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Lecture Notes in Electrical Engineering 666

Zainah Md Zain · Hamzah Ahmad ·

Dwi Pebrianti · Mahfuzah Mustafa ·
Nor Rul Hasma Abdullah ·
Rosdiyana Samad ·
Maziyah Mat Noh Editors

Proceedings of the
11th National
Technical Seminar
on Unmanned System
Technology 2019
NUSYS’19
Lecture Notes in Electrical Engineering

Volume 666

Series Editors
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Marco Arteaga, Departament de Control y Robótica, Universidad Nacional Autónoma de México, Coyoacán,
Mexico
Bijaya Ketan Panigrahi, Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, Delhi, India
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Jiming Chen, Zhejiang University, Hangzhou, Zhejiang, China
Shanben Chen, Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai, China
Tan Kay Chen, Department of Electrical and Computer Engineering, National University of Singapore,
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Rüdiger Dillmann, Humanoids and Intelligent Systems Laboratory, Karlsruhe Institute for Technology,
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Janusz Kacprzyk, Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland
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Torsten Kroeger, Stanford University, Stanford, CA, USA
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Tan Cher Ming, College of Engineering, Nanyang Technological University, Singapore, Singapore
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Zainah Md Zain Hamzah Ahmad
• •

Dwi Pebrianti Mahfuzah Mustafa

• •

Nor Rul Hasma Abdullah •

Rosdiyana Samad Maziyah Mat Noh

•

Editors

Proceedings of the 11th

National Technical Seminar
on Unmanned System
Technology 2019
NUSYS’19

123
Editors
Zainah Md Zain Hamzah Ahmad
Faculty of Electrical & Electronics Faculty of Electrical & Electronics
Engineering Engineering
Universiti Malaysia Pahang Universiti Malaysia Pahang
Pekan, Pahang, Malaysia Pekan, Pahang, Malaysia

Dwi Pebrianti Mahfuzah Mustafa

Faculty of Electrical & Electronics Faculty of Electrical & Electronics
Engineering Engineering
Universiti Malaysia Pahang Universiti Malaysia Pahang
Pekan, Pahang, Malaysia Pekan, Pahang, Malaysia

Nor Rul Hasma Abdullah Rosdiyana Samad

Faculty of Electrical & Electronics Faculty of Electrical & Electronics
Engineering Engineering
Universiti Malaysia Pahang Universiti Malaysia Pahang
Pekan, Pahang, Malaysia Pekan, Pahang, Malaysia

Maziyah Mat Noh

Faculty of Electrical & Electronics
Engineering
Universiti Malaysia Pahang
Pekan, Pahang, Malaysia

ISSN 1876-1100 ISSN 1876-1119 (electronic)

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Preface

The National Technical Seminar on Unmanned System Technology 2019

(NUSYS’19) was organized by the IEEE Oceanic Engineering Society (OES)
Malaysia Chapter and Malaysian Society for Automatic Control Engineers (MACE)
IFAC NMO. NUSYS’19 was held during December 2–3, 2019, at Universiti
Malaysia Pahang, Gambang Campus, Kuantan, Pahang, Malaysia, with a confer-
ence theme “Unmanned System Technology and AI Applications”. The event was
the 11th conference continuing from previous conferences since the year 2008.
NUSYS’19 focused on both theory and application, primarily covering the topics of
intelligent unmanned technologies, robotics and autonomous vehicle. We invited
four keynote speakers who dealt with related state-of-the-art technologies including
unmanned aerial vehicles (UAVs), underwater vehicles (UVs), autonomous
vehicles, humanoid robot and intelligent system, among others. They are
Mr. Kamarulzaman Muhamed (Founder and CEO Aerodyne Group, “CEO of Top
10 hottest start-up company by Nikkei Japan, May 2019”), Assoc. Prof.
Dr. Hanafiah Yussof (Founder, Board of Director and Group Chief Officer of
Robopreneur Sdn. Bhd.), Assoc. Prof. Dr. Hairi Zamsuri (General Manager
eMoovit Technology Sdn. Bhd.) and Mr. Mohd Fairuz Nor Azmi (Project Manager,
Fugro Malaysia Marine Sdn. Bhd. formerly known as Fugro Geodetic Malaysia
Sdn. Bhd.). The objectives of the conference are threefold: to accommodate a
medium to discuss a wide range of unmanned system technology between uni-
versities and industries, to disseminate the latest technology in the field of
unmanned system technology and to provide an opportunity for researchers to
present their research paper in the unmanned system technology area.
Despite focusing on a rather specialized area of research concerning unmanned
system technology and electrical and electronics engineering technology,
NUSYS’19 has successfully attracted 87 papers locally from 12 universities and
one internationally from Institute Technology Surabaya, Indonesia. This volume of
proceedings from the conference provides an opportunity for readers to engage with
a selection of refereed papers that were presented during the NUSYS’19 confer-
ence. The book is organized into four parts, which reflect the research topics of the
conference themes:

v
vi Preface

Part 1: Unmanned System Technology, Underwater Technology and Marine

Part 2: Applied Electronics and Computer Engineering
Part 3: Control, Instrumentations and Artificial Intelligent Systems
Part 4: Sustainable Energy and Power Electronics.
One aim of this book is to stimulate interactions among researchers in the areas
pertinent to intelligent unmanned systems of AUV, UAV and AGV, namely
autonomous control systems and vehicles. Another aim is to share new ideas, new
challenges and the author’s expertise on critical and emerging technologies. The
book covers multifaceted aspects of unmanned system technology.
The editors hope that readers will find this book not only stimulating but also
useful and usable in whatever aspect of unmanned system design in which they may
be involved or interested. The editors would like to express their sincere appreci-
ation to all the contributors for their cooperation in producing this book.
We wish to take the opportunity to thank all individuals and organizations who
have contributed in some way in making NUSYS’19 a success and a memorable
gathering. Also, we wish to extend our gratitude to the members of the IEEE OES
Malaysia Chapter Committee and Organizing Committee for their tireless effort.
Finally, the publisher, Springer, and most importantly, Mr. Karthik Raj Selvaraj for
his support and encouragement in undertaking this publication.

Editors
Contents

Unmanned System Technology, Underwater Technology

and Marine
Tracking Control Design for Underactuated Micro Autonomous
Underwater Vehicle in Horizontal Plane Using Robust Filter
Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Muhammad Azri Bin Abdul Wahed and Mohd Rizal Arshad
Design and Development of Remotely Operated Pipeline
Inspection Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Mohd Shahrieel Mohd Aras, Zainah Md Zain, Aliff Farhan Kamaruzaman,
Mohd Zamzuri Ab Rashid, Azhar Ahmad, Hairol Nizam Mohd Shah,
Mohd Zaidi Mohd Tumari, Alias Khamis, Fadilah Ab Azis,
and Fariz Ali@Ibrahim
Vision Optimization for Altitude Control and Object Tracking
Control of an Autonomous Underwater Vehicle (AUV) . . . . . . . . . . . . . 25
Joe Siang Keek, Mohd Shahrieel Mohd Aras, Zainah Md. Zain,
Mohd Bazli Bahar, Ser Lee Loh, and Shin Horng Chong
Development of Autonomous Underwater Vehicle Equipped
with Object Recognition and Tracking System . . . . . . . . . . . . . . . . . . . . 37
Muhammad Haniff Abu Mangshor, Radzi Ambar,
Herdawatie Abdul Kadir, Khalid Isa, Inani Yusra Amran,
Abdul Aziz Abd Kadir, Nurul Syila Ibrahim, Chew Chang Choon,
and Shinichi Sagara
Dual Image Fusion Technique for Underwater Image
Contrast Enhancement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Chern How Chong, Ahmad Shahrizan Abdul Ghani,
and Kamil Zakwan Mohd Azmi

vii
viii Contents

Red and Blue Channels Correction Based on Green Channel

and Median-Based Dual-Intensity Images Fusion for Turbid
Underwater Image Quality Enhancement . . . . . . . . . . . . . . . . . . . . . . . . 73
Kamil Zakwan Mohd Azmi, Ahmad Shahrizan Abdul Ghani,
and Zulkifli Md Yusof
Analysis of Pruned Neural Networks (MobileNetV2-YOLO v2)
for Underwater Object Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
A. F. Ayob, K. Khairuddin, Y. M. Mustafah, A. R. Salisa, and K. Kadir
Different Cell Decomposition Path Planning Methods for Unmanned
Air Vehicles-A Review . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Sanjoy Kumar Debnath, Rosli Omar, Susama Bagchi, Elia Nadira Sabudin,
Mohd Haris Asyraf Shee Kandar, Khan Foysol,
and Tapan Kumar Chakraborty
Improved Potential Field Method for Robot Path Planning
with Path Pruning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Elia Nadira Sabudin, Rosli Omar, Ariffudin Joret, Asmarashid Ponniran,
Muhammad Suhaimi Sulong, Herdawatie Abdul Kadir,
and Sanjoy Kumar Debnath
Development of DugongBot Underwater Drones Using Open-Source
Robotic Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Ahmad Anas Yusof, Mohd Khairi Mohamed Nor,
Mohd Shahrieel Mohd Aras, Hamdan Sulaiman, and Abdul Talib Din
Development of Autonomous Underwater Vehicle for Water Quality
Measurement Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Inani Yusra Amran, Khalid Isa, Herdawatie Abdul Kadir, Radzi Ambar,
Nurul Syila Ibrahim, Abdul Aziz Abd Kadir,
and Muhammad Haniff Abu Mangshor
Discrete Sliding Mode Controller on Autonomous Underwater Vehicle
in Steering Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Nira Mawangi Sarif, Rafidah Ngadengon, Herdawatie Abdul Kadir,
and Mohd Hafiz A. Jalil
Impact of Acoustic Signal on Optical Signal and Vice Versa
in Optoacoustic Based Underwater Localization . . . . . . . . . . . . . . . . . . 177
M. R. Arshad and M. H. A. Majid
Design and Development of Mini Autonomous Surface Vessel
for Bathymetric Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Muhammad Ammar Mohd Adam, Zulkifli Zainal Abidin,
Ahmad Imran Ibrahim, Ahmad Shahril Mohd Ghani,
and Al Jawharah Anchumukkil
Contents ix

Control, Instrumentation and Artificial Intelligent Systems

Optimal Power Flow Solutions for Power System Operations
Using Moth-Flame Optimization Algorithm . . . . . . . . . . . . . . . . . . . . . . 207
Salman Alabd, Mohd Herwan Sulaiman,
and Muhammad Ikram Mohd Rashid
A Pilot Study on Pipeline Wall Inspection Technology Tomography . . . 221
Muhammad Nuriffat Roslee, Siti Zarina Mohd. Muji,
Jaysuman Pusppanathan, and Mohd. Fadzli Abd. Shaib
Weighted-Sum Extended Bat Algorithm Based PD Controller
Design for Wheeled Mobile Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Nur Aisyah Syafinaz Suarin, Dwi Pebrianti, Nurnajmin Qasrina Ann,
and Luhur Bayuaji
An Analysis of State Covariance of Mobile Robot Navigation
in Unstructured Environment Based on ROS . . . . . . . . . . . . . . . . . . . . . 259
Hamzah Ahmad, Lim Zhi Xian, Nur Aqilah Othman,
Mohd Syakirin Ramli, and Mohd Mawardi Saari
Control Strategy for Differential Drive Wheel Mobile Robot . . . . . . . . . 271
Nor Akmal Alias and Herdawatie Abdul Kadir
Adaptive Observer for DC Motor Fault Detection
Dynamical System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
Janet Lee, Rosmiwati Mohd-Mokhtar,
and Muhammad Nasiruddin Mahyuddin
Water Level Classification for Flood Monitoring System
Using Convolutional Neural Network . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
J. L. Gan and W. Zailah
Evaluation of Back-Side Slits with Sub-millimeter Resolution
Using a Differential AMR Probe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
M. A. H. P. Zaini, M. M. Saari, N. A. Nadzri, A. M. Halil,
A. J. S. Hanifah, and K. Tsukada
Model-Free Tuning of Laguerre Network for Impedance Matching
in Bilateral Teleoperation System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
Mohd Syakirin Ramli, Hamzah Ahmad, Addie Irawan,
and Nur Liyana Ibrahim
Identification of Liquid Slosh Behavior Using Continuous-Time
Hammerstein Model Based Sine Cosine Algorithm . . . . . . . . . . . . . . . . 345
Julakha Jahan Jui, Mohd Helmi Suid, Zulkifli Musa,
and Mohd Ashraf Ahmad
x Contents

Cardiotocogram Data Classification Using Random Forest Based

Machine Learning Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
M. M. Imran Molla, Julakha Jahan Jui, Bifta Sama Bari, Mamunur Rashid,
and Md Jahid Hasan
FPGA Implementation of Sensor Data Acquisition for Real-Time
Human Body Motion Measurement System . . . . . . . . . . . . . . . . . . . . . . 371
Zarina Tukiran, Afandi Ahmad, Herdawatie Abd. Kadir,
and Ariffudin Joret
Pulse Modulation (PM) Ground Penetrating Radar (GPR) System
Development by Using Envelope Detector Technique . . . . . . . . . . . . . . . 381
Maryanti Razali, Ariffuddin Joret, M. F. L. Abdullah,
Elfarizanis Baharudin, Asmarashid Ponniran,
Muhammad Suhaimi Sulong, Che Ku Nor Azie Hailma Che Ku Melor,
and Noor Azwan Shairi
An Overview of Modeling and Control of a Through-the-Road
Hybrid Electric Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
M. F. M. Sabri, M. H. Husin, M. I. Jobli, and A. M. N. A. Kamaruddin
Euler-Lagrange Based Dynamic Model of Double Rotary
Inverted Pendulum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419
Mukhtar Fatihu Hamza, Jamilu Kamilu Adamu,
and Abdulbasid Ismail Isa
Network-Based Cooperative Synchronization Control
of 3 Articulated Robotic Arms for Industry 4.0 Application . . . . . . . . . 435
Kam Wah Chan, Muhammad Nasiruddin Mahyuddin, and Bee Ee Khoo
EEG Signal Denoising Using Hybridizing Method Between Wavelet
Transform with Genetic Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
Zaid Abdi Alkareem Alyasseri, Ahamad Tajudin Khader,
Mohammed Azmi Al-Betar, Ammar Kamal Abasi,
and Sharif Naser Makhadmeh
Neural Network Ammonia-Based Aeration Control for Activated
Sludge Process Wastewater Treatment Plant . . . . . . . . . . . . . . . . . . . . . 471
M. H. Husin, M. F. Rahmat, N. A. Wahab, and M. F. M. Sabri
A Min-conflict Algorithm for Power Scheduling Problem
in a Smart Home Using Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
Sharif Naser Makhadmeh, Ahamad Tajudin Khader,
Mohammed Azmi Al-Betar, Syibrah Naim,
Zaid Abdi Alkareem Alyasseri, and Ammar Kamal Abasi
An Improved Text Feature Selection for Clustering Using Binary
Grey Wolf Optimizer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503
Ammar Kamal Abasi, Ahamad Tajudin Khader,
Mohammed Azmi Al-Betar, Syibrah Naim, Sharif Naser Makhadmeh,
and Zaid Abdi Alkareem Alyasseri
Contents xi

Applied Electronics and Computer Engineering

Metamaterial Antenna for Biomedical Application . . . . . . . . . . . . . . . . . 519
Mohd Aminudin Jamlos, Nur Amirah Othman, Wan Azani Mustafa,
and Maswani Khairi Marzuki
Refraction Method of Metamaterial for Antenna . . . . . . . . . . . . . . . . . . 529
Maswani Khairi Marzuki, Mohd Aminudin Jamlos, Wan Azani Mustafa,
and Khairul Najmy Abdul Rani
Circular Polarized 5.8 GHz Directional Antenna Design
for Base Station Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Mohd Aminudin Jamlos, Nurasma Husna Mohd Sabri,
Wan Azani Mustafa, and Maswani Khairi Marzuki
Medical Image Enhancement and Deblurring . . . . . . . . . . . . . . . . . . . . 543
Reza Amini Gougeh, Tohid Yousefi Rezaii, and Ali Farzamnia
A Fast and Efficient Segmentation of Soil-Transmitted Helminths
Through Various Color Models and k-Means Clustering . . . . . . . . . . . . 555
Norhanis Ayunie Ahmad Khairudin, Aimi Salihah Abdul Nasir,
Lim Chee Chin, Haryati Jaafar, and Zeehaida Mohamed
Machine Learning Calibration for Near Infrared
Spectroscopy Data: A Visual Programming Approach . . . . . . . . . . . . . . 577
Mahmud Iwan Solihin, Zheng Zekui, Chun Kit Ang, Fahri Heltha,
and Mohamed Rizon
Real Time Android-Based Integrated System for Luggage
Check-in Process at the Airport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591
Xin Yee Lee and Rosmiwati Mohd-Mokhtar
Antenna Calibration in EMC Semi-anechoic Chamber
Using Standard Antenna Method (SAM) and Standard
Site Method (SSM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605
Abdulrahman Ahmed Ghaleb Amer, Syarfa Zahirah Sapuan,
Nur Atikah Zulkefli, Nasimuddin Nasimuddin, Nabiah Binti Zinal,
and Shipun Anuar Hamzah
An Automatic Driver Assistant Based on Intention Detecting
Using EEG Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617
Reza Amini Gougeh, Tohid Yousefi Rezaii, and Ali Farzamnia
Hybrid Skull Stripping Method for Brain CT Images . . . . . . . . . . . . . . 629
Fakhrul Razan Rahmad, Wan Nurshazwani Wan Zakaria, Ain Nazari,
Mohd Razali Md Tomari, Nik Farhan Nik Fuad,
and Anis Azwani Muhd Suberi
xii Contents

Improvising Non-uniform Illumination and Low Contrast Images

of Soil Transmitted Helminths Image Using Contrast
Enhancement Techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641
Norhanis Ayunie Ahmad Khairudin, Aimi Salihah Abdul Nasir,
Lim Chee Chin, Haryati Jaafar, and Zeehaida Mohamed
Signal Processing Technique for Pulse Modulation (PM) Ground
Penetrating Radar (GPR) System Based on Phase and Envelope
Detector Technique . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659
Che Ku Nor Azie Hailma Che Ku Melor, Ariffuddin Joret,
Asmarashid Ponniran, Muhammad Suhaimi Sulong, Rosli Omar,
and Maryanti Razali
Evaluation of Leap Motion Controller Usability in Development
of Hand Gesture Recognition for Hemiplegia Patients . . . . . . . . . . . . . . 671
Wan Norliyana Wan Azlan, Wan Nurshazwani Wan Zakaria,
Nurmiza Othman, Mohd Norzali Haji Mohd,
and Muhammad Nurfirdaus Abd Ghani
Using Convolution Neural Networks Pattern for Classification
of Motor Imagery in BCI System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 683
Sepideh Zolfaghari, Tohid Yousefi Rezaii, Saeed Meshgini,
and Ali Farzamnia
Metasurface with Wide-Angle Reception for Electromagnetic
Energy Harvesting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 693
Abdulrahman A. G. Amer, Syarfa Zahirah Sapuan, Nasimuddin,
and Nabiah Binti Zinal
Integrated Soil Monitoring System for Internet
of Thing (IOT) Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 701
Xin Yi Lau, Chun Heng Soo, Yusmeeraz Yusof, and Suhaila Isaak
Contrast Enhancement Approaches on Medical
Microscopic Images: A Review . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 715
Nadzirah Nahrawi, Wan Azani Mustafa,
Siti Nurul Aqmariah Mohd Kanafiah, Mohd Aminudin Jamlos,
and Wan Khairunizam
Effect of Different Filtering Techniques on Medical
and Document Image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 727
Wan Azani Mustafa, Syafiq Sam, Mohd Aminudin Jamlos,
and Wan Khairunizam
Implementation of Seat Belt Monitoring and Alert System
for Car Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 737
Zainah Md Zain, Mohd Hairuddin Abu Bakar, Aman Zaki Mamat,
Wan Nor Rafidah Wan Abdullah, Norsuryani Zainal Abidin,
and Haris Faisal Shaharuddin
Contents xiii

Electroporation Study: Pulse Electric Field Effect

on Breast Cancer Cell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 751
Nur Adilah Abd Rahman, Muhammad Mahadi Abdul Jamil,
Mohamad Nazib Adon, Chew Chang Choon, and Radzi Ambar
Influence of Electroporation on HT29 Cell Proliferation, Spreading
and Adhesion Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 761
Hassan Buhari Mamman, Muhammad Mahadi Abdul Jamil,
Nur Adilah Abd Rahman, Radzi Ambar, and Chew Chang Choon
Wound Healing and Electrofusion Application via Pulse Electric
Field Exposure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 775
Muhammad Mahadi Abdul Jamil, Mohamad Nazib Adon,
Hassan Buhari Mamman, Nur Adilah Abd Rahman, Radzi Ambar,
and Chew Chang Choon
Color Constancy Analysis Approach for Color Standardization
on Malaria Thick and Thin Blood Smear Images . . . . . . . . . . . . . . . . . 785
Thaqifah Ahmad Aris, Aimi Salihah Abdul Nasir, Haryati Jaafar,
Lim Chee Chin, and Zeehaida Mohamed
Stochastic Analysis of ANN Statistical Features for CT Brain
Posterior Fossa Image Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . 805
Anis Azwani Muhd Suberi, Wan Nurshazwani Wan Zakaria,
Razali Tomari, Ain Nazari, Nik Farhan Nik Fuad,
Fakhrul Razan Rahmad, and Salsabella Mohd Fizol
Improvement of Magnetic Field Induction for MPI Application Using
Maxwell Coils Paired-Sub-coils System Arrangement . . . . . . . . . . . . . . 819
Muhamad Fikri Shahkhirin Birahim, Nurmiza Othman,
Syarfa’ Zahirah Sapuan, Mohd Razali Md Tomari,
Wan Nurshazwani Wan Zakaria, and Chua King Lee
DCT Image Compression Implemented on Raspberry Pi
to Compress Image Captured by CMOS Image Sensor . . . . . . . . . . . . . 831
Ibrahim Saad Mohsin, Muhammad Imran Ahmad, Saad M. Salman,
Mustafa Zuhaer Nayef Al-Dabagh, Mohd Nazrin Md Isa,
and Raja Abdullah Raja Ahmad
A Racial Recognition Method Based on Facial Color and Texture
for Improving Demographic Classification . . . . . . . . . . . . . . . . . . . . . . . 843
Amer A. Sallam, Muhammad Nomani Kabir, Athmar N. M. Shamhan,
Heba K. Nasser, and Jing Wang
Automatic Passengers Counting System Using Images Processing
Based on YCbCr and HSV Colour Spaces Analysis . . . . . . . . . . . . . . . . 853
Muhammad Shahid Che Husin and Aimi Salihah Abdul Nasir
xiv Contents

Face Recognition Using PCA Implemented on Raspberry Pi . . . . . . . . . 873

Ibrahim Majid Mohammed, Mustafa Zuhaer Nayef Al-Dabagh,
Muhammad Imran Ahmad, and Mohd Nazrin Md Isa
Comparability of Edge Detection Techniques for Automatic Vehicle
License Plate Detection and Recognition . . . . . . . . . . . . . . . . . . . . . . . . 891
Fatin Norazima Mohamad Ariff, Aimi Salihah Abdul Nasir,
Haryati Jaafar, and Abdul Nasir Zulkifli
Classification of Facial Part Movement Acquired from Kinect V1
and Kinect V2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 911
Sheng Guang Heng, Rosdiyana Samad, Mahfuzah Mustafa,
Zainah Md Zain, Nor Rul Hasma Abdullah, and Dwi Pebrianti
Hurst Exponent Based Brain Behavior Analysis of Stroke Patients
Using EEG Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 925
Wen Yean Choong, Wan Khairunizam, Murugappan Murugappan,
Mohammad Iqbal Omar, Siao Zheng Bong, Ahmad Kadri Junoh,
Zuradzman Mohamad Razlan, A. B. Shahriman,
and Wan Azani Wan Mustafa
Examination Rain and Fog Attenuation for Path Loss Prediction
in Millimeter Wave Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 935
Imadeldin Elsayed Elmutasim and Izzeldin I. Mohd
Introduction of Static and Dynamic Features to Facial Nerve
Paralysis Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 947
Wan Syahirah W Samsudin, Rosdiyana Samad, Kenneth Sundaraj,
and Mohd Zaki Ahmad
Offline EEG-Based DC Motor Control for Wheelchair Application . . . . 965
Norizam Sulaiman, Nawfan Mohammed Mohammed Ahmed Al-Fakih,
Mamunur Rashid, Mohd Shawal Jadin, Mahfuzah Mustafa,
and Fahmi Samsuri
Automated Cells Counting for Leukaemia and Malaria Detection
Based on RGB and HSV Colour Spaces Analysis . . . . . . . . . . . . . . . . . 981
Amer Fazryl Din and Aimi Salihah Abdul Nasir
Simulation Studies of the Hybrid Human-Fuzzy Controller
for Path Tracking of an Autonomous Vehicle . . . . . . . . . . . . . . . . . . . . 997
Hafiz Halin, Wan Khairunizam, Hasri Haris, Z. M. Razlan, S. A. Bakar,
I. Zunaidi, and Wan Azani Mustafa
A New Approach in Energy Consumption Based on Genetic
Algorithm and Fuzzy Logic for WSN . . . . . . . . . . . . . . . . . . . . . . . . . . . 1007
Ali Adnan Wahbi Alwafi, Javad Rahebi, and Ali Farzamnia
Contents xv

Sustainable Energy and Power Engineering

Comparison of Buck-Boost Derived Non-isolated DC-DC
Converters in a Photovoltaic System . . . . . . . . . . . . . . . . . . . . . . . . . . . 1023
Jotham Jeremy Lourdes, Chia Ai Ooi, and Jiashen Teh
Fault Localization and Detection in Medium Voltage Distribution
Network Using Adaptive Neuro-Fuzzy Inference System (ANFIS) . . . . . 1039
N. S. B. Jamili, Mohd Rafi Adzman, Wan Syaza Ainaa Wan Salman,
M. H. Idris, and M. Amirruddin
Flashover Voltage Prediction on Polluted Cup-Pin the Insulators
Under Polluted Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1053
Ali. A. Salem, R. Abd-Rahman, M. S. Kamarudin, N. A. Othman,
N. A. M. Jamail, N. Hussin, H. A. Hamid, and I. M. Rawi
Effect of Distributed Generation to the Faults in Medium Voltage
Network Using ATP-EMTP Simulation . . . . . . . . . . . . . . . . . . . . . . . . . 1067
Wan Syaza Ainaa Wan Salman, Mohd Rafi Adzman, Muzamir Isa,
N. S. B. Jamili, M. H. Idris, and M. Amirruddin
Optimal Reactive Power Dispatch Solution by Loss Minimisation
Using Dragonfly Optimization Algorithm . . . . . . . . . . . . . . . . . . . . . . . . 1083
Ibrahim Haruna Shanono, Masni Ainina Mahmud,
Nor Rul Hasma Abdullah, Mahfuzah Mustafa, Rosdiyana Samad,
Dwi Pebrianti, and Aisha Muhammad
Analysis of Pedal Power Energy Harvesting for Alternative
Power Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1105
Sheikh-Muhammad Haziq Sah-Azmi and Zuraini Dahari
An Application of Barnacles Mating Optimizer Algorithm
for Combined Economic and Emission Dispatch Solution . . . . . . . . . . . 1115
Mohd Herwan Sulaiman, Zuriani Mustaffa, Mohd Mawardi Saari,
and Amir Izzani Mohamed
Development of Microcontroller Based Portable Solar Irradiance
Meter Using Mini Solar Cell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1125
Lee Woan Jun, Mohd Shawal Jadin, and Norizam Sulaiman
Performance of Graphite and Activated Carbon as Electrical
Grounding Enhancement Material . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1139
Mohd Yuhyi Mohd Tadza, Tengku Hafidatul Husna Tengku Anuar,
Fadzil Mat Yahaya, and Rahisham Abd Rahman
Design on Real Time Control for Dual Axis Solar Tracker
for Mobile Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1155
Muhammad Hanzolah Shahul Hameed, Mohd Zamri Hasan,
and Junaidah Ali Mohd Jobran
xvi Contents

Modified Particle Swarm Optimization for Robust Anti-swing

Gantry Crane Controller Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1173
Mahmud Iwan Solihin, Wei Hong Lim, Sew Sun Tiang,
and Chun Kit Ang
Feasibility Analysis of a Hybrid System for a Health Clinic
in a Rural Area South-Eastern Iraq . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1193
Zaidoon W. J. AL-Shammari, M. M. Azizan, and A. S. F. Rahman
Optimal Sizing of PV/Wind/Battery Hybrid System for Rural
School in South Iraq . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1203
Zaidoon W. J. AL-Shammari, M. M. Azizan, and A. S. F. Rahman
The Use of Gypsum and Waste Gypsum for Electrical
Grounding Backfill . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1213
Amizatulhani Abdullah, Nurmazuria Mazelan,
Mohd Yuhyi Mohd Tadza, and Rahisham Abd Rahman
Energy-Efficient Superframe Scheduling in Industrial Wireless
Networked Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1227
Duc Chung Tran, Rosdiazli Ibrahim, Fawnizu Azmadi Hussin,
and Madiah Omar
Design of Two Axis Solar Tracker Based on Optoelectrical Tracking
Using Hybrid FuGA Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1243
Imam Abadi, Erma Hakim Setyawan, and D. R. Pramesrani
 Unmanned System Technology,
Underwater Technology and Marine
Tracking Control Design
for Underactuated Micro Autonomous
Underwater Vehicle in Horizontal Plane
Using Robust Filter Approach

Muhammad Azri Bin Abdul Wahed and Mohd Rizal Arshad

Abstract Micro autonomous underwater vehicle (µAUV) design and developed at

Underwater, Control and Robotics Group (UCRG) is a torpedo-shaped vehicle
measuring only 0.72 m in length and 0.11 in diameter with a mass of approximately
6 kg. This paper proposed a time invariant tracking control method for underactu-
ated micro AUV in horizontal plane using robust filter approach to track a predefined
trajectory. Tracking error is introduced which can then be converged by using force
in surge direction and moment in yaw direction. A robust control will minimize
the effects of external disturbance and parameter uncertainties on the AUV perfor-
mance. With only rigid-body system inertia matrix information of the micro AUV,
robustness against parameter uncertainties, model nonlinearities, and unexpected
external disturbance is achievable with the proposed controller. Performance of the
proposed robust tracking control is demonstrated in simulation results.

Keywords Underactuated system Micro autonomous underwater vehicles



Robust control Trajectory tracking

1 Introduction

The micro Autonomous Underwater Vehicle [1] developed by Underwater, Control

and Robotics Group (UCRG) is a torpedo shaped vehicle design for use in shallow
water inspection such as coral reef inspection. It measures at 0.72 m in length, 0.11
in diameter and 6 kg at its most basic configuration.
Underwater mission requires the µAUV to be very stable to be able to follow the
predefined trajectory with high accuracy. However, this µAUV is an underactuated
AUV and this complicates the AUV to follow a predefined trajectory. Therefore, a

M. A. B. A. Wahed
M. R. Arshad (&)

Underwater, Control and Robotics Group, School of Electrical and Electronic Engineering,
Universiti Sains Malaysia, 14300 Nibong Tebal, Pulau Pinang, Malaysia
e-mail: [email protected]

© Springer Nature Singapore Pte Ltd. 2021 3

Z. Md Zain et al. (eds.), Proceedings of the 11th National Technical Seminar on
Unmanned System Technology 2019, Lecture Notes in Electrical Engineering 666,
https://doi.org/10.1007/978-981-15-5281-6_1
4 M. A. B. A. Wahed and M. R. Arshad

tracking control system is required to allow the AUV to overcome the limitation of
its propulsion system. Furthermore, performance of the µAUV is adversely affected
by the unpredictable disturbances in the underwater environment.
A precise mathematical representation of an Autonomous Underwater Vehicle
(AUV) is very hard to obtain and this cause the control problem of underwater
robot becomes even more challenging. Hydrodynamic parameters that occurs in the
interaction between the vehicle and fluid is difficult to obtain with reasonable
accuracy due to their variations against different maneuvering conditions.
Therefore, a robust control technique with the constraint of not having its
complete mathematical representation is required to reduce the effects of external
disturbance on system behavior of the AUV.
Sliding Mode Control (SMC) has been used by many researchers due to it
robustness and is the most powerful robust control technique. SMC technique alter
the dynamics of underwater vehicle by applying a discontinuous control signal. The
control signal guides and maintains the trajectory of the system state error toward a
specified surface called sliding surface [2].
However, because of the frequent switching, chattering phenomenon occur in
the control input of SMC. Chattering has to be avoided because it causes high
thruster wear and degrade the system performance. To avoid chattering, dynamics
in a small vicinity of the discontinuity surface need to be alter by using a smoothing
function such as saturation function and hyperbolic tangent function [3, 4].
Unfortunately, accuracy and robustness are partially lost as convergence are only
ensured to approach a boundary layer of the sliding surface.
To overcome the chattering effect, a second order SMC controller has been
proposed [5, 6]. No smoothing function is required by the second order SMC
controller to produce the continuous control signal and this allows for finite-time
convergence to zero of the first-time derivative of sliding surfaces. However, sec-
ond order SMC controller takes a longer time for its error to converges to zero.
Another robust control technique used in underwater environment is Time Delay
Control (TDC) which is relatively a new technique. It assumes that during a small
short enough time, a continuous signal will remain the same. Therefore, past
observation of uncertainties and disturbance can be used directly in the controller.
Even in the presence of sensor noise and ocean current disturbance, good perfor-
mance is achievable by using TDC controller [7, 8].
In general, TDC controller consists of time delay estimator and linear controller.
However, the introduced delay causes the TDC controller unable to eliminate
estimation error that arises. To avoid critically affecting the stability and perfor-
mance of the system, the feedback data acquisition rate has to be fast in order to
shorten the delay time.
In this paper, position of AUV is controlled by using a time invariant tracking
control method using robust filter approach. First proposed by [9], robustness
against parameter uncertainties, model nonlinearities, and unexpected external
disturbance is achievable with only inertia matrix information. The controller [10,
11] is designed consisting of a nominal controller and a robust compensator.
Tracking Control Design for Underactuated (lAUV) ... 5

This paper contains 6 sections. Section 1 introduce the research background

while Sect. 2 presents the µAUV dynamic model and Sect. 3 presents the control
objectives. Section 4 presents the design of proposed robust tracking control
design, Sect. 5 discussed the simulation result and finally Sect. 6 concluded this
paper.

2 Mathematical Modeling of µAUV

Before defining the model, reference frames need to be defined. AUV are best
described as a nonlinear system, thus two reference frame are considered:
Earth-fixed frame and Body-fixed frame. Standard notation from Society of Naval
Architects and Marine Engineers (SNAME) is used for easier understanding in this
paper. Figure 1 shows the defined reference frames. Earth-fixed frame has its x-axis
and y-axis pointing towards the North and East respectively while z-axis points
downwards normal to the surface of earth. On the other hand, Body-fixed frame has
its origin coincides with the center of gravity of the AUV.
In this paper, the AUV is assumed to be moving only at a certain depth and is
passively stable in roll direction. Therefore, all corresponding elements are
neglected during derivation of dynamic equation.
The nonlinear equations of motion of a Body-fixed frame is expressed in a
vectorial setting as shown in (1)–(6), where v represents vector of linear and angular
velocities expressed in Body-fixed frame, rigid-body system inertia matrix repre-
sented by MRB while added mass system inertia matrix represented by MA . DL and
DQ represents linear hydrodynamic damping matrix and quadratic hydrodynamic
damping matrix respectively. Lift matrix represented by L and the vector of

Fig. 1 Defined Earth-fixed frame and Body-fixed frame

6 M. A. B. A. Wahed and M. R. Arshad

Body-fixed force from actuators is represented by s. For simplicity, the lift matrix is
assume as input.

ðMRB þ MA Þv þ ðDL þ DQ jvjÞv ¼ s þ Ljvjv ð1Þ

v ¼ ½u v r T ð2Þ

MRB ¼ diag½ m m Iz  ð3Þ

MA ¼ diag½ MAu MAv MAr  ð4Þ

DL ¼ diag½ DLu DLv DLr  ð5Þ

DQ ¼ diag½ DQu DQv DQr  ð6Þ

Body-fixed linear and angular velocities can be conveyed in Earth-fixed frame

using Euler angle transformation as shown in (7)–(9). g represents the vector of
position and attitude expressed in Earth-fixed frame while J represents the Jacobian
matrix.

g_ ¼ J ðwÞv ð7Þ

g ¼ ½ x y w T ð8Þ
2 3
cos w  sin w 0
J ðwÞ ¼ 4 sin w cos w 05 ð9Þ
0 0 1

3 Control Objectives

Before designing the trajectory tracking control problem, we need to first defined
the tracking error as shown in (10). e represent the vector tracking error in
Earth-fixed frame while gd represent the vector of desired position and orientation.
Because the AUV is underactuated in sway direction, the desired velocities in x and
y directions has to depend on the desired yaw angle as (12).

e ¼ gd  g ð10Þ

e ¼ ½ ex ey ew  T ð11Þ
 
y_ d
wd ¼ tan1 ð12Þ
x_ d
Tracking Control Design for Underactuated (lAUV) ... 7

The first objective of this research is in designing a controller for an underac-

tuated AUV to track a predefined, time-varying trajectory in the horizontal plane.
Using only force in surge direction and moment in yaw direction, the proposed
controller should be able to converge to zero the tracking error of the underactuated
AUV in the x, y and w directions.
The second objective of this research is to design a robust filter to compensate
the effect of unknown hydrodynamic parameters on the AUV. This is because the
complete mathematical representation of the AUV is not available.

4 Robust Tracking Control Design

This section presents the design of the proposed tracking control of underactuated
AUV in horizontal plane by using robust filter approach. Figure 2 shows the block
diagram of the proposed controller.
There are 3 steps in designing the proposed controller. Firstly, the tracking error
has to be transformed to allow it to be converge by only using force in surge
direction and moment in yaw direction. The Earth-fixed tracking error vector
described as shown in (10) is transformed into introduced error vector in
Body-fixed frame as shown in (13).

ge ¼ ½ x e ye we T ð13Þ

xe ¼ cosðwÞex þ sinðwÞey ð14Þ

ye ¼  sinðwÞex þ cosðwÞey ð15Þ

we ¼ ew þ aye ð16Þ

Second step is in designing a robust filter to compensate the effect of added mass
and hydrodynamic damping force on the AUV system as used by [12]. Since the
complete mathematical representation of the AUV is unknown, an artificial signal
of equivalent disturbance, q as shown in (17) which represent effect of added mass
and damping force on the AUV system is introduced. This equivalent signal is then
compensated by compensating signal as shown in (18) produced by a unity gain,

Fig. 2 Block diagram of the proposed controller

8 M. A. B. A. Wahed and M. R. Arshad

low pass filter. FLP represent the low pass filter with fs and fl representing the two
positive constants related to undamped natural frequency of the filter.

MRB v_ þ q ¼ s ð17Þ

uR ¼ FLP q ð18Þ

q ¼ s  MRB v_ ð19Þ
h i
fl fs fl fs
FLP ðsÞ ¼ ðs þ fl Þðs þ fs Þ 0 ðs þ fl Þðs þ fs Þ ð20Þ

Final step is to designed a nominal controller to introduce desired error dynamic

into the AUV system. The nominal control signal which is similar to PD controller is
shown in (21). KD and KP represent derivative and proportional gain matrix
respectively. A predefined error dynamic as shown in (22) will converge the
introduced tracking error to zero by using a suitable derivative and proportional gain.

uN ¼ MRB ðKD g_ e þ KP ge Þ ð21Þ

€ge þ KD g_ e þ KP ge ¼ 0 ð22Þ

In the proposed controller, two input from robust compensator and nominal
controller is used as shown in (23). Where uR is robust compensating signal while
uN is nominal control signal.

s ¼ uR þ uN ð23Þ

5 Simulations

For simulation, SimulinkTM is used to verify the performance of the proposed

controller. AUV parameters derived in (1) based on parameters presented in [1] is
used as the AUV parameters while control parameters values are shown in (24)–
(27).

KP ¼ diag½ 0:2 0 0:89  ð24Þ

KD ¼ diag½ 0:2 0 0:89  ð25Þ

fl ¼ 8 ð26Þ

fs ¼ 2 ð27Þ

Simulation 1 is performed to test the performance of the proposed controller in a

straight line trajectory with a constant velocity. The parameter of the value used is
Tracking Control Design for Underactuated (lAUV) ... 9

Table 1 Straight-line trajectory with constant velocity simulation parameters

Desired trajectory gd ¼ ½ 0:2t 0:5 0 T
Initial position in y direction eð0Þ ¼ ½ 0 0:5 0 T
Initial velocity in x direction e_ ð0Þ ¼ ½ 0:2 0 0 T
Positive constant related to converging rate of ye a¼1

Fig. 3 Position response of straight-line trajectory tracking

shown in Table 1 and the results are shown in Figs. 3, 4 and 5. At a constant
velocity, the controller is able to track a straight-line trajectory and converge to zero
the initial error in y direction within 30 s.
Next, simulation 2 is done to show the capabilities of the proposed controller in a
sinusoidal desired trajectory against a Model Free High Order Sliding Mode
Control (MFHOSMC) controller designed by [6]. The parameter of the value used
is shown in Table 2. From Fig. 6, both controller is able to achieve a path similar to
the desired path. In Fig. 7, the tracking error reach steady state for proposed con-
troller in 22 s while MFHOSMC controller requires 25 s. Finally, Fig. 8 shows the
comparison for the controllers to reach steady state in y direction with the proposed
controller tracking error bounded to within 2  10−3 while SMC controller
bounded within 20  10−3. The tracking error is bigger in y direction due to no
actuator in y direction.
10 M. A. B. A. Wahed and M. R. Arshad

Fig. 4 Tracking error in x direction of straight-line trajectory tracking

Fig. 5 Tracking error in y direction of straight-line trajectory tracking

Tracking Control Design for Underactuated (lAUV) ... 11

Table 2 Sinusoidal trajectory tracking simulation parameters

Desired trajectory gd ¼ ½ 0:2t sinð0:05tÞ 0:25 cosð0:05tÞ T
Initial position in y direction eð0Þ ¼ ½ 0 0 0:25 T
Initial velocity in x direction e_ ð0Þ ¼ ½ 0:2 0:05 0 T
Positive constant related to converging rate of ye a¼4

Fig. 6 Position response of sinusoidal trajectory tracking

Fig. 7 Tracking error in x direction of sinusoidal trajectory tracking

12 M. A. B. A. Wahed and M. R. Arshad

Fig. 8 Tracking error in y direction of sinusoidal trajectory tracking

6 Conclusions

This paper proposed an underwater tracking control method using robust filter
approach. By using the proposed controller, the effects of external influences on
AUV’s system behavior with subjects to the constraint of not having a complete
representation of the AUV system has been minimized. Simulation results show
that the proposed controller is able to track trajectory of straight-line and sinusoidal
with an excellent performance.

Acknowledgements The authors would like to thank RUI grant (Grant no.: 1001/PELECT/
8014088) and Universiti Sains Malaysia for supporting the research.

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