Mohammad Nuh

Engine Torque Control of Spark Ignition Engine Using Robust Fuzzy Logic Control

Due to government regulations and policies aimed at improving fuel economy and reducing emissions, it is increasingly important to achieve control over transient behavior and meet performance objectives over the life of the vehicle. This requires the development of high performance and robust power train controllers. The performance objectives are often conflicting, or at best interrelated. Controlling engine torque is one way to potentially meet these performance requirements. Spark ignition engine is a combustion engine that operates with a very wide operating point. Each point of engine operation provides different properties to each other, so that the control treatment to be given varies a great deal. This problem led to a single controller design becomes very difficult to be realized. In this research, a new design method of fuzzy robust control proposed to provide an alternative solution to build an integrated-control that can anticipate a system that works on a wide operating point and have different characters for each operating point. From the simulation results, it can be concluded that the design of robust fuzzy controller can be used simultaneously for several operating point without having to redesign the controller.

Hybrid fuzzy control for swinging up and stabilizing of the pendulum-cart system

This paper presents the design and implementation of a hybrid fuzzy control for the swinging up and stabilizing of the pendulum-cart system. The fuzzy swing-up controller is employed to swing the pendulum up from its pendant position to the stabilization zone in the upright position using as few rules as possible. After the pendulum reaches the zone, the fuzzy stabilizing controller is then switched to stabilize the inverted pendulum at the upright position. The controller is designed based on a robust performance state feedback controller using Linear Matrix Inequalities (LMI) approach for Takagi-Sugeno fuzzy systems. Numerical simulation and real-time experiment are presented to show the effectiveness of the method.

Fuzzy tracking control design using observer-based stabilizing compensator for nonlinear systems

This paper presents fuzzy tracking control design for nonlinear systems. The design methodology is a synthesis of the tracking control theory of linear multivariable control and the Takagi-Sugeno fuzzy model. The observer-based stabilizing compensator type from multivariable tracking control theory is used, because not all states of the nonlinear system are fully available or measured while Takagi-Sugeno (T-S) fuzzy model is used to represent the dynamic of nonlinear system. The concept of parallel distributed compensation is employed to design fuzzy tracker and fuzzy observer from the T-S fuzzy model. The stability analysis of the designed system is derived via the Lyapunov function. Numerical simulation and real-time experiment are provided to illustrate the tracking control design procedure and performance of the proposed methods for practical application.

An integrated project-based learning for Intelligent Control lecture and practice at polytechnics graduate school

This paper presents an integrated project-based learning of lecture and laboratory practice on Intelligent Control course in Master degree Program, at Politeknik Elektronika Negeri Surabaya (PENS). This first skill-based graduate engineering education program in Indonesia, was started since 2013 to fulfill the lack of professional engineers in advanced level to be ready as innovators and leader in industries. Moreover, since the role of PENS as National Resources Polytechnics in electrical and information related fields, this program also provide practical-oriented graduate level education for the countrys polytechnic lecturer that inline with the nature of polytechnic education. We will present one of example how we deliver our integrated knowledge and skill to the students, in this case Intelligent Control course. The course enable student learn the knowledge given by lecturer in the classroom, and - together with lecturer - the students design and implement practice in laboratory to get hands on practical ability. By project-based learning, students more actively involve in the learning process, and hence the student-centered learning could be realized.

Temperature distribution pattern in normal and cancer tissues: the effect of electromagnetic wave

Abstract : Temperature distribution pattern on normal and cancer tissues caused by the Electromagnetic wave effect is presented in this paper. First, the pattern is modelled by using Bio Heat Transfer Equation and then the Galerkin Finite Element method is used to solve the equation via computer simulation. From the simulation results it can be shown that the temperature change on the cancer tissues is relatively constant and 0.4 degrees Celsius higher than the change on the normal tissues. From this phenomenon it can be understood that the damage of the cell of the cancer tissues is greater than the damage of the cell of the normal tissues. Therefore it is possible to use the Hyperthermia technique with electromagnetic wave for cancer therapy. The simulation results can be also used to decide the control strategy for giving the dose energy of electromagnetic wave which is flowed out to the cancer tissues.

Design of complex data acquisition system for kinetics, kinematics, and kinesiological gait analysis

Gait is one of biometrie information and defined as pattern movement of lower limb. Clinical gait analysis is important for treatment, diagnosis, and reference for therapy. This paper presents kinematics, kinetics analysis, and kinesiological of muscle signal using complex data acquisitions from normal subject. Gait data were taken using 4 instruments, Optotrak certus 3020, Vernier Force Plate, 8 channels self-design LE EMG, and Wearable sensor that consist of accelerometers, gyroscopes, and Force Sensitive Resistor (FSRs). The results of FSR (kinetics), wearable sensors (kinematics), LE-EMG (kinesiology), Optotrak Certus 3020 (kinematics) were integrated together so different results can be seen from the data. The data of LE hardware and LE software from muscle signal were compared. The analysis result of Force Plate was obtaining kinetics analysis, Fmax, Fmin, FTO, and FHO. This study was able to take gait data using 4 instruments simultaneously and kinetics, kinematics, and kinesiological gait analysis was succeed to made. This study presented gait data from 5 subjects. Further, data can be reproduced to get more normal and abnormal gait data and used for rehabilitation purpose.

Effective Intelligent Control teaching environment using Challenge Based Learning

This paper deals with development of effective Intelligent Control teaching environment using Challenge Based Learning (CBL) at Mechatronics Department of Politeknik Elektronika Negeri Surabaya (PENS). CBL is one of problem-based, student centered learning in which a group of students learn according their own pace, and they make their own final challenging target. Moreover, social media was utilized to communicate with their peers around the world. The CBL was implemented in one pre-selected class, and another class was teach by using conventional teacher-based learning, as control variable. Both classes then evaluated by using the same problem in mid and final examination. Satisfaction of effective teaching environment then verified by using questionnaire. It was revealed that the students consider that the CBL method quite enjoyable and attractive learning environment.

Embedded fuzzy logic controller for functional electrical stimulation system

Functional electrical stimulation (FES) is one of the most common techniques used to improve motor function in individuals with paralysis. In this study, fuzzy logic controller implemented in embedded system for wearable FES was developed. The controller was designed as Single Input Single Output (SISO) and Multi Input Single Output (MISO) controllers to manage electrical stimulation for seven muscles in thigh and shank and to induce certain joint movements. The system was realized in two steps utilizing 32-bit ARM microcontrollers, STM32F429 and STM32F103C8T6, respectively. Closed-loop control was used in the system and realized using feedback from the sensors. Serial communication was utilized for data transmission between embedded system and PC/laptop as monitoring station. Experiments done to test the performance of SISO controller of knee flexion proved that the system was able to adjust burst duration and to control joint movement induced. The system designed was expected to be helpful for clinical application of motor function improvement.

Optimal cone of relative position acquisition module of multi mobile robot

The research of position acquisition of robots has been done in many years. The robots need to know the position of each other in order to be able to coordinate for task to be done together. The conventional method of position sensing is using odometry by utilizing encoder attached to the wheel which depends on non-slippery condition. This method results unexpected errors in most cases. Trilateration is one of the solution of the problem and the simple method of calculating position of multi mobile robot. This paper proposes an optimal cone of relative position acquisition module of multi mobile robot based on trilateration method and, by experiment, the proposed module was verified. The mean of accumulation error is 6.772 cm, which is practically appropriate for most swarm mobile robot navigation and coordination.

Mathematical modeling of the electric and magnetic activity combination in the human retina organ

In this paper, mathematical model of the electric and magnetic in the eye volume conductor will be developed. Eye volume conductor is assumed consist of six layers where each of layer is homogen. Each layer is solved numerically by linear trianguler finite element method (FEM) and simulated with Matlab 5.31. From the simulation result indicate that electric potential distribution of the outer extraoculer (radius 49 mm) has the maximum value 3.4 /spl times/ 10/sup -4/ mV, the maximum magnetic field is 1.07 /spl times/ 10/sup -14/ mTesla. In the layer aqueous and vitreous humor (radius 6.75 mm) has the maximum electric potential 7.4 /spl times/ 10/sup -2/ mV and the maximum magnetic field is 1.8 /spl times/ 10/sup -12/ mTesla. The distribution in the other radius and variation of the conducting medium is achieved too.