Mohamed Hussein

Universiti Teknologi Malaysia | UTM · Faculty of Mechanical Engineering (FKM)

Present day, insufficiency of energy supply is a major concern around the world. Many renewable energy sources are been in used to overcome this problem. Hydropower is one of the most reliable and sustainable energy sources that can generate electricity. Nowadays, pico hydropower are getting more attention than conventional large hydropower plants...

Obstacle avoidance method of traveling wave locomotion of snake robot is developed. The proposed method is employed on snake robot of 12 joints, connecting orthogonally, allowing three dimensional movement. The odd modules form the shape of the robot spine, while the even modules generate continuous vertical waves. The obstacle avoidance strategy b...

The change of the spinal curvature in completing a variety of daily tasks is essential to independent living. There is still a lack of studies highlighting the lumbar segmental contribution during sit-to-stand (STS) and stand-to-flexion (STF) using non-invasive study. The purpose of this study is to compare the spine kinematics by defining lumbar a...

Safety has being a concern as a result of the high rate of road accidents and has led to the development of driver assistance system such as Active braking, Cruise Control, Lane departure warning lane keeping and etc. has become a very active research area. However, this paper presents the performance and robustness analysis of a model predictive c...

Understanding the actual spinal kinematics in completing critical daily activities is utmost important for human being as it can lead for better quality of life. Two of the most common functions which are necessary for human being are standing up and bend forward. Researchers tried to explore the kinematics of human spine during Sit-to-Stand (STS)...

The flexibility of the snake robot body and its ability to adapt to different types of terrain attracted the attention of researchers to the great possibilities of its application in inspection, rescue, and searching tasks. These tasks require the robot to have the ability to navigate smartly in a complex environment (CE), which is considered to be...

Motivated by the need to overcome dynamic traffic congestion problems and driving safety issues, lane keeping control of vehicles has become a very active research area and is a driver-assistance vehicle feature that automatically controls a vehicle's lateral direction at a certain look-ahead distance. This study presents the development of autonom...

Local position system (LPS) becomes more and more diversified and increasingly important in large numbers of applications and contexts such as healthcare, targeted, monitoring, tracking and security. In LPS, three anchors at least with known position are employed with one tag for localization. In this paper, LPS which contains three anchors and one...

Positioning system like global position system (GPS) and Local position system (LPS) have become very important in a large number of applications such as monitoring and tracking, etc. Because of the limitations of GPS in indoor environments due to the lack of line of sight (LoS), the use of LPS has become a true necessary to estimate user's or obje...

Image processing is known as the process of converting an image into a digital form so as to obtain an enhanced image and to extract useful information from it. This paper presents a simple step by step analysis of edges-based lane detection. Some of the known and common edge detection techniques such as Sobel, Canny, Prewitt and Roberts were studi...

The biomechanical principles of orthotic design assist in promoting control, correction, stabilization, or dynamic movement. All orthotic designs are based on three relatively simple principles pressure, equilibrium, and the lever arm principle. The following principles provide the foundation for all orthotic designs keeping in mind that the more c...

Due to inherent hysteresis in a pneumatic artificial muscle, the accompanying control of this compliant actuator becomes more complicated. In literature, only a few implementations of the hysteresis modelling in the associated position control system could be found. In addition, the high complexity of the contraction-force and contraction-pressure...

Indoor air may be polluted by various types of pollutants which may come from cleaning products, construction activities, perfumes, cigarette smoke, water-damaged building materials and outdoor pollutants. Although these gases are usually safe for humans, they could be hazardous if their amount exceeded certain limits of exposure for human health....

Nowadays, medical rehabilitation system has become a requirement due to increment in national rehabilitation centres and medical hospitals. An assistive rehabilitation orthosis becomes essential and was used for rehabilitation therapy, condition monitoring, and physical strengthening. This study focused on the lower limb assistive rehabilitation or...

A review study was conducted on existing lower-limb orthosis systems for rehabilitation which implemented pneumatic muscle type of actuators with the aim to clarify the current and on-going research in this field. The implementation of pneumatic artificial muscle will play an important role for the development of the advanced robotic system. In thi...

Image processing is basically a process in which an image is converted into a digital form by performing certain operation on the image so as to obtain an enhanced image and to extract useful information from it. This is the process of enhancing an image so as to improve pictorial information for human interpretation or make it more useful for auto...

Patients with hand tremor often face difficulties in performing daily tasks using their hands, especially writing. Hence, this paper presents an inventive assistive device named as TREMORX that can assist patients in overcoming this situation by improving their handwriting legibility. TREMORX is designed to suit the patient’s handgrip and focuses m...

The inability to perceive clearly with the eyes can affect the blind and visually impaired in doing daily activities, especially in determining direction and navigation. In order to provide a non-invasive device, a qibla compass is developed to help them to determine the desired direction. This paper presents the development of a low-cost and easy-...

This paper investigates the performance of clamping force at the secondary pulley actuator of Electro-mechanical Dual Acting Pulley Continuously Variable Transmission (EMDAP CVT) using an identification technique for development of intelligent control. The implementation details are described and the experimental studies conducted in this research...

This paper looked into optimal tuning of a Proportional-Integral-Derivative (PID) controller used in Electro-mechanical Dual Acting Pulley Continuously Variable Transmission (EMDAP-CVT) system for controlling the output obtained, and hence, to minimize the integral of absolute errors (IAE). The main objective was to obtain a stable, robust, and con...

Hydraulic actuators are widely employed for industrial automation for its high power over weight ratio, functionality in tough operating conditions and low cost. However, the dynamics of hydraulic systems are non-linear and the system subjected to non-smooth and discontinuous non-linearities due to directional change of valve opening, friction, val...

Patient who is suffering hand tremor may find difficulty in performing handwriting task. Responding to this problem, the assistive pen is developed by examining the effect of proposing the Proportional-control in counter the hand tremor affect to the quality of handwriting. Experiments were conducted on an assistive pen placed on the experimental r...

This paper discusses the construction of a mathematical model for a planar seven-link bipedal model which is comprised of an upper body and two legs (thigh, shank and feet in every leg) in the sagittal plane. Procedures of kinematic model and dynamic model constructions are presented in this paper. The mathematical model for dynamic equations of mo...

This paper presents an experimental study of Electro-mechanical Dual Acting Pulley (EMDAP) Continuously Variable Transmission (CVT) ratio calibration. When there is no slip between belt and pulley sheaves, the CVT ratio will be the same as the geometrical ratio of secondary to primary pulley radii as well as the primary to secondary speed ratio. In...

This paper describes a preliminary investigation on the possible use of deformable origamic shapes as a technique to provide adjustable acoustical performance in multi-purpose hall. The term ‘deformable’ means that the origamic shape undergoes deformation which automatically resulted into the change of its geometrical configurations. The experiment...

This paper studies about the performance of periodic cubic spline applied on the nonlinear predictive control (NPC) based on receding-horizon cost function optimization. The five-link human bipedal model includes a torso and two legs which has a thigh and a shank in every leg. The periodic cubic spline is used to achieve smooth walking trajectories...

Patients with hand tremor usually find difficulties in performing their routine tasks, especially writing. They face more problems when the tremor becomes severe. In this paper, a hand-arm model has been developed to study the behavior of tremor while performing handwriting. The hand of a patient oscillates in a perpendicular direction to the forea...

This study investigates the performance of periodic cubic spline method applied on the control schemes by simulation studies. The controller is incorporated with combination of proportional derivative (PD) controller, computed torque control (CT) and active force control (AFC). In this study, the mathematical modeling and motion control for wearabl...

This paper presents an evaluation of experimental results of a prototype assistive device in suppressing hand tremor during sitting and standing conditions. The handheld instrument is capable of sensing and suppressing hand tremor or other unpredicted movement during writing. The assistive device incorporates an accelerometer, allowing the movement...

In this paper, the development of rehabilitation device for patients who encounter walking weakness due to post-stroke effect is presented. The kinematic analysis was carried out in the initial stage of development in order to have an efficient mechanism. As guide to design the device, the walking motion of healthy physical subject for speed of 1 k...

In this paper, a framework for remote monitoring and controlling of manufacturing system at lower level of automation in manufacturing is proposed. This framework has capability to develop the higher level of automation in manufacturing. In order to proof that the proposed framework can be implemented, a demo system based on the framework is built....

Genetic Algorithm (GA) is one of the Evolutionary Optimization techniques and autonomously tuning method used in this study to tune the parameters of the Proportional-integral-derivative (PID) controller . PID controllers need to be tuned appropriately to establish good performance of the active assistive writing device. This assistive device is...

Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) are methods of the Evolutionary Optimization techniques and autonomously tuning method used in this study to tune the parameters of the Proportional-integral-derivative (PID) controller. PID controllers need to be tuned appropriately to establish the good performance of the Active As...

Patients with hand tremors may find routine activities such as writing and holding objects affected. In response to this problem, an active control technique has been examined in order to lessen the severity of tremors. In this article, an online method of a hybrid proportional-integral control with active force control strategy for tremor attenuat...

This paper presents the application of Extremum Seeking (ES) algorithm in auto tuning of an incremental proportional-integral-derivative (PID) controller in order to achieve optimal cabin temperature control of an automotive air conditioning (AAC) model. A mathematical nonlinear model of an AAC system with variable speed compressor is first develop...

Debilita,ting conditions for patienta with hand tremor may find their daily activities such an writing and holding objects affected. In order to provide a non-invasive solution, an active tremor control technique is proposed to suppress a human hand tremor model. In this study, a hybrid controller which is a combination of the classic Proportional-...

Debilitating conditions for patients with hand tremor may find their daily activities such as writing and holding objects affected. Thus an active tremor device could be an option to suppress hand tremor. This study presents a tremor test rig as the initial stage to develop active controller. The system identification is used to locate approximate...

Electro-Mechanical Dual Acting Pulley (EMDAP) Continuously Variable Transmission (CVT) is a transmission utilized by electro-mechanical actuated system. It has a potential to reduce energy consumption because it only needs power during changing CVT ratio and no power is needed to maintain CVT ratio due to self lock mechanism design. This paper prop...

This paper provides the investigation of the performance One-Degree-of-Freedom system to be implemented in tremors patient writing device to reduce human hand tremor. The One-Degree-of-Freedom of two springs and a mass is proposed to absorb the hand vibration for patients that suffered tremors disease while writing. The performance of development d...

This study is intended to assist neurologist in measuring and identifying the level and range of tremor in some patients who suffer neurological diseases. Prior to quantifying, a tremor test rig was designed and fabricated. Two laser displacement sensors are used to quantify tremor behavior at hand in X (horizontal) and Y (vertical) direction...

This simulation work provides the investigation of the performance active vibration method in suppressing human hand tremor. The Active Force Control (AFC) and classic Proportional-Derivative (PD) controller is proposed to control linear electromagnet actuator and applied at a 4-DOFs biodynamic model of human hand to investigate the performance of...

In this paper, a piezo actuated micro robot with active force control (AFC) capability is modelled and simulated for an in-pipe application. A mathematical model that describes the dynamic characteristics of the micro robot is first presented. The dynamic response of the robot system subjected to different input excitations is then investigated by...

This study is intended to assist neurologist in measuring and identifying the level and range of tremor in some patients who suffer neurological diseases. Prior to quantifying, a suitable measurement device was designed and fabricated. Two laser displacement sensors are used to quantify tremor behavior in X and Y directions. In this paper, two type...

Application of flexible structures has been significantly, increased in industry and aerospace missions due to their contributions and unique advantages over the rigid counterparts. In this paper, vibration analysis of a flexible structure i.e., automobile wiper blade is investigated and controlled. The wiper generates unwanted noise and vibration...

In this paper, a piezoelectric micro robot is modelled and simulated based on hybrid fuzzy-based controller operating in a constrained environment (pipe). A mathematical model that represents the dynamic characteristics of micro robot is first presented. Then, the dynamic response of the robot system subjected to different input excitations is inve...

In this paper, the kinematic analysis of constructed assistive robotic leg for rehabilitation of patients who encounter the neurological injury is presented. In order to design an efficient new mechanism, studies were carried out to distinguish the human architecture and dynamics. In the study, the motion of a healthy physical subject in walking si...

This paper exhibits the performance of the active vibration method in suppressing human hand tremor. The Active Force Control (AFC) and classic Proportional-Derivative (PD) controller are proposed to control the linear electromagnet actuator and applied onto a four Degree-of-Freedoms (4-DOFs) biodynamic model of the human hand to investigate the pe...

This paper describes the development of a portable electronic panel that helps in teaching the visually impaired to learn and read Al-Quran; named Electronic Braille (eBraille) Al-Quran Teaching Aid. The eBraille Panel comprises of an outer case, Braille cell, jacks, Perkin keys, functionality keys, navigation keys and sound keys. The panel has an...

The paper focuses on the implementation of a hybrid control technique applied to a pneumatically actuated micro robot which is modelled and simulated to operate in a constrained environment for an in-pipe application. A mathematical model that represents the dynamic characteristics of micro robot is first derived and later the dynamic response of t...

Theaim of this paper is to present the kinematic analysis and mechanism design of an assistive robotic leg for hemiplegic and hemiparetic patients. In this work, the priority is to design and develop the lightweight, effective and single driver mechanism on the basis of experimental hip and knee angles' data for walking speed of 1 km/h. A mechanism...

In this paper, a worm-like micro robot designed for in-pipe application with intelligent active force control (AFC) capability is modelled and simulated. The motion of the micro robot is based on an impact drive mechanism (IDM) that is actuated using piezoelectric device. The trajectory tracking performance of the modelled micro robot is initially...

Since Braille became one of the most important ways for the visually impaired to learn and obtain information, many kinds of Braille products were invented. Among these products, electronic Braille panels are among the popular ones. It is a device, typically attachable to a computer that allows a blind person to read the contents of a display one t...

This paper examines the effectiveness of a glove specifically designed to compensate human hand tremor by incorporating a type of piezoelectric actuator. In this paper, the experimental results are divided into two parts involving actual human hand tremor and model hand-arm tremor. Both experiments were done using same measurement equipments, exper...

This paper describes about designing and developing a system for controlling piezoelectric Braille cell by using Programmable Interface Controller (PIC) microcontroller. For this purpose, PIC microcontroller is used as a controller to the system for controlling the piezoelectric Braille cell. Piezoelectric Braille cells are used in many refreshable...

This study presents a method to enable the visually impaired Muslim to learn and read the Al-Quran using Braille Display with software help. The system reads the database which contains all verses of Al-Quran and user will need to select the verse and ayah to read. Besides that, this system can be used in a class to teach visually impaired students...

In this paper, a pneumatic worm-like micro robot with active force control (AFC) capability is modelled and simulated in a constrained environment (pipe). A mathematical model that represents the dynamic characteristics of the worm-like micro robot is first presented. Then, the dynamic response of the robot system subjected to different input excit...

This study presents a method to enable the Muslim's blind user to read the Al-Quran using Braille Display with software help. The software reads the database which contains all verses of Al-Quran and user will need to select the verse and ayah to read. The data will be transmited to the Braille Display for blind people to touch and read the display...

This paper focuses on modeling and identification of environmental climates inside naturally ventilated tropical greenhouse (NVTG). The NVTG climate model is an essential tool for developing the climate control system. A real-time wireless monitoring system for measuring prototyped NVTG environmental climates for chili plantation was developed. The...

In recent years, the Malaysian production of vegetables, flowers, and spices in greenhouses has been experiencing accelerated growth. Most of the greenhouses are allowing automatic control of water, fertilizers and climate systems. The direct delivery of fertilizers through drip irrigation demands the use of soluble fertilizers and pumping and inje...

The purpose of this study is to investigate the human hand tremor behaviour in postural condition considering experimental works performed on actual human hand and a developed rig which was specifically designed to induce vibration in an intra vernacular training (IVT) hand-arm model. Two DC motors were used to spin unbalanced masses as the source...

Wireless system is one of the technologies currently applied in agriculture to improve quality, save labour costs, increase yields, and conserve water. A real-time wireless monitoring system for measuring climatic environment parameters of rain shelter house (RSH) for chili plantation was developed. The wireless monitoring system integrates the har...

This paper describes the development of a hand-arm model rig to represent the behavior of human postural tremor. The experimental rig is designed as an apparatus to induce vibration along the hand-arm model. In this study an Intra Vernacular (IV) Training arm is used as the hand-arm model. Two DC motors are used each driving an unbalancing mass to...

This paper describes the conceptual development of a motion base for a driving simulator at Universiti Teknologi Malaysia (UTM). The motion platform is designed based on 6 DOF Stewart platform design configuration. An inverse kinematics model for determination of Stewart Platform leg length is developed using MATLAB Simulink. A visualisation tool (...

The research study explores different types of controller simulation and verification methods and proposes a new method which employs the use of a control signals emulator. The research study has formulated a novel technique for emulating quadrature encoder signals to provide virtual closed loop control of servomotors. The deployment of a control s...

This paper describes the conceptual development of a motion base for a driving simulator at Universiti Teknologi Malaysia (UTM). The motion platform is designed based on 6 DOF Stewart platform design configuration. An inverse kinematics model for determination of Stewart platform leg length is developed using MATLAB Simulink. A visualisation tool (...

Transducer attached to a structure during vibration testing is a direct addition of mass especially when the structure itself is relatively light. This paper present result from a study on the effect of transducer mass on thin plate vibration. A rectangular thin plate of mild steel was used as the test structure. The influence of the transducer mas...

This paper describes the development of a hand-arm model rig to simulate human tremor behaviour. The experimental rig is designed as an apparatus to induce vibration along a hand-arm model. An Intra Vernacular (IV) Training arm is used as the hand-arm model. Displacement and acceleration behaviour at three selected points along the hand-arm model w...

In this project, types of human motion studied in kinematics field are walking and running. The area of interest of the analyzing is lower part of human body segment. A video camera with medium resolution and frame rate is used as an image device to capture the human motion. The image is processed and analyzed to determine the location of every mar...

This paper describes the development of motion platform for vehicle driving simulator in Universiti Teknologi Malaysia (UTM). In this project, the visual database system that simulates the driving environment and the vehicle dynamic model that computes the vehicle response are integrated with a motion platform to simulate the motion of a vehicle in...

This paper describes the development of hand/arm mechanical models, to investigate the biodynamic response characteristics in a 2 and 3 degree-of-freedom (DOF) of the human hand and arm system. The assessment of the vibration behavior is examined by using two models. Typically, the human is modeled as a second order mass-spring-damper system. In th...

Continuously variable transmissions (CVT) have received great interest as viable alternative to discrete ratio transmission in passenger vehicle. It is generally accepted that CVTs have the potential to provide such desirable attributes as: a wider range ratio, good fuel economy, shifting ratio continuously and smoothly and good driveability. With...

Integrated real-virtuality (R-V) environments and systems involve the investigation on how 3-D virtual environments can be used for the integration of design, simulation and controller program development of a typical manufacturing system. The study evolved around the adoption of 3-D simulation models being used as virtual machines and being contro...

Nowadays, most of the clutches used in continuously variable transmission (CVT) applications are based on electro-hydraulic and electro-magnetic actuations. The designs of these clutches cause some energy losses due to the actuated clutches need continuous power to supply force to engage the clutches. This continuous energy consumption becomes one...