IIUM Engineering Journal最新文献

{"title":"BIODEGRADATION OF FATS, OIL AND GREASE USING MICROORGANISMS ISOLATED FROM PALM OIL MILL EFFLUENT","authors":"Ma'an Fahmi Rashid Al Khatib, Fadi Alqedra, M. Alam","doi":"10.31436/iiumej.v24i2.2590","DOIUrl":"https://doi.org/10.31436/iiumej.v24i2.2590","url":null,"abstract":"The biodegradation of fat, oil, and grease (FOG) is important in water pollution control and wastewater management. In this study, the viability of FOG-degrading microorganisms on palm oil biodegradation was assessed. Seven strains capable of degrading FOG were isolated from palm oil mill effluent (POME). The potential bacterial strains were selected based on Tween-80-degrading ability. Micrococcus lylae strain DSM 20315 showed the highest growth compared to the other strains. Hence, it was selected for FOG degradation test. The biodegradability was performed as a function of pH (6, 7, 8), initial oil concentration (1, 3, 5% v/v), and inoculum concentration (2, 6, 10% v/v). Optimization of these parameters of palm oil degradation was studied using 2-level factorial design. The maximum oil degradation was 68%, obtained at pH 6, initial oil concentration 1 % v/v, and bacterial inoculum concentration of 10 % v/v. The lowest oil degradation obtained was 22%. The initial oil concentration followed by bacterial inoculum concentration enhanced the removal efficiency of FOG, but the pH level did not significantly promote the degradation rate. As a result, the optimum process conditions for maximizing oil degradation were at pH 6, initial oil concentration 1 %v/v, and bacterial inoculum concentration of 10 %v/v.\u0000ABSTRAK:  Biodegradasi lemak, minyak, dan gris (FOG) adalah penting dalam kawalan pencemaran air dan rawatan air buangan. Kajian ini adalah berkenaan kebolehhidupan organisma pengurai-FOG dalam biodegradasi minyak kelapa sawit. Tujuh strain berkeupayaan mendegradasi FOG diasingkan daripada cairan buangan minyak kelapa sawit (POME). Strain bakteria yang berpotensi telah dipilih berdasarkan keupayaan degradasi-Geladak-80. Strain Mikrokokus lilae DSM 20315 menunjukkan pertumbuhan tertinggi berbanding strain lain. Oleh itu, ia dipilih bagi ujian degradasi FOG. Keupayaan biodegradasi telah dihasilkan berdasarkan fungsi pH (6, 7, 8) ketumpatan  awal minyak (1, 3, 5% v/v) dan ketumpatan inokulum (2, 6, 10% v/v). Parameter optimum degradasi minyak kelapa sawit dikaji menggunakan reka bentuk faktorial 2-tahap. Nilai maksimum degradasi minyak adalah sebanyak 68%, terhasil pada pH 6, berketumpatan awal 1% v/v, dan ketumpatan inokulum bakteria 10% v/v. Degradasi minyak terendah pula adalah sebanyak 22%. Ketumpatan awal minyak diikuti ketumpatan bakteria inokulum meningkatkan kecekapan penyingkiran  FOG, tetapi level pH tidak ketara dalam membantu kadar degradasi. Sebagai kesimpulan, keadaan optimum bagi degradasi minyak maksimum adalah pada pH 6, ketumpatan awal minyak 1% v/v dan ketumpatan bakteria inokulum sebanyak 10% v/v. ","PeriodicalId":13439,"journal":{"name":"IIUM Engineering Journal","volume":"18 1","pages":""},"PeriodicalIF":0.5,"publicationDate":"2023-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81568020","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"MODIFIED SEIRD MODEL: A NOVEL SYSTEM DYNAMICS APPROACH IN MODELLING THE SPREAD OF COVID-19 IN MALAYSIA DURING THE PRE-VACCINATION PERIOD","authors":"Norsyahidah Zulkarnain, N. Mohammad, I. Shogar","doi":"10.31436/iiumej.v24i2.2550","DOIUrl":"https://doi.org/10.31436/iiumej.v24i2.2550","url":null,"abstract":"Mathematical modelling is an effective tool for understanding the complex structures and behaviors of natural phenomena, such as coronavirus disease 2019 (COVID-19), which is an infectious disease caused by a life-threatening virus called SARS-CoV-2. It has rapidly spread across the world in the last three years, including Malaysia. Adopting a novel system dynamics approach, this paper aims to explain how mathematics can play a significant role in modelling the COVID-19 spread and suggests practical methods for controlling it. It forecasts the data of infected (I), recovered (R) and death (D) cases for decision-making. This paper proposes a modified Susceptible-Exposed-Infected-Recovered-Death (SEIRD) model with time-varying parameters considering the sporadic cases, the reinfection cases, the implementation of a movement control order, and the percentage of humans abiding by the rules to forecast future growth patterns of COVID-19 in Malaysia and to study the effects of the consideration on the number of forecasted COVID-19 cases, during the pre-vaccination period. This study implemented the preliminary stage of forecasting the COVID-19 data using the proposed SEIRD model and highlighted the importance of parameter optimization. The mathematical model is solved numerically using built-in Python function ‘odeint’ from the Scipy library, which by default uses LSODA algorithm from the Fortran library Odepack that adopts the integration method of non-stiff Adams and stiff Backward Differentiation (BDF) with automatic stiffness detection and switching. This paper suggests that the effects of factors of sporadic cases, reinfection cases, government intervention of movement control order and population behavior are important to be studied through mathematical modelling as it helps in understanding the more complex behavior of COVID-19 transmission dynamics in Malaysia and further helps in decision-making.\u0000ABSTRAK: Pemodelan matematik adalah alat berkesan bagi memahami struktur kompleks dan tingkah laku fenomena semula jadi, seperti penyakit coronavirus 2019 (COVID-19), iaitu penyakit berjangkit yang disebabkan oleh virus pengancam nyawa yang dipanggil SARS-CoV-2. Ia telah merebak dengan pantas ke seluruh dunia sejak tiga tahun lepas, termasuk Malaysia. Mengguna pakai pendekatan baharu sistem dinamik, kajian ini bertujuan bagi menerangkan bagaimana matematik boleh memainkan peranan penting dalam membentuk model penyebaran COVID-19, dan mencadangkan kaedah praktikal bagi mengawalnya. Model ini dapat meramalkan data sebenar kes yang dijangkiti, pulih dan kematian bagi membuat keputusan. Kajian ini mencadangkan model populasi Rentan-Terdedah-Terjangkiti-Pulih-Mati (SEIRD) yang diubah suai bersama parameter masa berbeza seperti kes sporadis, kes jangkitan semula, pelaksanaan perintah kawalan pergerakan, dan peratusan manusia patuh peraturan bagi meramal pertumbuhan corak kes COVID-19 di Malaysia pada masa hadapan dan mengkaji kesan–kesan pertimbangan parame","PeriodicalId":13439,"journal":{"name":"IIUM Engineering Journal","volume":"48 1","pages":""},"PeriodicalIF":0.5,"publicationDate":"2023-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74100971","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"EYE BLINK IDENTIFICATION AND REMOVAL FROM SINGLE-CHANNEL EEG USING EMD WITH ENERGY THRESHOLD AND ADAPTIVE FILTER","authors":"Lutfi Aizat Mohamed Jefri, Faridah Abd. Rahman, N. Abdul Malik, F. N. Mohd Isa","doi":"10.31436/iiumej.v24i2.2814","DOIUrl":"https://doi.org/10.31436/iiumej.v24i2.2814","url":null,"abstract":"Electroencephalography (EEG) is a non-invasive method for measuring electrical activity in the brain, which reflects the underlying neural activity of the brain. In recent years, portable EEG devices become more ubiquitous in domestic uses, research and clinical applications due to their compact design and ease of use in various settings. Like many other biosignal modalities, EEG devices are prone to the interference of physiological artifacts, mainly from eye blinking. However, since portable EEGs are equipped with only a few channels at most or sometimes just a single channel, removing the eye blink artifact from the EEG data is a challenge. The conventional artifact removal method using source separation cannot be applied to a single-channel EEG signal. Eye blink artifact removal is important because its spectrum overlaps with the EEG’s theta and delta frequency bands, which can be confused with brain activity. Univariate-based removal method is compatible with EEG data with few channels. This paper presents a method to remove eye blink artifact based on single-channel EEG processing using Empirical Mode Decomposition (EMD) and Adaptive Noise Cancellation (ANC) system. By applying energy thresholds in EMD, there is no need to incorporate EMD with other methods to extract eye blink component accurately. ANC is used to converge the extracted eye blink component for effective eye blink artifact removal with very minimal changes to affected EEG data. The proposed method was tested on simulated EEG signals, and the result showed a good Root Mean-Square Error (RMSE) average value of the cleaned EEG ( ) and a high Correlation Coefficient (CC) average value of the cleaned EEG ( ).\u0000ABSTRAK: Electroensefalografi (EEG) adalah kaedah bukan invasif untuk mengukur aktiviti elektrik di dalam otak, yang mencerminkan aktiviti saraf dalam otak. Kebelakangan ini, peranti EEG mudah alih menjadi lebih meluas dalam kegunaan domestik, penyelidikan dan aplikasi klinikal kerana reka bentuknya yang padat dan kemudahan penggunaan dalam pelbagai tetapan. Seperti kebanyakan modaliti biosignal yang lain, peranti EEG terdedah kepada gangguan artifak fisiologi, terutamanya daripada mata kerdipan mata. Walau bagaimanapun, memandangkan EEG mudah alih dilengkapi dengan paling banyak pun hanya beberapa saluran, atau kadangkala hanya satu saluran, mengalih keluar artifak kerdipan mata daripada data EEG adalah satu cabaran. Kaedah penyingkiran artifak konvensional menggunakan pemisahan sumber tidak dapat digunakan pada alat EEG satu saluran. Penyingkiran artifak berkelip mata adalah penting kerana spektrumnya bertindih dengan jalur frekuensi theta dan delta EEG, maka boleh dikelirukan dengan aktiviti otak. Kaedah penyingkiran berasaskan univariat adalah serasi untuk data EEG dengan  saluran yang sedikit. Kertas kerja ini membentangkan kaedah untuk membuang artifak kelip mata berdasarkan pemprosesan EEG saluran tunggal menggunakan Penguraian Mod Empirikal (EMD) dan Pembatalan Bunyi","PeriodicalId":13439,"journal":{"name":"IIUM Engineering Journal","volume":"48 1","pages":""},"PeriodicalIF":0.5,"publicationDate":"2023-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88941285","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"HIGH ACCURACY HUMAN MOTION TRAJECTORY GENERATION FOR EXOSKELETON ROBOT USING CURVE FITTING TECHNIQUE","authors":"Muhammad ABDUL JALIL, M. F. Miskon, Mohd Bazli Bahar","doi":"10.31436/iiumej.v24i2.2296","DOIUrl":"https://doi.org/10.31436/iiumej.v24i2.2296","url":null,"abstract":"Robotic systems often require trajectory planning algorithms that can generate natural human-like movements for tasks such as grasping and manipulation. However, conventional trajectory planning methods may not accurately capture the complex movement patterns observed in humans. In this paper, we present a trajectory planning algorithm based on polynomial curve fitting that aims to address this issue. The algorithm determines the polynomial coefficient values that accurately match the natural human trajectory profile and is evaluated using MATLAB simulations. We compare the proposed algorithm to the conventional quintic polynomial trajectory method, analysing the accuracy, precision, and via-point continuity. The result shows that the algorithm has the ability to generate a trajectory profile with accuracy of 99.8% and a precision of 0.002°. However, the result for via-point continuity shows an error on every sub-phase transition, with the lowest error of 0.0031 between the transition of sub-phases 1 and 2. The result also shows that the lowest fitting error recorded is 0.00014°. The results demonstrate that our algorithm can generate trajectory profiles with higher accuracy and naturalness, potentially improving the performance and usability of robotic systems.\u0000ABSTRAK: Sistem robotik sering memerlukan algoritma perancangan trajektori yang dapat menghasilkan gerakan semulajadi seperti manusia bagi tugas seperti memegang dan memanipulasi objek. Walau bagaimanapun, kaedah perancangan trajektori konvensional mungkin tidak dapat merekodkan pola gerakan kompleks seperti yang dihasilkan manusia secara tepat. Kajian ini adalah berkenaan algoritma perancangan lintasan berdasarkan penyepaduan lengkung polinomial bagi menyelesaikan masalah ini. Algoritma ini menentukan nilai pekali polinomial yang sepadan dengan profil gerakan semulajadi manusia dan dinilai menggunakan simulasi MATLAB. Algoritma yang dicadangkan ini telah dibandingkan dengan kaedah perancangan lintasan polinomial kuintik konvensional, dianalisis kejituan, ketepatan, dan keberterusan titik lalu. Keputusan menunjukkan bahawa algoritma tersebut mampu menghasilkan profil lintasan dengan kejituan sebanyak 99.8% dan ketepatan sebanyak 0.002°. Walau bagaimanapun, dapatan kajian mengenai keberterusan titik lalu menunjukkan ralat pada setiap peralihan fasa-sub dengan ralat terendah sebanyak 0.0031 pada peralihan antara fasa-sub 1 dan fasa-sub 2. Dapatan kajian juga menunjukkan bahawa ralat penyepaduan terendah yang direkodkan adalah sebanyak 0.00014°. Keputusan ini menunjukkan bahawa algoritma ini mampu menghasilkan profil lintasan dengan ketepatan dan sifat semula jadi yang lebih tinggi, berpotensi meningkatkan prestasi dan kegunaan sistem robotik.","PeriodicalId":13439,"journal":{"name":"IIUM Engineering Journal","volume":"30 1","pages":""},"PeriodicalIF":0.5,"publicationDate":"2023-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86231838","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"TREBLE SEARCH OPTIMIZER: A STOCHASTIC OPTIMIZATION TO OVERCOME BOTH UNIMODAL AND MULTIMODAL PROBLEMS","authors":"P. Kusuma, Ashri Dinimaharawati","doi":"10.31436/iiumej.v24i2.2700","DOIUrl":"https://doi.org/10.31436/iiumej.v24i2.2700","url":null,"abstract":"Today, many metaheuristics have used metaphors as their inspiration and baseline for novelty. It makes the novel strategy of these metaheuristics difficult to investigate. Moreover, many metaheuristics use high iteration or swarm size in their first introduction. Based on this consideration, this work proposes a new metaheuristic free from metaphor. This metaheuristic is called treble search optimizer (TSO), representing its main concept in performing three searches performed by each member in each iteration. These three searches consist of two directed searches and one random search. Several seeds are generated from each search. Then, these searches are compared with each other to find the best seed that might substitute the current corresponding member. TSO is also designed to overcome the optimization problem in the low iteration or swarm size circumstance. In this paper, TSO is challenged to overcome the 23 classic optimization functions. In this experiment, TSO is compared with five shortcoming metaheuristics: slime mould algorithm (SMA), hybrid pelican komodo algorithm (HPKA), mixed leader-based optimizer (MLBO), golden search optimizer (GSO), and total interaction algorithm (TIA). The result shows that TSO performs effectively and outperforms these five metaheuristics by making better fitness scores than SMA, HPKA, MLBO, GSO, and TIA in overcoming 21, 21, 23, 23, and 17 functions, consecutively. The result also indicates that TSO performs effectively in overcoming unimodal and multimodal problems in the low iteration and swarm size.\u0000ABSTRAK: Dewasa ini, terdapat ramai metaheuristik menggunakan metafora sebagai inspirasi dan garis dasar pembaharuan. Ini menyebabkan strategi baharu metaheuristik ini susah untuk dikaji. Tambahan, ramai metaheuristik menggunakan ulangan berulang atau saiz kerumunan dalam pengenalan mereka. Berdasarkan penilaian ini, kajian ini mencadangkan metaheuristk baharu bebas metafora. Metaheuristik ini dipanggil pengoptimum pencarian ganda tiga (TSO), mewakilkan konsep utama dalam pemilihan tiga pencarian yang dilakukan oleh setiap ahli dalam setiap ulangan. Ketiga-tiga carian ini terdiri daripada dua pencarian terarah dan satu pencarian rawak. Beberapa benih dihasilkan dalam setiap carian. Kemudian, carian ini dibandingkan antara satu sama lain bagi mencari benih terbaik yang mungkin berpotensi menggantikan ahli yang sedang digunakan. TSO juga direka  bagi mengatasi masalah pengoptimuman dalam ulangan rendah atau lingkungan saiz kerumunan. Kajian ini TSO dicabar bagi mengatasi 23 fungsi pengoptimuman klasik. Eksperimen ini TSO dibandingkan dengan lima kekurangan metaheuristik: algoritma acuan lendir (SMA), algorithma hibrid komodo burung undan (HPKA), Pengoptimum Campuran berdasarkan-Ketua (MLBO), Pengoptimuman Carian Emas (GSO), dan algoritma jumlah interaksi (TIA). Dapatan kajian menunjukkan TSO berkesan menghasilkan dan lebih baik daripada kelima-lima metaheuristik dengan menghasilkan pemarkahan padanan terbaik berb","PeriodicalId":13439,"journal":{"name":"IIUM Engineering Journal","volume":"14 1","pages":""},"PeriodicalIF":0.5,"publicationDate":"2023-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87491499","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"MULTICRITERIA DECISION MAKING ON SUPPLIER SELECTION USING SOCCER MODEL INTEGRATED WITH ANALYTICAL HIERARCHY PROCESS","authors":"M. A. Al Hazza, Azura BINTI DAPIT, I. Bourini, Zubaidah Muataz, Mohammad Yeakub Ali","doi":"10.31436/iiumej.v24i2.2787","DOIUrl":"https://doi.org/10.31436/iiumej.v24i2.2787","url":null,"abstract":"Supplier evaluation and selection are key components in the supply chain because supplier performance directly affects the supply chain's efficiency. Therefore, companies should think strategically when they need to select their suppliers. Thus, selecting and evaluating new suppliers is essential in shaping the supply chain's smoothness and efficiency. Selecting suppliers is a complex issue as it involves many factors and decisions to be considered and needs to be assessed with an auditing process. However, a supplier audit is an expensive way to evaluate supplier capability. This research aims to propose a supplier selection model for a corrugated carton manufacturing company. The SOCCER model, developed by Steve Rogers, was used as the supplier selection criteria. Analytical Hierarchy Process (AHP) was used in the supplier selection. A face-to-face interview method was used in collecting data. The results show that the cost structure is the ultimate concern on supplier selection which bears 44.2% of the SOCCER model, followed by operational capability (23%), customer approach (13.5%), economic performance (8.3%), strategic direction (6.9%), and lastly research and development (4.1%). The percentages inform the company how much attention they need to pay when evaluating and selecting a new supplier.\u0000ABSTRAK: Penilaian dan pemilihan pembekal adalah kunci utama dalam rantaian bekalan kerana prestasi pembekal secara langsung melibatkan kecekapan rantaian bekalan. Oleh itu, syarikat perlu memikirkan secara strategik apabila ingin memilih pembekal. Dengan demikian, pemilihan dan penilaian pembekal baru adalah penting dalam pembentukan kelancaran rantaian bekalan dan kecekapan. Pemilihan pembekal adalah isu kompleks kerana ianya melibatkan banyak faktor dan keputusan perlu difikirkan dan perlu dinilai bersama proses audit. Namun, audit pembekal adalah mahal bagi menilai kemampuan pembekal. Kajian ini mencadangkan model pemilihan pembekal bagi syarikat pembekal kotak karton. Model SOCCER dicipta oleh Steve Rogers, telah digunakan sebagai kritia pemilihan pembekal. Proses Hirarki Analitikal (AHP) digunakan dalam pemilihan pembekal. Kaedah temuduga bersemuka digunakan dalam pengumpulan data. Dapatan kajian menunjukkan struktur harga adalah kehendak utama dalam pemilihan pembekal iaitu 44.2% daripada model SOCCER, diikuti kemampuan operasi (23%), pendekatan pelanggan (13.5%), prestasi ekonomi (8.3%), misi strategik (6.9 %), dan akhirnya penyelidikan dan pembangunan (4.1%). Peratusan ini berguna untuk syarikat dalam memberi keutamaan dalam penilaian dan pemilihan pembekal baru.\u0000ABSTRAK: Supplier evaluation and selection are key components in the supply chain because supplier performance directly affects the supply chain's efficiency. Therefore, companies should think strategically when they need to select their suppliers. Thus, selecting and evaluating new suppliers is essential in shaping the supply chain's smoothness and efficiency. Selecting suppliers i","PeriodicalId":13439,"journal":{"name":"IIUM Engineering Journal","volume":"1 1","pages":""},"PeriodicalIF":0.5,"publicationDate":"2023-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90275736","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"SYSTEM IDENTIFICATION (SI) MODELLING, CONTROLLER DESIGN AND HARDWARE TESTING FOR VERTICAL TRAJECTORY OF UNDERWATER REMOTELY OPERATED VEHICLE (ROV)","authors":"Fauzal Naim Zohedi, Mohd Shahrieel MOHD ARAS, H. Kasdirin, Mohd Bazli Bahar, L. Abdullah","doi":"10.31436/iiumej.v24i2.2759","DOIUrl":"https://doi.org/10.31436/iiumej.v24i2.2759","url":null,"abstract":"Underwater remotely operated vehicles (ROV) are important in marine industries to accomplish underwater exploration and surveying. The underwater environment makes it hard for ROV operators to control the manipulator while holding position simultaneously. This led to modelling and controller design for the vertical trajectory of ROV. In this paper, the System Identification (SI) modeling technique was used to model the vertical trajectory of the ROV. Then, the Proportional, Integral, and Derivative (PID) controller was implemented to control the trajectory. The SI modelling technique was used as it estimates the model based on the input and output relationship. MATLAB SI toolbox was used as the analytical software. Step and multiple step inputs were given to the system and the responses were recorded. The model with the best fit of 84.7% was selected and verified by comparing with actual output. The model response was then analyzed and the PID controller was implemented. The actual model had high percent overshoot (%OS) and steady state error (SSE). The PID implementation successfully reduced the %OS and eliminated the SSE.\u0000ABSTRAK: Kenderaan bawah air kendalian jauh (ROV) adalah penting dalam industri marin bagi melaksanakan penerokaan dan pemerhatian bawah air. Persekitaran dalam air menyukarkan pengendali ROV bagi memanipulasi manipulator sambil memastikan kedudukan ROV secara serentak. Ini membawa kepada pemodelan dan mereka bentuk kawalan pergerakan menegak bagi ROV. Kajian ini menggunakan teknik pemodelan Sistem Pengenalan (SI) bagi memodelkan pergerakan menegak ROV. Kemudian, kawalan seimbang, menyeluruh dan terbitan (PID) dilaksanakan bagi mengawal trajektori. Teknik pemodelan SI digunakan kerana ia menganggarkan model berdasarkan kemasukan dan keluaran. Aplikasi MATLAB SI digunakan sebagai perisian analisis. Masukan satu langkah dan berbilang kali masukan telah dijalankan dan respons sistem direkodkan. Model yang paling sesuai mencapai 84.7% dipilih dan disahkan dengan perbandingan nilai keluaran sebenar. Respons model kemudiannya dianalisis dan kawalan PID dilaksanakan. Model sebenar mempunyai peratusan tinggi melampaui (%OS) dan ralat keadaan stabil (SSE). Pelaksanaan PID telah berjaya mengurangkan %OS dan menghapuskan SSE.","PeriodicalId":13439,"journal":{"name":"IIUM Engineering Journal","volume":"68 1","pages":""},"PeriodicalIF":0.5,"publicationDate":"2023-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74471116","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"EXPERIMENTAL AND COMPUTATIONAL ANALYSIS FOR OPTIMIZATION OF SEAWATER BIODEGRADABILITY USING PHOTO CATALYSIS","authors":"M. Nayeemuddin, Puganeshwary Palaniandya, F. Shaik, Hiren K. Mewada","doi":"10.31436/iiumej.v24i2.2650","DOIUrl":"https://doi.org/10.31436/iiumej.v24i2.2650","url":null,"abstract":"Seawater pollution is a significant global environmental problem. Various technologies and methods have been used to remove the contaminants found in saltwater.  This experimental study investigates the degradation of contaminants present in seawater using solar photocatalysis, where a combination of TiO2 and ZnO was used.  The effects of catalyst dosage, pH, and reaction duration were assessed using percentage removal efficiencies of total organic carbon (TOC), chemical oxygen demand (COD), biological oxygen demand (BOD), and biodegradability (BOD/COD). Biodegradability is essential for removing pollutants from saltwater and plays a vital role. The higher the biodegradability, the more efficient the treatment procedure will be. The most effective percentage reduction rates from the experimental data obtained were TOC=59.80%, COD=75.20%, BOD=23.94%, and biodegradability=0.055. For modeling, optimizing, and assessing the effects of parameters, the Design Expert based on Box Behnken design (RSM-BBD) and a predictive model based on the MATLAB adaptive neuro-fuzzy inference system (ANFIS) tools were used. The coefficient of determination R2 was found to be 0.977 for the RSM-BBD model and 0.99 for the ANFIS model. According to the RSM-BBD design, the maximum percentage pollutant elimination efficiencies were found to be TOC=55.4, COD=73.4, BOD=23.70%, and BOD/COD=0.054, but for the ANFIS model, they were TOC=59.4, COD=75.4, BOD=24.1%, and BOD/COD=0.055. It was discovered that the ANFIS model outperformed RSM-BBD in process optimization.\u0000ABSTRAK: :  Pencemaran air laut adalah masalah alam sekitar global yang ketara. Pelbagai teknologi dan kaedah telah digunakan bagi menyingkirkan pencemaran yang dijumpai dalam air laut. Kajian eksperimen ini menilai degradasi pencemaran yang hadir dalam air laut menggunakan fotopemangkin, di mana kombinasi TiO2 dan ZnO digunakan. Kesan dos pemangkin, pH, dan tempoh reaksi dipantau menggunakan peratus kecekapan penyingkiran jumlah karbon organik (TOC), keperluan kimia oksigen (COD), keperluan biologi oksigen (BOD), dan kebolehdegradasian (BOD/COD). Kebolehdegradasian adalah sangat penting bagi menyingkirkan bahan cemar dari air laut dan berperanan penting. Semakin tinggi kebolehdegradasian, semakin cekap prosedur rawatan. Peratus kadar pengurangan yang paling berkesan daripada data eksperimen adalah didapati pada TOC=59.80%, COD=75.20%, BOD=23.94%, dan biodegradasi=0.055. Bagi mengkaji kesan parameter terhadap model, kadar optimum, dan memantau keberkesanan parameter, kaedah Pakar Reka Bentuk pada rekaan Kotak Behnken (RSM-BBD) dan model ramalan berdasarkan sistem pengaruh menggunakan sistem MATLAB iaitu Inferens Neural-Fuzi Boleh Suai (ANFIS) digunakan. Pekali penentu R2 terhasil pada 0.977 bagi model RSM-BBD dan 0.99 pada model ANFIS. Berdasarkan reka bentuk RSM-BBD, peratus maksimum keberkesanan penyingkiran bahan cemar dijumpai pada TOC=55.4, COD=73.4, BOD=23.70%, dan BOD/COD=0.054, tetapi bagi model ANFIS, TOC=59.4","PeriodicalId":13439,"journal":{"name":"IIUM Engineering Journal","volume":"117 1","pages":""},"PeriodicalIF":0.5,"publicationDate":"2023-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88735294","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"TRIPLE NONLINEAR HYPERBOLIC PID WITH STATIC FRICTION COMPENSATION FOR PRECISE POSITIONING OF A SERVO PNEUMATIC ACTUATOR","authors":"K. N. Kamaludin, L. Abdullah, S. Salim, Z. Jamaludin, N. A. Rafan, M. F. Rahmat, Rprakash Ramanathan","doi":"10.31436/iiumej.v24i2.2766","DOIUrl":"https://doi.org/10.31436/iiumej.v24i2.2766","url":null,"abstract":"Accurate and precise positioning control is critical in designing a positioning servo pneumatic system. The internal friction force of the pneumatic is one of the disturbances that make it challenging to achieve accurate and precise positioning. Dynamic friction identification and modelling are usually very complex and computationally exhaustive. In addition, pneumatic actuators are nonlinear systems, and applying linear control to the system is a mismatch. This study proposes an enhanced triple nonlinear hyperbolic PID controller with static friction (T-NPID+FSS) feedback module. T-NPID is integrated with nonlinear hyperbolic functions at each PID gain, hence the name. The reference in designing the T-NPID is the Popov stability criterion. Meanwhile, static friction (comparatively more straightforward than dynamic friction) is identified by measuring the actuator's internal friction at various velocities and applying it to the static friction model. T-NPID+FSS is compared to a classical PID, a PID with static friction (PID+FSS), and T-NPID without the friction module. With the comparisons, the performance gains of each module are clear. While most previous research focuses on the sinusoidal wave tracking performance (measuring the maximum tracking error, MTE, and root mean square error, RMSE), the analysis in this research focuses on obtaining precise positioning; steady-state analysis is the primary measurement. However, transient response and integral of absolute error (IAE) analysis are also observed to ensure no significant drawback in the controller's performance. T-NPID+FSS achieved the best precise positioning control, with 88.46% improvement over PID, 71.15% over PID+FSS,  and 59.46% over T-NPID. The final controller is also on par with T-NPID for transient responses compared to the base PID. Although the FSS model caters to friction compensation, optimizing the FSS parameter by applying artificial intelligence, such as Neural Networks (NN) and Genetic Algorithm (GA), will increase the friction modeling‘s accuracy, and improve the compensation.\u0000ABSTRAK: Kawalan kedudukan yang tepat dan jitu adalah kitikal dalam mereka bentuk sistem pneumatik servo penentududukan. Daya geseran dalaman pneumatik adalah salah satu gangguan yang menyukarkan untuk mencapai kedudukan yang tepat dan jitu. Penentuan daya geseran dinamik dan pemodelannya selalunya kompleks dan pengiraan menyeluruh yang sukar. Selain itu, pneumatik ialah sistem tak linear, menggunakan kawalan linear pada sistem adalah tidak padan.  Kajian ini mencadangkan PID hiperbolik tiga fungsi tak linear yang dipertingkatkan dengan modul suapan-balik geseran statik (T-NPID+FSS). T-NPID diintegrasikan dengan tiga fungsi hiperbolik tidak linear pada setiap pendarab PID, member pada nama. T-NPID direka bentuk dengan kriteria kestabilan Popov. Manakala geseran statik (secara perbandingan lebih mudah daripada geseran dinamik) dikenal pasti dengan mengukur geseran dalaman penggerak pada pelbagai ha","PeriodicalId":13439,"journal":{"name":"IIUM Engineering Journal","volume":"12 1","pages":""},"PeriodicalIF":0.5,"publicationDate":"2023-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83368721","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"3D COLLISION AVOIDANCE SYSTEM FOR UNMANNED AERIAL VEHICLE (UAV) WITH DECENTRALIZED APPROACH","authors":"M. H. Harun, S. Abdullah, Mohd Shahrieel MOHD ARAS, Mohd Bazli Bahar, Fariz ALI @IBRAHIM","doi":"10.31436/iiumej.v24i2.2803","DOIUrl":"https://doi.org/10.31436/iiumej.v24i2.2803","url":null,"abstract":"Unmanned aerial vehicles UAVs have been developed and refined for decades. Using an integrated software system, autonomous unmanned aerial vehicles (UAVs) perform missions automatically and return to a pre-programmed point. Malaysia has a lot of unoccupied airspace, yet autonomous UAV applications and research are still rare. In critical conditions, autonomous UAVs must deal with a variety of environmental and flight issues. This project involves a decentralized 3D collision avoidance system for an autonomous UAV. Ultrasonic, infrared, and laser rangefinders were chosen for the 3D collision avoidance system. The UAV's obstacle recognition and collision avoidance performance are also tested in four experiments. In various flight conditions, the 3D collision avoidance system can identify several material types and opacities by integrating selected rangefinders. Finally, the 3D collision avoidance system quickly reacts to obstacles in the X, Y, and Z axes.\u0000ABSTRAK: Kenderaan udara tanpa pemandu (UAV) telah dibangunkan dan diperhalusi selama beberapa dekad. Menggunakan sistem perisian bersepadu, kenderaan udara tanpa pemandu (UAV) autonomi melaksanakan misi secara automatik dan kembali ke titik pra-diprogramkan. Malaysia mempunyai banyak ruang udara yang tidak berpenghuni, namun aplikasi dan penyelidikan UAV autonomi masih jarang berlaku. Dalam keadaan kritikal, UAV autonomi mesti menangani pelbagai isu alam sekitar dan penerbangan. Projek ini melibatkan sistem pengelakan perlanggaran 3D terpencar untuk UAV autonomi. Pencari jarak ultrasonik, inframerah dan laser telah dipilih untuk sistem pengelakan perlanggaran 3D. Prestasi pengecaman halangan dan pengelakan perlanggaran UAV juga diuji dalam empat eksperimen. Dalam pelbagai keadaan penerbangan, sistem pengelakan perlanggaran 3D boleh mengenal pasti beberapa jenis bahan dan kelegapan dengan menyepadukan pencari jarak terpilih. Akhir sekali, sistem pengelakan perlanggaran 3D bertindak balas dengan cepat terhadap halangan dalam paksi X, Y dan Z.","PeriodicalId":13439,"journal":{"name":"IIUM Engineering Journal","volume":"9 1","pages":""},"PeriodicalIF":0.5,"publicationDate":"2023-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90465415","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}