MANUFACTURING ENGINEERING, AUTOMATIC CONTROL and ROBOTICS

Proceedings of the 14th International Conference on Robotics, Control and Manufacturing Technology (ROCOM '14)

Kuala Lumpur, Malaysia April 23-25, 2014

Scientific Sponsors:

University Kebangsaan Malaysia

Universiti Teknologi Malaysia

ISSN: 1790-5117 ISBN: 978-960-474-371-1

MANUFACTURING ENGINEERING, AUTOMATIC CONTROL and ROBOTICS

Proceedings of the 14th International Conference on Robotics, Control and Manufacturing Technology (ROCOM '14) Kuala Lumpur, Malaysia April 23-25, 2014

Published by WSEAS Press www.wseas.org Copyright © 2014, by WSEAS Press All the copyright of the present book belongs to the World Scientific and Engineering Academy and Society Press. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of the Editor of World Scientific and Engineering Academy and Society Press. All papers of the present volume were peer reviewed by no less that two independent reviewers. Acceptance was granted when both reviewers' recommendations were positive.

ISSN: 1790-5117 ISBN: 978-960-474-371-1

MANUFACTURING ENGINEERING, AUTOMATIC CONTROL and ROBOTICS

Proceedings of the 14th International Conference on Robotics, Control and Manufacturing Technology (ROCOM '14)

Kuala Lumpur, Malaysia April 23-25, 2014

Editors: Prof. Azami Zaharim, Universiti Kebangsaan, Malaysia Prof. Kamaruzzaman Sopian, Universiti Kebangsaan, Malaysia Prof. D. Subbaram Naidu, Idaho State University, USA Prof. Maria Isabel Garcia-Planas, Universitat Politecnica de Catalunya, Spain Prof. Alexander Zemliak, Puebla Autonomous University, Mexico Committee Members-Reviewers: Ioana Adrian Alejandro Fuentes-Penna Emre Kiyak Hime Aguiar Tohru Kawabe Lungu Mihai Aureliu Daschievici Luiza Md. Haider Ali Biswas Nikos Loukeris Libor Pekar Yilun Shang Mohamed Hussein Hishamuddin Jamaluddin Valery Vodovozov Mohammad D. Al-Tahat Tiberiu Socaciu Roman Mihai Daniel Ioan Constantin Dima Kandarpa Kumar Sarma Carlos E. Formigoni Massimiliano Todisco Kamyar Mehranzamir Vishnu Pratap Singh Kirar R Bala Murugan Mohammad Israr Ali Sadeghi Luiz De Siqueira Martins-Filho Cledson Akio Sakurai Xiaoguang Yue Sunil Kumar Mojmil Cecic Janusz Kacprzyk Sidney Burrus Biswa N. Datta Mihai Putinar Wlodzislaw Duch Michael N. Katehakis Dimitri Kazakos Ronald Yager Argyris Varonides Alexey L Sadovski Ryszard S. Choras Remi Leandre Alexander Grebennikov Guennadi A. Kouzaev Weilian Su Jiri Klima Bimal Kumar Bose Wasfy B. Mikhael Pierre Borne

Yuriy S. Shmaliy Tadeusz Kaczorek Irwin Sandberg Narsingh Deo George Vachtsevanos Panagiotis Agathoklis Imre J. Rudas Jiri Hrebicek Gen Qi Xu Brett Nener Branimir Reljin Humberto Varum Ronald Tetzlaff Peter Szolgay Xiang Bai Alexander Gegov Jan Awrejcewicz Carla Pinto Hung-Yuan Chung Elbrous M. Jafarov Dimitrios A. Karras Sorinel Oprisan Lotfi Zadeh Leon Chua Michio Sugeno Dimitri Bertsekas Demetri Terzopoulos Georgios B. Giannakis Brian Barsky Aggelos Katsaggelos Leonid Kazovsky Anastassios Venetsanopoulos Steven Collicott Nikolaos G. Bourbakis Michael Sebek Hashem Akbari Lei Xu M. Pelikan Patrick Wang Sunil Das Panos Pardalos Nikolaos D. Katopodes

Preface This year the 14th International Conference on Robotics, Control and Manufacturing Technology (ROCOM '14) was held in Kuala Lumpur, Malaysia, April 23-25, 2014. The conference provided a platform to discuss robotics materials, human-robot interfaces, distributed robotics systems, nanotechnologies in robotics, man-machine systems, intelligent control, cybernetics, fault tolerance, unmanned vehicles, industrial control etc. with participants from all over the world, both from academia and from industry.

Its success is reflected in the papers received, with participants coming from several countries, allowing a real multinational multicultural exchange of experiences and ideas.

The accepted papers of this conference are published in this Book that will be sent to international indexes. They will be also available in the E-Library of the WSEAS. Extended versions of the best papers will be promoted to many Journals for further evaluation.

Conferences such as this can only succeed as a team effort, so the Editors want to thank the International Scientific Committee and the Reviewers for their excellent work in reviewing the papers as well as their invaluable input and advice.

The Editors

Table of Contents

Two-Mass Mathematical Model of Magnetoelectric Converter for Reversible Scanning Device 11

Subbotin Dmitrii, Sergey Lovlin, Madina Tсvetkova

Motion Control of Seven-Link Human Bipedal Model 15

Nurfarahin Onn, Mohamed Hussein, Collin Howe Hing Tang, Mohd Zarhamdy Md Zain, Maziah Mohamad, Lai Wei Ying DSP-Based Intelligent Adaptive Control System Using Recurrent Functional-Link-Based Petri Fuzzy-Neural-Network for Servo Motor Drive

23

Fayez F. M. El-Sousy, Khaled A. Abuhasel

Evolutionary Algorithm for identification of a Flexible Single-Link System 41

Ali Abdulhussain Madhloom Al-Khafaji, Intan Z. Mat Darus

Identifying Dynamic Model Parameters of a Servo Drive 50

Sergey Lovlin, Madina Tсvetkova, Dmitrii Subbotin

Nonlinear System Identification of Vortex Induced Vibration on Pipe Cylinder 58

Mohammed Jawad Mohammed, Intan Z. Mat Darus

Fuzzy-PLC PID Simulink Implemented AVR System to Enhance the Transient Response of Synchronous Generator

66

Abdullah J. H. Al Gizi, M. W. Mustafa

Suppression of Hand Postural Tremor Via Active Force Control Method 76

Suhail Kazi, Musa Mailah, Zarhamdy Md Zain

Resource Balancing Scheduler Implemented as an Anticipatory System in Power Management 83

Samuel Matthew Dumlao, Rosula Reyes

Experimental Investigation on the Effect of Origami Geometry on the Acoustic Characteristics 93

Nurul Farhanah Muarat, Mohamed Hussein, Raja Ishak Raja Hamzah, Zair Asrar Ahmad, Mohd Zarhamdy Md Zain, Norasikin Mat Isa, Maziah Mohamad Autonomous Mobile Robotic System for On-the-Road Painting 98

Mohammed A. H. Ali, M. Mailah, Tang Howe Hing

Development of Electric Vehicle (EV) Warning System to Alert Pedestrian Using Fuzzy Logic 104

I. Salleh, M. Z. Md Zain, R. I. Raja Hamzah, A. R. Musa

Component Package Decapsulation Process with Analogue Signature Analysis Support 112

Neumann Petr, Adamek Milan, Skocik Petr

Simulation Study of Trajectory Planning and Control of Five Degree of Freedom Biped Robot 118

Wei Ying Lai, Kim Seng Lim, Howe Hing Tang, Mohamed Hussein, Nurfarahin Onn, Yi Lung Then

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ISBN: 978-960-474-371-1 9

Radial-Base-Function, Genetic-Algorithm and Fuzzy Logic Approach for Real-Time Tuning of PID Controller in AVR System

124

Abdullah J. H. Al Gizi, M. W. Mustafa, N. Zreen

Practical Gripper Performance for Intelligent Active Force Control of a Robot Arm Actuated by Pneumatic Artificial Muscles

134

Aria Enzevaee, Musa Mailah, Suhail Kazi

Two Methods of Fault Detection in the PMSM Electric Drive IGBT-Based Inverter 140

Nikita Smirnov, Sergey Tushev

Far Red Flowering Control Treatment for Brassica Chinensis in Indoor Farming Utilizing Wireless Sensor Network

147

Ahmad Nizar Harun, Robiah Ahmad, Norliza Mohamed

Active Force Control with Nonlinear Predictive Control Based on Receding-Horizon Cost Function Optimization for Five-Link Biped Model in Sagittal Plane

156

Nurfarahin Onn, Mohamed Hussein, Collin Howe Hing Tang, Mohd Zarhamdy Md Zain, Maziah Mohamad, Lai Wei Ying Cuckoo Search for Modelling of a Flexible Single-Link Manipulator 163

Ali Abdulhussain Madhloom Al-Khafaji, Intan Z. Mat Darus

Design and Fabrication of an Automated Multi-Level Car Parking System 173

A. Albagul, K. Alsharef, M. Saad, Y. Abujeela

Parametric and Non-parametric Identification of Naturally Ventilation Tropical Greenhouse Climates

179

Robiah Ahmad, Md. Norazlan Md. Lazin, Saiful Farhan Mohd Samsuri

System Identification of Pipe Cylinder Behavior Caused By Vortex Induced Vibration 186

Mohammed Jawad Mohammed, Intan Z. Mat Darus

The Ship Motions Effect on the Position Reference of Telescope’s Axis Installed on the Deck of a Ship

194

Sergey Tushev, Valentin Drozdov, Nikita Smirnov

An Experimental Skid Steering Mobile Platform using Active Force Control 199

Shariman Abdullah, Musa Mailah, Collin Tang Howe Hing

On the Performance of a PRP-WLAN Enabled Wireless Backbone 205

Hassan H. Halawa, Ramez M. Daoud, Hassanein H. Amer, Markus Rentschler

Multi-Objective Optimization Using Differential Evolution for Modeling Automotive Palm Oil Biodiesel Engine

215

Mohd Zakimi Zakaria, Azuwir Mohd Nor, Hishamuddin Jamaluddin, Robiah Ahmad

Design of a Wireless Communication System for Unmanned Search and Rescue 225

Sherif Abdellah, Yousef Abo El Nour, Ahmad Baracat, Mina Morgan, Mohab Osama, Rafik Raef, Hassan Halawa, Ramez Daoud, Hassanein Amer, Magdy El-Soudani Authors Index 234

Manufacturing Engineering, Automatic Control and Robotics

ISBN: 978-960-474-371-1 10

Authors Index

Abdellah, S. 225 Lovlin, S. 11, 50 Abdullah, S. 199 Mailah, M. 76, 98 Abuhasel, K. A. 23 Mailah, M. 134, 199 Abujeela, Y. 173 Mohamad, M. 15, 93, 156 Adamek, M. 112 Mohamed, N. 147 Ahmad, R. 147, 179, 215 Mohammed, M. J. 58, 186 Ahmad, Z. A. 93 Morgan, M. 225 Al Gizi, A. J. H. 66, 124 Muarat, N. F. 93 Albagul, A. 173 Musa, A. R. 104 Ali, M. A. H. 98 Mustafa, M. W. 66, 124 Al-Khafaji, A. A. M. 41, 163 Neumann, P. 112 Alsharef, K. 173 Nor, A. M. 215 Amer, H. H. 205, 225 Onn, N. 15, 118, 156 Baracat, A. 225 Osama, M. 225 Daoud, R. M. 205, 225 Raef, R. 225 Darus, I. Z. M. 41, 58 Rentschler, M. 205 Darus, I. Z. M. 163, 186 Reyes, R. 83 Drozdov, V. 194 Saad, M. 173 Dumlao, S. M. 83 Salleh, I. 104 El Nour, Y. A. 225 Samsuri, S. F. M. 179 El-Soudani, M. 225 Skocik, P. 112 El-Sousy, F. F. M. 23 Smirnov, N. 140, 194 Enzevaee, A. 134 Subbotin, D. 11, 50 Halawa, H. H. 205, 225 Tang, C. H. H. 15, 98, 118 Hamzah, R. I. R. 93, 104 Tang, C. H. H. 156, 199 Harun, A. N. 147 Then, Y. L. 118 Hussein, M. 15, 93 Tushev, S. 140, 194 Hussein, M. 118, 156 Tсvetkova, M. 11, 50 Isa, N. M. 93 Ying, L. W. 15, 156 Jamaluddin, H. 215 Zain, M. Z. M. 15, 76, 93 Kazi, S. 76, 134 Zain, M. Z. M. 104, 156 Lai, W. Y. 118 Zakaria, M. Z. 215 Lazin, M. N. M. 179 Zreen, N. 124 Lim, K. S. 118

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