Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018: NUSYS'18

Front Matter ....Pages i-xiii
Front Matter ....Pages 1-1
 PSO Fine-Tuned Model-Free PID Controller with Derivative Filter for Depth Control of Hovering Autonomous Underwater Vehicle  (Mohd Zaidi Mohd Tumari, Amar Faiz Zainal Abidin, Mohamed Saiful Firdaus Hussin, Ahmad Muzaffar Abd Kadir, Mohd Shahrieel Mohd Aras, Mohd Ashraf Ahmad)....Pages 3-13
 Optimization of Single Input Fuzzy Logic Controller Using PSO for Unmanned Underwater Vehicle  (Mohd Shahrieel Mohd Aras, Shahrum Shah Abdullah, Hazriq Izuan Jaafar, Ahmad Anas Yusof, Mohd Zaidi Mohd Tumari, Ho Gui Yan)....Pages 15-26
 UTeM Autonomous Underwater Vehicle Competition Initiatives: Project TUAH and PANTHER  (Ahmad Anas Yusof, Mohd Khairi Mohamed Nor, Shamsul Anuar Shamsudin, Mohd Rizal Alkahari, Mohd Shahrieel Mohd Aras, Mohamad Riduwan Md. Nawawi et al.)....Pages 27-33
 Deep Underwater Image Enhancement Through Integration of Red Color Correction Based on Blue Color Channel and Global Contrast Stretching  (Kamil Zakwan Mohd Azmi, Ahmad Shahrizan Abdul Ghani, Zulkifli Md Yusof, Zuwairie Ibrahim)....Pages 35-44
 Development of Surface Cleaning Robot for Shallow Water  (Muhamad Qayyum Dahlan, Herdawatie Abdul Kadir, Khalid Isa, Radzi Ambar, Mohd Rizal Arshad, Maziyah Mat Noh)....Pages 45-54
 Design and Development of an Autonomous Underwater Vehicle for Underwater Target Navigation Mission Module  (Muhammad Muzakkir Ahmad Roslan, Herdawatie Abdul Kadir, Khalid Isa, Radzi Ambar, Mohd Rizal Arshad, Maziyah Mat Noh et al.)....Pages 55-63
 Development of an Autonomous Underwater Vehicle for Target Acquisition  (Leong Wai Lunn Alexander, Khalid Isa, Herdawatie Abdul Kadir, Radzi Ambar)....Pages 65-78
 Robust Controller Design for Autonomous Underwater Glider Using Backstepping Super Twisting Sliding Mode Control Algorithm  (Maziyah Mat Noh, M. R. Arshad, Rosmiwati Mohd-Mokhtar, Zainah Md Zain, Qudrat Khan, Herdawati Abdul Kadir)....Pages 79-97
 PSpHT-II: A Water Strider-Like Robot with Cylindrical Footpad  (Vi Vi Gan, Addie Irawan, Niirmel Ranjanendran, Siti Noor Zuliana)....Pages 99-112
 An Accurate Characterization of Different Water Properties Using Resonant Method for Underwater Communication Activity  (Salwa Awang Akbar, Ahmad Syahiman Mohd Shah, Airul Sharizli Abdullah, Nurhafizah Abu Talip Yusof, Sabira Khatun, Syamimi Mardiah Shaharum et al.)....Pages 113-120
 Statistical Relationship Between Multibeam Backscatter, Sediment Grain Size and Bottom Currents  (Mohd Azhafiz Abdullah, Razak Zakariya, Rozaimi Che Hasan)....Pages 121-133
Front Matter ....Pages 135-135
 Stabilization of Two-wheeled Wheelchair with Movable Payload Based Interval Type-2 Fuzzy Logic Controller  (N. F. Jamin, N. M. A. Ghani, Z. Ibrahim, M. F. Masrom, N. A. A. Razali)....Pages 137-149
 Stabilization Control of a Two-Wheeled Triple Link Inverted Pendulum System with Disturbance Rejection  (M. F. Masrom, N. M. Ghani, N. F. Jamin, N. A. A. Razali)....Pages 151-159
 Integration of PI-Anti-windup and Fuzzy Logic Control with External Derivative Solution for Leg’s Robot Angular Joint Precision  (Wan Mohd Nafis Wan Lezaini, Addie Irawan, Ahmad Nor Kasruddin Nasir)....Pages 161-171
 Backstepping Control of Nonholonomic Car-like Mobile Robot in Chained Form  (Norsuryani Zainal Abidin, Nurul Ain Mohamed, Zainah Md. Zain, Maziyah Mat Noh, Norhafizah Md. Zain, Dwi Pebrianti)....Pages 173-180
 Analysis of Mobile Robot Path Planning with Artificial Potential Fields  (Hamzah Ahmad, Ahmad Nuur Fakhrullah Mohamad Pajeri, Nur Aqilah Othman, Mohd Mawardi Saari, Mohd Syakirin Ramli)....Pages 181-196
 Data-Driven PID Tuning for Liquid Slosh-Free Motion Using Memory-Based SPSA Algorithm  (Nik Mohd Zaitul Akmal Mustapha, Mohd Zaidi Mohd Tumari, Mohd Helmi Suid, Raja Mohd Taufika Raja Ismail, Mohd Ashraf Ahmad)....Pages 197-210
 Barnacles Mating Optimizer Algorithm for Optimization  (Mohd Herwan Sulaiman, Zuriani Mustaffa, Mohd Mawardi Saari, Hamdan Daniyal, Ahmad Johari Mohamad, Mohd Rizal Othman et al.)....Pages 211-218
 Random Search in Energy Management Strategy (EMS) for Hybrid Electric Vehicles  (Muhammad Syahmi Ghazali, Muhammad Ikram Mohd Rashid)....Pages 219-227
 Extended Bat Algorithm (EBA) as an Improved Searching Optimization Algorithm  (Dwi Pebrianti, Nurnajmin Qasrina Ann, Luhur Bayuaji, N. R. Hasma Abdullah, Zainah Md. Zain, Indra Riyanto)....Pages 229-237
 Performance Comparison of Perturbation Signals for Time-Varying Water Temperature Modeling Using NARX-Based BPSO  (Najidah Hambali, Mohd Nasir Taib, Ahmad Ihsan Mohd Yassin, Mohd Hezri Fazalul Rahiman)....Pages 239-255
 Adaptive Fuzzy-PID Controller for Quad-Rotor MAV with Mass Changes  (Goh Ming Qian, Dwi Pebrianti, Luhur Bayuaji, Rosdiyana Samad, Mahfuzah Mustafa, Mohammad Syafrullah)....Pages 257-269
 Investigating State Covariance Properties During Finite Escape Time in H∞ Filter SLAM  (Hamzah Ahmad, Nur Aqilah Othman, Mawardi Saari, Mohd Syakirin Ramli)....Pages 271-283
 Diagonalization of Covariance Matrix in Simultaneous Localization and Mapping of Mobile Robot  (Maziatun Mohamad Mazlan, Nur Aqilah Othman, Hamzah Ahmad)....Pages 285-297
 Development and Control of Biped Walking Robot Using PI Control  (K. H. Tan, N. S. M. Nor, M. Z. Md Zain)....Pages 299-313
 Improved Generalized Cross Correlation Phase Transform Algorithm for Time Difference of Arrival Estimation  (Chee Sheng Tan, Rosmiwati Mohd-Mokhtar, Mohd Rizal Arshad)....Pages 315-322
 Performance Evaluation of PID Controller Parameters Gain Optimization for Wheel Mobile Robot Based on Bat Algorithm and Particle Swarm Optimization  (Nur Aisyah Syafinaz Suarin, Dwi Pebrianti, Nurnajmin Qasrina Ann, Luhur Bayuaji, Muhammad Syafrullah, Indra Riyanto)....Pages 323-333
 Restoration of Kids Leg Function Using Exoskeleton Robotic Leg (ExRoLEG) Device  (Mohd Azrul Hisham Mohd Adib, Szeto Yang Han, Prashant Raj Ramani, Low Jian You, Law Ming Yan, Idris Mat Sahat et al.)....Pages 335-342
 Simulated Kalman Filter Algorithm with Improved Accuracy  (Mohd Falfazli Mat Jusof, Ahmad Azwan Abd Razak, Shuhairie Mohammad, Ahmad Nor Kasruddin Nasir, Mohd Helmi Suid, Mohd Ashraf Ahmad et al.)....Pages 343-351
 Initial Study of Multiple Excitation Source for Electrical Resistance Tomography in Steel Pipe Application  (Yasmin Abdul Wahab, Syazwani Amanina Syakyean, Zainah Md. Zain, Normaniha Abd Ghani, Maziyah Mat Noh)....Pages 353-359
 Simultaneous Perturbation Stochastic Approximation Optimization for Energy Management Strategy of HEV  (Muhammad Fadhlan Afif Nazri, Muhammad Ikram Mohd Rashid)....Pages 361-368
Front Matter ....Pages 369-369
 Image Processing-Based Flood Detection  (Angga Ariawan, Dwi Pebrianti, Ronny, Yudha Maulana Akbar, Lestari Margatama, Luhur Bayuaji)....Pages 371-380
 Enhancement on Stain Detection for Automatic Handwashing Audit Vision System  (Faradila Naim, Muhammad Aizat Romaino, Rosyati Hamid)....Pages 381-389
 Classification of Transient Facial Wrinkle  (Rosdiyana Samad, Mohammad Zarif Rosli, Nor Rul Hasma Abdullah, Mahfuzah Mustafa, Dwi Pebrianti, Nurul Hazlina Noordin)....Pages 391-403
 Electromyograph (EMG) Signal Analysis to Predict Muscle Fatigue During Driving  (Muhammad Amzar Syazani Mohd Azli, Mahfuzah Mustafa, Rafiuddin Abdubrani, Amran Abdul Hadi, Syarifah Nor Aqida Syed Ahmad, Zarith Liyana Zahari)....Pages 405-420
 Time-Frequency Analysis from Earthing Application  (Jun Hou Ting, Mahfuzah Mustafa, Zarith Liyana Zahari, Dwi Pebrianti, Zainah Md Zain, Nurul Hazlina Noordin et al.)....Pages 421-436
 Energy Spectral Density Analysis of Muscle Fatigue  (Noor Aisyah Ab Rahman, Mahfuzah Mustafa, Rosdiyana Samad, Nor Rul Hasma Abdullah, Norizam Sulaiman)....Pages 437-446
 Modelling Automatic IoT Home Light System (SmartLi) by NODEMCU ESP8266  (Muhammad Muttaqin A. Rahim, Nor Shazwanie Ramli, Najwa Raihana Abdul Wahab, Rohana Abdul Karim)....Pages 447-457
 Development of Automated Gate Using Automatic License Plate Recognition System  (Luai Taha Ahmed Al-Mahbashi, Nurhafizah Abu Talip Yusof, Syamimi Shaharum, Mohamad Shaiful Abdul Karim, Ahmad Afif Mohd Faudzi)....Pages 459-466
 Design of T-Shaped UWB Antenna with Dual Band Rejection Using Inverted U- and C-Shaped Slots  (Salwa Awang Akbar, Ahmad Syahiman Mohd Shah, Ahmad Afif Mohd Faudzi, Sabira Khatun, Syamimi Mardiah Shaharum, Nurhafizah Abu Talip @ Yusof et al.)....Pages 467-474
 Inter Vehicle Communication System for Collision Avoidance  (Nurul H. Noordin, Althea C. Y. Hui, Nurulfadzilah Hassan, Rosdiyana Samad)....Pages 475-483
 IOT—Eye Drowsiness Detection System by Using Intel Edison with GPS Navigation  (Auni Syahirah Abu Bakar, Goh Khai Shan, Gan Lai Ta, Rohana Abdul Karim)....Pages 485-493
 Automatic Detection of Diabetic Retinopathy Retinal Images Using Artificial Neural Network  (Syamimi Mardiah Shaharum, Nurul Hajar Hashim, Nurhafizah Abu Talip @ Yusof, Mohamad Shaiful Abdul Karim, Ahmad Afif Mohd Faudzi)....Pages 495-503
 Regional Assessment of Facial Nerve Paralysis Using Optical Flow Method  (Wan Syahirah W. Samsudin, Rosdiyana Samad, Kenneth Sundaraj, Mohd Zaki Ahmad, Dwi Pebrianti)....Pages 505-514
 Design of Ultra-Wideband (UWB) Horn Antenna for Non-destructive Fruit Quality Monitoring  (Nurhafizah Abu Talip @ Yusof, Syamimi Mardiah Shaharum, Ahmad Afif Mohd Faudzi, Sabira Khatun, Mohamad Shaiful Abdul Karim, Siti Fatihah Hazali)....Pages 515-521
 Ionospheric Modeling and Precision Positioning Global Navigation Satellite System  (Nurul Fazira Abd Rahman, Sabira Khatun, Kamarul Hawari Ghazali, Md. Moslemuddin Fakir, Mamunur Rashid, Bifta Sama Bari)....Pages 523-530
 Enhancing the Integrated Vaccine System (IVS) Using MyKidVAX Mobile Application  (Mohd Azrul Hisham Mohd Adib, Nur Hazreen Mohd Hasni, Nor Fazlin Zabudin, Muhammad Shahminan Lukman)....Pages 531-539
 Microwave-Assisted Synthesis for Environmentally ZnO Nanoparticle Synthesis  (Norlin Pauzi, Norashikin Mat Zain, Nurul Amira Ahmad Yusof)....Pages 541-546
Front Matter ....Pages 547-547
 Micro-Hydro Energy Estimation for Hydrokinetic Energy Harnessing at Sungai Lembing  (W. I. Ibrahim, R. M. T. R. Ismail, M. R. Mohamed)....Pages 549-562
 Investigation of Binary Search Algorithm as Maximum Power Point Tracking Technique in Solar PV System  (Meng Chung Tiong, Hamdan Daniyal, Mohd Herwan Sulaiman, Mohd Shafie Bakar)....Pages 563-570
 Filter Design for a Nine Level Voltage Source Inverter for Renewable Energy Applications  (Ibrahim Haruna Shanono, Nor Rul Hasma Abdullah, Aisha Muhammad)....Pages 571-585
 Effects of Transformer’s Turn Ratio Mismatch Towards the Performance of Dual Active Bridge Converter  (Suliana Ab Ghani, Hamdan Daniyal, Nur Huda Ramlan, Meng Chung Tiong)....Pages 587-594
 Impact of Overcurrent Protection Coordination on the Location of the Distributed Generation Sources  (Noor Zaihah Jamal, Mohd Herwan Sulaiman, Omar Aliman)....Pages 595-602
 Investigation of Power Transfer in QAB Converter Via Phase Shift Modulation  (Suliana Ab Ghani, Hamdan Daniyal, Nur Huda Ramlan, Meng Chung Tiong)....Pages 603-610
 Current Measurement of Engine Oils Under Various Voltage Application  (Benedick Conolius, Norlin Pauzi, Mohd Herwan Sulaiman, Mohd Razali Daud, Kadowaki Kazunori, Amir Izzani Mohamed)....Pages 611-616
 Parameter (Voltage, Current) Study of Thermoelectric Cooler (TEC) for Automobile Air-Conditioner  (Siti Nor Aisyah Burhanudin, Mohd Shawal Jadin, Amir Izzani Mohamed)....Pages 617-622
 Optimal Placement of TCSC for Reactive Power Planning Using Grasshopper Optimization Algorithm Considering Line Outage (N-M)  (Muhamad Amirul Asyraf Juhari, Nor Rul Hasma Abdullah, Ibrahim Haruna Shanono, Mahfuzah Mustafa, Rosdiyana Samad, Dwi Pebrianti)....Pages 623-635