2019 7th International Conference on Mechatronics Engineering (ICOM)最新文献

{"title":"Around View Monitoring System with Motion Estimation in ADAS Application","authors":"Muhammad Hannan Fathi bin Rasdi, N. Hashim, S. Hanizam","doi":"10.1109/ICOM47790.2019.8952041","DOIUrl":"https://doi.org/10.1109/ICOM47790.2019.8952041","url":null,"abstract":"Around View Monitoring (AVM) system uses multiple cameras as the sensor that is mounted on several positions on the vehicle to produce a display of top view image from the surrounding environment of the vehicle that is not readily visible to the driver because of the limited field of view of the driver. The risk of parking accident could be reduced by developing the system that can monitor the surrounding area, detecting parking slot lane and obstacle. A few seconds of early warning would significantly decrease the chances of accidents. This system can assist in the parking area and navigating through a narrow space area. Current AVM available usually needed another sensor to ensure a good performance output. But this is cost consuming besides increasing the computational time and resource. Here, proposed an AVM system that will integrate with the motion estimation algorithm to produce a good result. The AVM image sequence is from a camera input mounted on the vehicle. The algorithm to be tested is Gunnar Farneback. Movement in sequential frames is detected and converted to the real-world position change. This paper will compare the algorithms in various condition. The accuracy of the result was measured.","PeriodicalId":415914,"journal":{"name":"2019 7th International Conference on Mechatronics Engineering (ICOM)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116776816","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":"A Comparative Study of PD, LQR and MPC on Quadrotor Using Quaternion Approach","authors":"Maidul Islam, M. Okasha","doi":"10.1109/ICOM47790.2019.8952046","DOIUrl":"https://doi.org/10.1109/ICOM47790.2019.8952046","url":null,"abstract":"This study addresses the performances of three different controllers Proportional-Derivative (PD), Linear Quadratic Regulator (LQR) and Model Predictive Control (MPC) on a quaternion orientation based quadrotor and determines their suitability for different applications. As these controllers are widely being used in quadrotor platform with Euler-angle orientation, alternatively they are evaluated with quaternion orientation because this orientation can ensure singularity-free flight. In order to compare the performances of the controllers, performance indices like tracking error, considering RMSE method and control effort, using norm of control inputs have been considered. Based on the comparison, it is found that MPC is suitable for outdoor applications while PD and LQR can be best-fitted for indoor applications. MATLAB and Simulink environment has been considered in order to evaluate their performances.","PeriodicalId":415914,"journal":{"name":"2019 7th International Conference on Mechatronics Engineering (ICOM)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114696079","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":"Hybrid Social Force-Fuzzy Logic Evacuation Simulation Model for Multiple Exits","authors":"Azhar Mohd Ibrahim, Mahsin Saifullah, M. R. M. Romlay, Ibrahim Venkat, Izihan Ibrahim","doi":"10.1109/ICOM47790.2019.8952063","DOIUrl":"https://doi.org/10.1109/ICOM47790.2019.8952063","url":null,"abstract":"One of the most important aspect of evacuation management system, when it comes to organizing a safer large-scale gathering is crowd dynamics. Utilizing evacuation simulation of crowd dynamics during egress, for planning efficient crowd control can minimize crowd disaster to a great extent. Most of the previous studies on evacuation models have been done over a discrete space which have neglected the uncertainty aspect of an agent's decision making, especially when it comes to panic situations. This study proposes a model for evacuation simulation under uncertainty conditions in a continuous space via computer simulations. It will focus on developing an intelligent simulation model utilizing one of the artificial intelligence techniques which is fuzzy logic. Social Force Model will be taken as the base for basic agent motion. Membership functions such as distance from the exit, familiarity and visibility of the exit, density of crowd around the exit are incorporated in the fuzzy logic system to model the system. From our findings, it can be deduced that factors such as density, distance, and familiarity all considerably affect the time of evacuation of agents from the threat place. Indeed, uncertainty aspect influences agents' decision making, thus affecting the result of evacuation time.","PeriodicalId":415914,"journal":{"name":"2019 7th International Conference on Mechatronics Engineering (ICOM)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115047963","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":"Analysis of Point-to-Point Robotic Arm Control using PID controller","authors":"Safiuddin Che Suhaimin, Nur Liyana Azmi, M. Rahman, H. Yusof","doi":"10.1109/ICOM47790.2019.8952036","DOIUrl":"https://doi.org/10.1109/ICOM47790.2019.8952036","url":null,"abstract":"Point-to-point robotic arm has been used in manufacturing industry to assist company in increasing its production rate. However, the biggest concern in robotic arm is the accuracy for the robot to complete the task of pick-and-place of an object which is dependent on the designed controller. This study investigates the accuracy of the 5 degrees of freedom (DOF) robotic arm model with PID controller. The forward kinematic is analysed systematically in order to determine the required movements for each of the robotic arm joint for its desired operations. The objective of this paper is to simulate the movements of the robotic arm with and without controller by utilizing MATLAB GUI, a microcontroller and servo motors in order to demonstrate the effectiveness of the system. Performance comparison of the robotic arm in completing the pick-and-place task with and without PID is presented in this paper. The preliminary results showed that the difference errors between the desired angular displacement of with and without controller are 0.65%, 3.61%, 10.74%, 82.18% and 44.44% for the five movements.","PeriodicalId":415914,"journal":{"name":"2019 7th International Conference on Mechatronics Engineering (ICOM)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133087827","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":"Message from the Chairman of ICOM'19","authors":"Syamsul Bahrin","doi":"10.1109/icom47790.2019.8952068","DOIUrl":"https://doi.org/10.1109/icom47790.2019.8952068","url":null,"abstract":"I am very happy to welcome all the participants of the 7th International Conference on Mechatronics (ICOM 2019). The first ICOM was organized in 2001 with an overwhelming response from the researchers from more than ten different countries. So far, the Department of Mechatronics of IIUM has successfully organized six ICOMs. We believe we would be able to maintain the continuity of ICOM from now onwards, inshaAllah. The discipline of Mechatronics has now started to become main stream with most nations including Malaysia started to update its policy to be more industrial 4.0 ready. The discipline now has penetrated into all walks of life with its products alleviating the current standard of life that we have. Specifically, recent advances in mechatronics are being extended from precision agriculture to healthcare. In the recent past, robots were mostly found to be used in the manufacturing industries. Now, with the advancement of mechatronics, the use of robots started to take a firm footing in the areas of underwater robotics, driverless cars, autonomous aerial vehicles, microsurgery, Brain Machine Interaction (BMI) and so on. In the future, robots in various form are expected to be as ubiquitous as what mobile phone is in this century. With this idea forward and considering the United Nations Sustainable Development Goals (SDGs) 2030, we would foresee that Mechatronics discipline would definitely play an active role in pushing forward towards achieving goal number 9: Industry, Innovation and Infrastructure and goal number 11: Sustainable Cities and Communities of the SDGs. Thus, it is my firm believes and expectation that ICOM will be the platform for interaction and exchange of ideas among the scientists and engineers to bring about new knowledge and sustainable technology especially those that links to UN SDGs establishing a better tomorrow for the future generations to come. I would like to take this opportunity to express my sincere appreciation to the members of the International Advisory board, the keynote speakers, all committee members of ICOM 2019 and the reviewers of papers for their efforts in making this event successful. My sincere gratitude is extended to the sponsors for their cooperation and contribution in realizing the event.","PeriodicalId":415914,"journal":{"name":"2019 7th International Conference on Mechatronics Engineering (ICOM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129358645","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":"Benchmarking different deep regression models for predicting image rotation angle and robot's end effector's position","authors":"Nouar Aldahoul, Z. Htike","doi":"10.1109/ICOM47790.2019.8952047","DOIUrl":"https://doi.org/10.1109/ICOM47790.2019.8952047","url":null,"abstract":"Deep visual regression models have an important role to find how much the learning model fits the relationship between the visual data (images) and the predicted continuous output. Recently, deep visual regression has been utilized in different applications such as age prediction, digital holography, and head-pose estimation. Deep learning has recently been cutting-edge research. Most of the research papers have focused on utilizing deep learning in classification tasks. There is still a lack of research that use deep learning for regression. This paper utilizes different deep learning models for two regression tasks. The first one is the prediction of the image rotation angle. The second task is to predict the position of the robot's end-effector in 2D space. Efficient features were learned or extracted in order to perform good regression. The paper demonstrates and compares various models such as a local Receptive Field-Extreme Learning Machine (LRF-ELM), Hierarchical ELM, Supervised Convolutional Neural Network (CNN), and pre-trained CNN such as AlexNet. Each model was trained to learn or extract features and map them to specific continuous output. The results show that all models gave good performance in terms of RMSE and accuracy. H-ELM was found to outperform other models in term of training speed.","PeriodicalId":415914,"journal":{"name":"2019 7th International Conference on Mechatronics Engineering (ICOM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128887838","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":"A Cloud-Based Bus Tracking System Based on Internet-of-Things Technology","authors":"S. Akter, Thouhedul Islam, R. F. Olanrewaju, Ajayi Adeniyi Binyamin","doi":"10.1109/ICOM47790.2019.8952037","DOIUrl":"https://doi.org/10.1109/ICOM47790.2019.8952037","url":null,"abstract":"The technological rise in public transportation is on the horizon, but the bus network structure and intelligent bus tracking system should first be in place. Bus transport service is on the edge of digital revolution, generating real-time tracking information about the bus service using smartphones. In this paper, a cloud-based bus tracking system based on IoT is proposed to reduce human intervention, waiting time and energy. The exact location and arrival time of the bus can be tracked dynamically by using a mobile application to provide better and efficient bus service. Furthermore, passengers can buy tickets without queueing and book the available seats by making online payments. The proposed scheme allows more flexibility and user satisfactory service to the rider in terms of time loss and encourages more people to ride by providing real-time bus tracking information to improve passenger satisfaction. The main objective is to minimize the unnecessary waiting and queueing time uncertainty of passengers. Riders can utilize their waiting time more productively by choosing the nearest route and alternative transportation. The sustainability of public transport service can be maintained by providing noteworthy benefits to the passengers using the proposed IoT-based bus tracking system.","PeriodicalId":415914,"journal":{"name":"2019 7th International Conference on Mechatronics Engineering (ICOM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130001276","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":"Motion Estimation on Homogenous Surface for Around View Monitoring System","authors":"S. Hanizam, N. Hashim, Z. Z. Abidin, H. F. Zaki, H. A. Rahman, N. H. Mahamud","doi":"10.1109/ICOM47790.2019.8952062","DOIUrl":"https://doi.org/10.1109/ICOM47790.2019.8952062","url":null,"abstract":"Around View Monitoring (AVM) system uses multiple input cameras mounted on different positions of a vehicle to display 360° bird-eye-view around the vehicle that is not readily visible to the driver. The development of this system will contribute to the reduction of parking accidents by monitoring its surroundings, detecting lanes and identifying obstacles. With AVM, we can significantly decrease the number of minor accidents. AVM will not only be used for parking assistance but can also assist navigation in the narrow path area. Conventional AVM systems developed in the market using four or six cameras and requires an additional sensor for detection in order to minimise stitching error or to reduce the time to calibrate the output display image. The procedure is time-consuming and increases the cost of development. We propose to develop two ultra-wide-angle cameras located on the front and rear vehicle integrated with the motion estimation (ME) algorithm to produce a parking bird eye view and forward/backward trajectory lines. From our ablative analysis, optical flow is not suitable to be used for real-time ADAS systems as it fails at least 25.5% of the time. However, block matching algorithm based on normalized cross-correlation (CCORR NORMED) and normalised correlation coefficient (CCOEFF NORMED) were able to detect all templates correctly with 0% of false detection on our dataset.","PeriodicalId":415914,"journal":{"name":"2019 7th International Conference on Mechatronics Engineering (ICOM)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117290565","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":"Development of Gripping Assistive Device for Training System","authors":"Mohd Rais Hakim Bin Ramlee, H. Yusof, S. N. Sidek","doi":"10.1109/ICOM47790.2019.8952065","DOIUrl":"https://doi.org/10.1109/ICOM47790.2019.8952065","url":null,"abstract":"Gripping is an everyday task which goes unnoticeable. Since it is an essential daily movement, without this motion a lot of activities involving this movement could not be done. However due to maturing process and also sometimes mishaps, the grasping movement once in a while become disrupted which then is cause difficulties to whom is influenced. How these impacts, relies upon an individual and also in different ways regardless of age and how the body normally winds up more fragile, less adaptable and less impervious to sickness and damage. Patients with hand gripping issues normally require long term care. This also contributes towards their ability to recover much longer as their regular activity reduces and dependency on other increases. By produce therapy as an, early rehabilitation within the golden period (less than three months prior to incident) is required to improve the gripping motion and regain back the strength of the affected joints as well as muscles. Rehabilitation also helps to improve the patient's ability to return the patient to the level of premorbid function. The current situation is that the rehabilitation process takes longer as there are few physiotherapists available in hospitals. It is anticipated that a mechatronics approach using robotics based devices have been seen as a promising candidate to assist existing forms of the rehabilitation process. The idea is to develop a basic function rehabilitation robot is to support the physiotherapists. The device is aimed to help with the gripping process, where the system is based on a master-slave mechanism which needs a healthy hand to control the weak hand. The system uses a leap motion sensor as the input and the output is an exoskeleton. A gyroscope was used to indicate the finger position and placed on top of the exoskeleton.","PeriodicalId":415914,"journal":{"name":"2019 7th International Conference on Mechatronics Engineering (ICOM)","volume":"423 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116049705","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":"Modules of Interaction for ASD Children Using Rero Robot (Humanoid)","authors":"N. Ishak, H. Yusof, Mohd Rais Hakim Ramlee, S. N. Sidek, N. Rusli","doi":"10.1109/ICOM47790.2019.8952038","DOIUrl":"https://doi.org/10.1109/ICOM47790.2019.8952038","url":null,"abstract":"Autism Spectrum Disorder (ASD) is a neurological and developmental disorder that affects one's ability to understand social cues and to communicate. As it begins early in childhood and can last throughout a person's life, it is important to have an early intervention and rehabilitation. Previous research has shown that robotic platforms helped and encouraged positive outcome in ASD children rehabilitation. Early interventions through human-robot interaction (HRI) have the potential when used to improve communication and social skills of the children. In this research, a new framework has been developed featuring a robot and human interaction modules. A commercial robot, Rero has been adopted and used as the interaction medium. This robot has been selected based on its reconfigurable capability and ability to be developed into many forms. It is also mobile, speech enabled, controllable, programmable, and attractive. Five modules of interaction have been developed and approval from special education teachers and therapists has been sought. The modules are created to help the children to be able to imitate actions, follow instructions, name objects, as well as to focus and match colours. Observations from the experiment shows that the children enjoyed the interaction modules with a median of more than 70% of scores and were well engaged with the robots with certain type of modules.","PeriodicalId":415914,"journal":{"name":"2019 7th International Conference on Mechatronics Engineering (ICOM)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116622268","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}