Mohamad Haniff Harun

Technical University of Malaysia Malacca

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Mohd Shahrieel Mohd Aras

Technical University of Malaysia Malacca

Khalil Azha Mohd Annuar

Technical University of Malaysia Malacca

Mohd Firdaus Mohd Ab Halim

Technical University of Malaysia Malacca

Mohd Bazli Bahar

Technical University of Malaysia Malacca

Shahrum Shah Abdullah

University of Technology Malaysia

Amar Faiz Zainal Abidin

Technical University of Malaysia Malacca

Arman Hadi Azahar

Technical University of Malaysia Malacca

Muhamad Khairi Aripin

Technical University of Malaysia Malacca

Mohd Khairi Mohd Zambri

Technical University of Malaysia Malacca

Fariz Ali Ibrahim

Technical University of Malaysia Malacca

Cooperative Institutions

Technical University of Malaysia Malacca

University of Technology Malaysia

Universiti Teknologi MARA

National University of Malaysia

Tun Hussein Onn University of Malaysia

University of Malaya

Universiti Malaysia Perlis

Malaysia University of Science and Technology

Yes Technologies (United States)

Universiti Putra Malaysia

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MONITORING GRID FREQUENCY

Mohd Firdaus Mohd Ab Halim Mohamad Haniff Harun Khalil Azha Mohd Annuar Suziana Ahmad

The grid frequency of a 50 Hz system varies from 49.8 Hz to 50.2 Hz. Every 0.01 Hz of change in grid frequency correspond to approximately 6% to 8% of power supply dropped in the grid (S. Pourmousavi et al. 2009). Hence high resolution of measurement device is a must to monitor the grid frequency. Most frequency measurement devices such as oscilloscope usually caters high frequency measurement range. Even though some oscilloscope able to measure low frequency signal, its accuracy and resolution is not up to the challenge of measuring grid frequency. Phasor Measurement Unit (PMU) uses by most power system company is not economical to be used by small scale power generation company or for research purpose. In this paper, a simple zero crossing method will be employ to measure the grid frequency with a resolution of 0.003 Hz using Arduino Uno controller. The test and validation of the frequency data took place in Europe specifically at University of Applied Science Rosenheim.

Phasor measurement unit

Frequency grid

Units of measurement

500 kHz

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Citations (1)

An analysis of energy saving through delamping method

International Journal of Electrical and Computer Engineering (IJECE) (2019)

Mohd Firdaus Mohd Ab Halim Muhamad Faizal Yaakub Mohamad Haniff Harun Khalil Azha Mohd Annuar Farriz Hj Md Basar

Electrical energy consumption is one of the focus areas in Green and Sustainable technology in the 21st century. Many energy consultants offers services to reduce the electricity consumption to the commercial consumer. Many proposals are focusing on selling their energy management system product which cost a lot of initial investment. The problem of applying energy management system is that the building needs major renovation. In this paper, electricity consumption is reduced through delamping method. The delamping is strategizing based on energy efficiency audit. This technique complies with the ASHRAE international standard for office building. The number of light reduced and electricity consumption from this exercise can translate into reduction of maintenance and electricity bill. The comparison of payback period for various energy saving techniques were discussed as well.

ASHRAE 90.1

Payback period

Consumption

Investment

10.11591/ijece.v9i3.pp1569-1575

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Citations (7)

Effect of Natural Feed Provision on the Growth of Koi Fish Seed

The NIKe Journal (2020)

Mohamad Haniff Harun Hasim Hasim Rully Tuiyo

This study aims to determine the effect of natural feeding of Tubifex sp, Moina sp, mosquito larvae on the growth of seeds of koi fish (Cyiprinus carpio). This study uses a Completely Randomized Design (CRD) using Analysis of Variance (ANOVA) with 3 treatments and 4 replications. The results showed that the best absolute length and weight growth was shown in A Tubifex sp treatment, namely absolute length 0.8 cm and absolute weight 0.51 gram. The results of analysis of various growth length and weight of koi fish have a very significant effect on growth, followed by the Least Significant Difference Test (LSD) for weight and length growth obtained at each significantly different treatment. Keywords: koi; Cyprinus carpio; Tubifex sp; Moina sp; mosquito larvae; growth.

Completely randomized design

Tubifex

10.37905/.v6i3.5243

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Recent Developments and Future Prospects in Collision Avoidance Control for Unmanned Aerial Vehicles (UAVS): A Review

International Journal of Robotics and Control Systems (2024)

Mohamad Haniff Harun Shahrum Shah Abdullah Mohd Shahrieel Mohd Aras Mohd Bazli Bahar Fariz Ali Ibrahim

The industry has been significantly enhanced by recent developments in UAV collision avoidance systems. They made collision avoidance controllers for self-driving drones both affordable and hazardous. These low-maintenance, portable devices provide continuous monitoring in near-real time. It is inaccurate due to the fact that collision avoidance controllers necessitate trade-offs regarding data reliability. Collision avoidance control research is expanding significantly and is disseminated through publications, initiatives, and grey literature. This paper provides a concise overview of the most recent research on the development of autonomous vehicle collision avoidance systems from 2017 to 2024. In this paper, the state-of-the-art collision avoidance system used in drone systems, the capabilities of the sensors used, and the distinctions between each type of drone are discussed. The pros and cons of current approaches are analyzed using seven metrics: complexity, communication dependency, pre-mission planning, resilience, 3D compatibility, real-time performance, and escape trajectories.

10.31763/ijrcs.v4i3.1482

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Citations (2)

Lighting Retrofit Scheme Economic Evaluation

Indonesian Journal of Electrical Engineering and Computer Science (2017)

Mohd Firdaus Mohd Ab Halim Umar Al-Amani Azlan Mohamad Haniff Harun Khalil Azha Mohd Annuar Siti Halma Johari

In this paper, two lighting retrofit scheme is simulated to evaluate the amount of saving that the commercial building owner would benefits. Simple payback period and net present value are the method used to qualify the retrofit scheme to be profitable or otherwise. The analysis include the effect of electricity price, energy saving percentage, technology price and efficacy future values towards the economic return. The retrofit scheme presented only covers for the building that already has existing lighting equipment and comply towards the standard set by the international technical society. All variables and assumption are based on latest report by the world governing bodies and regulation.

Payback period

Value (mathematics)

10.11591/ijeecs.v5.i3.pp496-501

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Citations (6)

A study of tuning process of fuzzy logic controller output membership function for AUV-pitch control

Mohd Shahrieel Mohd Aras Muhammad Wahyuddin Nor Azmi Muhammad Nizam Kamaruddin Mohamad Haniff Harun Mohammad Afif Kasno

This paper explains the study of the tuning process for fuzzy logic controller (FLC) design of an Autonomous Underwater Vehicle (AUV) for pitch-axis control. There is no systematic technique to tune the FLC to achieve a desired set point. The trial and error method is the common approach used in the tuning process of fuzzy logic controller until a satisfactory result is obtained and the performance of the system can be analyzed. The tuning process is made either to the number of fuzzy partitions or the mapping of the membership function so that the results can follow the desired set point and for this case in AUV-pitch control. This paper presents a faster tuning process by altering the mapping of the membership function to get satisfactory output. The algorithm was verified in MATLAB® Simulink platform and compare with the conventional PID controller. The FLC controller is more accurate and better than the PID controller.

10.1109/usys.2017.8309434

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Citations (8)

A 3D Gluing Defect Inspection System Using Shape-Based Matching Application from Two Cameras

International Review on Computers and Software (IRECOS) (2013)

Marizan Sulaiman Hairol Nizam Mohd Shah Mohamad Haniff Harun Lim Wee Teck Mohd Nor Fakhzan Mohd Kazim

This research is regarding the application of a vision algorithm to identify the operations of a system in order to control the decision making concerning jobs and work pieces recognition that are to be made during system operation in real time. These paper stresses on the vision algorithm used which mainly focus on the shape matching properties to identify defects occur on the product. A new supervised defect detection approach to detect a class of defects in gluing application is proposed. Creating of region of interest in important region of object is discussed. Gaussian smoothing features in determining better image processing and template matching in differentiates between reference and tested image are proposed. This scheme provides high computational savings and results in high defect detection recognition rate. The defects are broadly classified into three classes: 1) gap defect; 2) bumper defect; 3) bubble defect. The defects occur provides with information of height (z-coordinate), length (y-coordinate) and width (x-coordinate). This information gathered from the proposed two camera vision system for conducting 3D transformation. Information gathers used in new correction technique known as Correction of Defect (CoD) where rejected object will be altered to reduce rejected object produced from the system.

Gaussian blur

Machine Vision

Smoothing

Template matching

10.15866/irecos.v8i8.3435

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Citations (13)

Optimizing central pattern generators (CPG) controller for one legged hopping robot by using genetic algorithm (GA)

International Journal of Engineering & Technology (2018)

Arman Hadi Azahar Shin Horng Chong Anuar Mohamed Kassim Amar Faiz Zainal Abidin Mohamad Haniff Harun

This paper presents the optimization process of Central Pattern Generator (CPG) controller for one legged hopping robot by using Genetic Algorithm (GA). To control the one legged hopping robot, a CPG controller is designed and integrated with a conventional Proportional-Integral (PI) controller. Conventionally, the CPG parameters are tuned manually. But by using this method, the parameters produced are not exactly the optimum parameters for the CPG. Therefore, a computational stochastic optimization method; GA is designed to optimize the CPG controller parameters. The GA is designed based on minimizing the error produced towards achieving the reference height. The re-sponse of the one legged hopping robot is compared and the results of the error towards reference height are analyzed.

CpG site

10.14419/ijet.v7i2.14.12817

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Citations (4)

Dynamic modelling and analysis of 3D overhead gantry crane system

International Journal of Engineering & Technology (2018)

Khalil Azha Mohd Annuar Nik Azran Ab Hadi Mohamad Haniff Harun Mohd Firdaus Mohd Ab Halim Siti Nur Suhaila Mirin

The overhead gantry crane systems are extensively used in harbours and factories for transportation of heavy loads. The crane speeding up, required for motion, always induces undesirable load swing. This writings present dynamic modelling of a 3D overhead gantry crane sys-tem based on closed-form equations of motion. By using the Lagrange technique, a 3D overhead gantry crane system nonlinear dynamic model is deriving. Then perform a linearization process to obtain a linear model dynamic system. Finally, simulation results systems re-sponses of the derived nonlinear and linear model are presented showing the accuracy and performance of both model.

Gantry crane

Overhead crane

Linearization

10.14419/ijet.v7i3.10099

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Citations (1)

A Study on the Terrestrial Mobility of a Spherical Amphibian Robot

IIUM Engineering Journal (2024)

Mohd Bazli Bahar Shahrum Shah Abdullah Mohd Shahrieel Mohd Aras Mohamad Haniff Harun Muhamad Khairi Aripin

Amphibian spherical robots are an appealing and practical alternative that can move around on different surfaces and function in aquatic environments. Spherical robots boast remarkable mobility and robustness, enabling them to navigate and perform exploration and reconnaissance tasks even in challenging or harsh environments. This paper explores assessing the terrestrial travel capabilities of a proposed amphibian spherical robot. A rapid Prototyping machine (RPM) was used to print the prototype’s main shell, yoke, and circuit holders. One main circuit was built on the yoke, while the other was positioned in the bottom shell. The driving principle used the barycentre offset notion, in which a pendulum mass is used to vary the location of the mass to generate a motion. Additional mass is added to the pendulum to determine the robot’s performance when mass is altered. The results reveal that the robot can travel on land with a maximum velocity of 40.75 degrees per second while carrying 600 grams of weight and a turning angle of 22.8 degrees. The robot can only move when the additional mass exceeds 400 grams. ABSTRAK: Robot sfera amfibia ialah satu alternatif menarik dan praktikal yang dapat bergerak di atas permukaan berbeza dan berfungsi dalam persekitaran akuatik. Robot sfera mempunyai mobiliti yang luar biasa dan tahan lasak. Ciri ini membolehkannya bergerak dan menjalankan tugas penerokaan dan peninjauan dalam persekitaran merbahaya atau buruk. Kajian ini adalah bagi menganalisis prestasi robot sfera amfibia ketika bergerak di darat. Mesin Pemprototaip Pantas (RPM) digunakan bagi mencetak badan utama prototaip, yok, dan pemegang litar. Satu litar utama dibina pada yok, manakala satu lagi diletakkan di bahagian bawah. Prinsip pemanduan adalah dengan menggunakan konsep penentuan kedudukan pusat jisim, di mana jisim pendulum digunakan bagi menentukan lokasi jisim sambil menghasilkan gerakan. Berat tambahan pada jisim pendulum ditambah bagi mendapatkan prestasi robot apabila jisim diubah. Dapatan kajian menunjukkan robot dapat bergerak atas darat dengan halaju maksimum 40.75 darjah sesaat sambil membawa 600 gram berat dengan sudut pusingan sebanyak 22.8 darjah. Robot hanya boleh bergerak apabila tambahan jisim melebihi 400 gram.

Yoke (aeronautics)

10.31436/iiumej.v25i2.2964

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