that can recognize the user's motion intention, which can be done by utilizing the electromyogram signals generated by forearm muscles contributed by the movement and/or grasping abilities of the hand. In this research, an EMG-mechanical sensor fusion is designed which combines an electronic conditioning circuit that measures the EMG signals extracted from the forearm muscles with mechanical sensor modalities (self-assembled hand dynamometer and flex sensor for wrist angle measurement). Once the proof of concept is established, the designed system is interfaced with the data analytics platform. This platform stores the collected data in the cloud, making it accessible for rehabilitation assessment. Scikit-Fuzzy with multiple linear regression is used to model the relationship between EMG signals, handgrip force, and wrist angle and map it to the hand assessment score chart. Based on the analysis, the trained model using Fuzzy with multiple linear regression achieved a 73.32% prediction accuracy. The proposed research contributes towards the aim of providing better rehabilitation diagnostic for post-stroke hand impairment survivors in regaining their hand strength and functionality and improving their quality of life.

10.1109/iccais59597.2023.10382377

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Development of PI controller for disc speed

IEEE Symposium on Industrial Electronics and Applications (2011)

Nur Huda Mohd Amin Hyreil Anuar Kasdirin Mohamad Riduwan Md Nawawi Mohd Ruddin Ab Ghani

This paper discuss about the development of Proportional and Integral (PI) controller for disc speed by involving the disturbance at the feedback control. The effect of the disturbance to the disc speed system is eliminated by Proportional and Integral (PI) controller. The PI controller is tuned heuristically from the MATLAB/simulink at which integrated with the disc plant. The performance of the disc plant is analyzed in real-time. Based on the analysis in real-time, this paper shows that the performance of the PI controller with disturbance and without disturbance. The result with disturbance shows that the output response quite closes to the result without disturbance even though the overshoot is about 8 percent. By the way, the rise time and settling time of the disc speed with disturbance is reduced for the time less than 0.01 and 0.95 seconds each. From the results with and without disturbance, this paper concludes that the development of PI controller for this speed in simulation give less error about 0.02 compared to the real-time system.

Overshoot (microwave communication)

Settling time

Electronic speed control

Rise time

Proportional control

10.1109/isiea.2011.6108798

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