Proceedings of the 11th National Technical Seminar on Unmanned System Technology 2019 : NUSYS'19

Front Matter ....Pages i-xvi
Front Matter ....Pages 1-1
 Tracking Control Design for Underactuated Micro Autonomous Underwater Vehicle in Horizontal Plane Using Robust Filter Approach  (Muhammad Azri Bin Abdul Wahed, Mohd Rizal Arshad)....Pages 3-13
 Design and Development of Remotely Operated Pipeline Inspection Robot  (Mohd Shahrieel Mohd Aras, Zainah Md Zain, Aliff Farhan Kamaruzaman, Mohd Zamzuri Ab Rashid, Azhar Ahmad, Hairol Nizam Mohd Shah et al.)....Pages 15-23
 Vision Optimization for Altitude Control and Object Tracking Control of an Autonomous Underwater Vehicle (AUV)  (Joe Siang Keek, Mohd Shahrieel Mohd Aras, Zainah Md. Zain, Mohd Bazli Bahar, Ser Lee Loh, Shin Horng Chong)....Pages 25-36
 Development of Autonomous Underwater Vehicle Equipped with Object Recognition and Tracking System  (Muhammad Haniff Abu Mangshor, Radzi Ambar, Herdawatie Abdul Kadir, Khalid Isa, Inani Yusra Amran, Abdul Aziz Abd Kadir et al.)....Pages 37-56
 Dual Image Fusion Technique for Underwater Image Contrast Enhancement  (Chern How Chong, Ahmad Shahrizan Abdul Ghani, Kamil Zakwan Mohd Azmi)....Pages 57-72
 Red and Blue Channels Correction Based on Green Channel and Median-Based Dual-Intensity Images Fusion for Turbid Underwater Image Quality Enhancement  (Kamil Zakwan Mohd Azmi, Ahmad Shahrizan Abdul Ghani, Zulkifli Md Yusof)....Pages 73-86
 Analysis of Pruned Neural Networks (MobileNetV2-YOLO v2) for Underwater Object Detection  (A. F. Ayob, K. Khairuddin, Y. M. Mustafah, A. R. Salisa, K. Kadir)....Pages 87-98
 Different Cell Decomposition Path Planning Methods for Unmanned Air Vehicles-A Review  (Sanjoy Kumar Debnath, Rosli Omar, Susama Bagchi, Elia Nadira Sabudin, Mohd Haris Asyraf Shee Kandar, Khan Foysol et al.)....Pages 99-111
 Improved Potential Field Method for Robot Path Planning with Path Pruning  (Elia Nadira Sabudin, Rosli Omar, Ariffudin Joret, Asmarashid Ponniran, Muhammad Suhaimi Sulong, Herdawatie Abdul Kadir et al.)....Pages 113-127
 Development of DugongBot Underwater Drones Using Open-Source Robotic Platform  (Ahmad Anas Yusof, Mohd Khairi Mohamed Nor, Mohd Shahrieel Mohd Aras, Hamdan Sulaiman, Abdul Talib Din)....Pages 129-138
 Development of Autonomous Underwater Vehicle for Water Quality Measurement Application  (Inani Yusra Amran, Khalid Isa, Herdawatie Abdul Kadir, Radzi Ambar, Nurul Syila Ibrahim, Abdul Aziz Abd Kadir et al.)....Pages 139-161
 Discrete Sliding Mode Controller on Autonomous Underwater Vehicle in Steering Motion  (Nira Mawangi Sarif, Rafidah Ngadengon, Herdawatie Abdul Kadir, Mohd Hafiz A. Jalil)....Pages 163-176
 Impact of Acoustic Signal on Optical Signal and Vice Versa in Optoacoustic Based Underwater Localization  (M. R. Arshad, M. H. A. Majid)....Pages 177-188
 Design and Development of Mini Autonomous Surface Vessel for Bathymetric Survey  (Muhammad Ammar Mohd Adam, Zulkifli Zainal Abidin, Ahmad Imran Ibrahim, Ahmad Shahril Mohd Ghani, Al Jawharah Anchumukkil)....Pages 189-203
Front Matter ....Pages 205-205
 Optimal Power Flow Solutions for Power System Operations Using Moth-Flame Optimization Algorithm  (Salman Alabd, Mohd Herwan Sulaiman, Muhammad Ikram Mohd Rashid)....Pages 207-219
 A Pilot Study on Pipeline Wall Inspection Technology Tomography  (Muhammad Nuriffat Roslee, Siti Zarina Mohd. Muji, Jaysuman Pusppanathan, Mohd. Fadzli Abd. Shaib)....Pages 221-239
 Weighted-Sum Extended Bat Algorithm Based PD Controller Design for Wheeled Mobile Robot  (Nur Aisyah Syafinaz Suarin, Dwi Pebrianti, Nurnajmin Qasrina Ann, Luhur Bayuaji)....Pages 241-258
 An Analysis of State Covariance of Mobile Robot Navigation in Unstructured Environment Based on ROS  (Hamzah Ahmad, Lim Zhi Xian, Nur Aqilah Othman, Mohd Syakirin Ramli, Mohd Mawardi Saari)....Pages 259-270
 Control Strategy for Differential Drive Wheel Mobile Robot  (Nor Akmal Alias, Herdawatie Abdul Kadir)....Pages 271-283
 Adaptive Observer for DC Motor Fault Detection Dynamical System  (Janet Lee, Rosmiwati Mohd-Mokhtar, Muhammad Nasiruddin Mahyuddin)....Pages 285-297
 Water Level Classification for Flood Monitoring System Using Convolutional Neural Network  (J. L. Gan, W. Zailah)....Pages 299-318
 Evaluation of Back-Side Slits with Sub-millimeter Resolution Using a Differential AMR Probe  (M. A. H. P. Zaini, M. M. Saari, N. A. Nadzri, A. M. Halil, A. J. S. Hanifah, K. Tsukada)....Pages 319-328
 Model-Free Tuning of Laguerre Network for Impedance Matching in Bilateral Teleoperation System  (Mohd Syakirin Ramli, Hamzah Ahmad, Addie Irawan, Nur Liyana Ibrahim)....Pages 329-343
 Identification of Liquid Slosh Behavior Using Continuous-Time Hammerstein Model Based Sine Cosine Algorithm  (Julakha Jahan Jui, Mohd Helmi Suid, Zulkifli Musa, Mohd Ashraf Ahmad)....Pages 345-356
 Cardiotocogram Data Classification Using Random Forest Based Machine Learning Algorithm  (M. M. Imran Molla, Julakha Jahan Jui, Bifta Sama Bari, Mamunur Rashid, Md Jahid Hasan)....Pages 357-369
 FPGA Implementation of Sensor Data Acquisition for Real-Time Human Body Motion Measurement System  (Zarina Tukiran, Afandi Ahmad, Herdawatie Abd. Kadir, Ariffudin Joret)....Pages 371-380
 Pulse Modulation (PM) Ground Penetrating Radar (GPR) System Development by Using Envelope Detector Technique  (Maryanti Razali, Ariffuddin Joret, M. F. L. Abdullah, Elfarizanis Baharudin, Asmarashid Ponniran, Muhammad Suhaimi Sulong et al.)....Pages 381-397
 An Overview of Modeling and Control of a Through-the-Road Hybrid Electric Vehicle  (M. F. M. Sabri, M. H. Husin, M. I. Jobli, A. M. N. A. Kamaruddin)....Pages 399-417
 Euler-Lagrange Based Dynamic Model of Double Rotary Inverted Pendulum  (Mukhtar Fatihu Hamza, Jamilu Kamilu Adamu, Abdulbasid Ismail Isa)....Pages 419-434
 Network-Based Cooperative Synchronization Control of 3 Articulated Robotic Arms for Industry 4.0 Application  (Kam Wah Chan, Muhammad Nasiruddin Mahyuddin, Bee Ee Khoo)....Pages 435-447
 EEG Signal Denoising Using Hybridizing Method Between Wavelet Transform with Genetic Algorithm  (Zaid Abdi Alkareem Alyasseri, Ahamad Tajudin Khader, Mohammed Azmi Al-Betar, Ammar Kamal Abasi, Sharif Naser Makhadmeh)....Pages 449-469
 Neural Network Ammonia-Based Aeration Control for Activated Sludge Process Wastewater Treatment Plant  (M. H. Husin, M. F. Rahmat, N. A. Wahab, M. F. M. Sabri)....Pages 471-487
 A Min-conflict Algorithm for Power Scheduling Problem in a Smart Home Using Battery  (Sharif Naser Makhadmeh, Ahamad Tajudin Khader, Mohammed Azmi Al-Betar, Syibrah Naim, Zaid Abdi Alkareem Alyasseri, Ammar Kamal Abasi)....Pages 489-501
 An Improved Text Feature Selection for Clustering Using Binary Grey Wolf Optimizer  (Ammar Kamal Abasi, Ahamad Tajudin Khader, Mohammed Azmi Al-Betar, Syibrah Naim, Sharif Naser Makhadmeh, Zaid Abdi Alkareem Alyasseri)....Pages 503-516
Front Matter ....Pages 517-517
 Metamaterial Antenna for Biomedical Application  (Mohd Aminudin Jamlos, Nur Amirah Othman, Wan Azani Mustafa, Maswani Khairi Marzuki)....Pages 519-528
 Refraction Method of Metamaterial for Antenna  (Maswani Khairi Marzuki, Mohd Aminudin Jamlos, Wan Azani Mustafa, Khairul Najmy Abdul Rani)....Pages 529-534
 Circular Polarized 5.8 GHz Directional Antenna Design for Base Station Application  (Mohd Aminudin Jamlos, Nurasma Husna Mohd Sabri, Wan Azani Mustafa, Maswani Khairi Marzuki)....Pages 535-542
 Medical Image Enhancement and Deblurring  (Reza Amini Gougeh, Tohid Yousefi Rezaii, Ali Farzamnia)....Pages 543-554
 A Fast and Efficient Segmentation of Soil-Transmitted Helminths Through Various Color Models and k-Means Clustering  (Norhanis Ayunie Ahmad Khairudin, Aimi Salihah Abdul Nasir, Lim Chee Chin, Haryati Jaafar, Zeehaida Mohamed)....Pages 555-576
 Machine Learning Calibration for Near Infrared Spectroscopy Data: A Visual Programming Approach  (Mahmud Iwan Solihin, Zheng Zekui, Chun Kit Ang, Fahri Heltha, Mohamed Rizon)....Pages 577-590
 Real Time Android-Based Integrated System for Luggage Check-in Process at the Airport  (Xin Yee Lee, Rosmiwati Mohd-Mokhtar)....Pages 591-603
 Antenna Calibration in EMC Semi-anechoic Chamber Using Standard Antenna Method (SAM) and Standard Site Method (SSM)  (Abdulrahman Ahmed Ghaleb Amer, Syarfa Zahirah Sapuan, Nur Atikah Zulkefli, Nasimuddin Nasimuddin, Nabiah Binti Zinal, Shipun Anuar Hamzah)....Pages 605-616
 An Automatic Driver Assistant Based on Intention Detecting Using EEG Signal  (Reza Amini Gougeh, Tohid Yousefi Rezaii, Ali Farzamnia)....Pages 617-627
 Hybrid Skull Stripping Method for Brain CT Images  (Fakhrul Razan Rahmad, Wan Nurshazwani Wan Zakaria, Ain Nazari, Mohd Razali Md Tomari, Nik Farhan Nik Fuad, Anis Azwani Muhd Suberi)....Pages 629-639
 Improvising Non-uniform Illumination and Low Contrast Images of Soil Transmitted Helminths Image Using Contrast Enhancement Techniques  (Norhanis Ayunie Ahmad Khairudin, Aimi Salihah Abdul Nasir, Lim Chee Chin, Haryati Jaafar, Zeehaida Mohamed)....Pages 641-658
 Signal Processing Technique for Pulse Modulation (PM) Ground Penetrating Radar (GPR) System Based on Phase and Envelope Detector Technique  (Che Ku Nor Azie Hailma Che Ku Melor, Ariffuddin Joret, Asmarashid Ponniran, Muhammad Suhaimi Sulong, Rosli Omar, Maryanti Razali)....Pages 659-669
 Evaluation of Leap Motion Controller Usability in Development of Hand Gesture Recognition for Hemiplegia Patients  (Wan Norliyana Wan Azlan, Wan Nurshazwani Wan Zakaria, Nurmiza Othman, Mohd Norzali Haji Mohd, Muhammad Nurfirdaus Abd Ghani)....Pages 671-682
 Using Convolution Neural Networks Pattern for Classification of Motor Imagery in BCI System  (Sepideh Zolfaghari, Tohid Yousefi Rezaii, Saeed Meshgini, Ali Farzamnia)....Pages 683-692
 Metasurface with Wide-Angle Reception for Electromagnetic Energy Harvesting  (Abdulrahman A. G. Amer, Syarfa Zahirah Sapuan, Nasimuddin, Nabiah Binti Zinal)....Pages 693-700
 Integrated Soil Monitoring System for Internet of Thing (IOT) Applications  (Xin Yi Lau, Chun Heng Soo, Yusmeeraz Yusof, Suhaila Isaak)....Pages 701-714
 Contrast Enhancement Approaches on Medical Microscopic Images: A Review  (Nadzirah Nahrawi, Wan Azani Mustafa, Siti Nurul Aqmariah Mohd Kanafiah, Mohd Aminudin Jamlos, Wan Khairunizam)....Pages 715-726
 Effect of Different Filtering Techniques on Medical and Document Image  (Wan Azani Mustafa, Syafiq Sam, Mohd Aminudin Jamlos, Wan Khairunizam)....Pages 727-736
 Implementation of Seat Belt Monitoring and Alert System for Car Safety  (Zainah Md Zain, Mohd Hairuddin Abu Bakar, Aman Zaki Mamat, Wan Nor Rafidah Wan Abdullah, Norsuryani Zainal Abidin, Haris Faisal Shaharuddin)....Pages 737-749
 Electroporation Study: Pulse Electric Field Effect on Breast Cancer Cell  (Nur Adilah Abd Rahman, Muhammad Mahadi Abdul Jamil, Mohamad Nazib Adon, Chew Chang Choon, Radzi Ambar)....Pages 751-760
 Influence of Electroporation on HT29 Cell Proliferation, Spreading and Adhesion Properties  (Hassan Buhari Mamman, Muhammad Mahadi Abdul Jamil, Nur Adilah Abd Rahman, Radzi Ambar, Chew Chang Choon)....Pages 761-773
 Wound Healing and Electrofusion Application via Pulse Electric Field Exposure  (Muhammad Mahadi Abdul Jamil, Mohamad Nazib Adon, Hassan Buhari Mamman, Nur Adilah Abd Rahman, Radzi Ambar, Chew Chang Choon)....Pages 775-784
 Color Constancy Analysis Approach for Color Standardization on Malaria Thick and Thin Blood Smear Images  (Thaqifah Ahmad Aris, Aimi Salihah Abdul Nasir, Haryati Jaafar, Lim Chee Chin, Zeehaida Mohamed)....Pages 785-804
 Stochastic Analysis of ANN Statistical Features for CT Brain Posterior Fossa Image Classification  (Anis Azwani Muhd Suberi, Wan Nurshazwani Wan Zakaria, Razali Tomari, Ain Nazari, Nik Farhan Nik Fuad, Fakhrul Razan Rahmad et al.)....Pages 805-817
 Improvement of Magnetic Field Induction for MPI Application Using Maxwell Coils Paired-Sub-coils System Arrangement  (Muhamad Fikri Shahkhirin Birahim, Nurmiza Othman, Syarfa’ Zahirah Sapuan, Mohd Razali Md Tomari, Wan Nurshazwani Wan Zakaria, Chua King Lee)....Pages 819-829
 DCT Image Compression Implemented on Raspberry Pi to Compress Image Captured by CMOS Image Sensor  (Ibrahim Saad Mohsin, Muhammad Imran Ahmad, Saad M. Salman, Mustafa Zuhaer Nayef Al-Dabagh, Mohd Nazrin Md Isa, Raja Abdullah Raja Ahmad)....Pages 831-841
 A Racial Recognition Method Based on Facial Color and Texture for Improving Demographic Classification  (Amer A. Sallam, Muhammad Nomani Kabir, Athmar N. M. Shamhan, Heba K. Nasser, Jing Wang)....Pages 843-852
 Automatic Passengers Counting System Using Images Processing Based on YCbCr and HSV Colour Spaces Analysis  (Muhammad Shahid Che Husin, Aimi Salihah Abdul Nasir)....Pages 853-872
 Face Recognition Using PCA Implemented on Raspberry Pi  (Ibrahim Majid Mohammed, Mustafa Zuhaer Nayef Al-Dabagh, Muhammad Imran Ahmad, Mohd Nazrin Md Isa)....Pages 873-889
 Comparability of Edge Detection Techniques for Automatic Vehicle License Plate Detection and Recognition  (Fatin Norazima Mohamad Ariff, Aimi Salihah Abdul Nasir, Haryati Jaafar, Abdul Nasir Zulkifli)....Pages 891-910
 Classification of Facial Part Movement Acquired from Kinect V1 and Kinect V2  (Sheng Guang Heng, Rosdiyana Samad, Mahfuzah Mustafa, Zainah Md Zain, Nor Rul Hasma Abdullah, Dwi Pebrianti)....Pages 911-924
 Hurst Exponent Based Brain Behavior Analysis of Stroke Patients Using EEG Signals  (Wen Yean Choong, Wan Khairunizam, Murugappan Murugappan, Mohammad Iqbal Omar, Siao Zheng Bong, Ahmad Kadri Junoh et al.)....Pages 925-933
 Examination Rain and Fog Attenuation for Path Loss Prediction in Millimeter Wave Range  (Imadeldin Elsayed Elmutasim, Izzeldin I. Mohd)....Pages 935-946
 Introduction of Static and Dynamic Features to Facial Nerve Paralysis Evaluation  (Wan Syahirah W Samsudin, Rosdiyana Samad, Kenneth Sundaraj, Mohd Zaki Ahmad)....Pages 947-963
 Offline EEG-Based DC Motor Control for Wheelchair Application  (Norizam Sulaiman, Nawfan Mohammed Mohammed Ahmed Al-Fakih, Mamunur Rashid, Mohd Shawal Jadin, Mahfuzah Mustafa, Fahmi Samsuri)....Pages 965-980
 Automated Cells Counting for Leukaemia and Malaria Detection Based on RGB and HSV Colour Spaces Analysis  (Amer Fazryl Din, Aimi Salihah Abdul Nasir)....Pages 981-996
 Simulation Studies of the Hybrid Human-Fuzzy Controller for Path Tracking of an Autonomous Vehicle  (Hafiz Halin, Wan Khairunizam, Hasri Haris, Z. M. Razlan, S. A. Bakar, I. Zunaidi et al.)....Pages 997-1005
 A New Approach in Energy Consumption Based on Genetic Algorithm and Fuzzy Logic for WSN  (Ali Adnan Wahbi Alwafi, Javad Rahebi, Ali Farzamnia)....Pages 1007-1019
Front Matter ....Pages 1021-1021
 Comparison of Buck-Boost Derived Non-isolated DC-DC Converters in a Photovoltaic System  (Jotham Jeremy Lourdes, Chia Ai Ooi, Jiashen Teh)....Pages 1023-1037
 Fault Localization and Detection in Medium Voltage Distribution Network Using Adaptive Neuro-Fuzzy Inference System (ANFIS)  (N. S. B. Jamili, Mohd Rafi Adzman, Wan Syaza Ainaa Wan Salman, M. H. Idris, M. Amirruddin)....Pages 1039-1052
 Flashover Voltage Prediction on Polluted Cup-Pin the Insulators Under Polluted Conditions  (Ali. A. Salem, R. Abd-Rahman, M. S. Kamarudin, N. A. Othman, N. A. M. Jamail, N. Hussin et al.)....Pages 1053-1065
 Effect of Distributed Generation to the Faults in Medium Voltage Network Using ATP-EMTP Simulation  (Wan Syaza Ainaa Wan Salman, Mohd Rafi Adzman, Muzamir Isa, N. S. B. Jamili, M. H. Idris, M. Amirruddin)....Pages 1067-1082
 Optimal Reactive Power Dispatch Solution by Loss Minimisation Using Dragonfly Optimization Algorithm  (Ibrahim Haruna Shanono, Masni Ainina Mahmud, Nor Rul Hasma Abdullah, Mahfuzah Mustafa, Rosdiyana Samad, Dwi Pebrianti et al.)....Pages 1083-1103
 Analysis of Pedal Power Energy Harvesting for Alternative Power Source  (Sheikh-Muhammad Haziq Sah-Azmi, Zuraini Dahari)....Pages 1105-1114
 An Application of Barnacles Mating Optimizer Algorithm for Combined Economic and Emission Dispatch Solution  (Mohd Herwan Sulaiman, Zuriani Mustaffa, Mohd Mawardi Saari, Amir Izzani Mohamed)....Pages 1115-1124
 Development of Microcontroller Based Portable Solar Irradiance Meter Using Mini Solar Cell  (Lee Woan Jun, Mohd Shawal Jadin, Norizam Sulaiman)....Pages 1125-1137
 Performance of Graphite and Activated Carbon as Electrical Grounding Enhancement Material  (Mohd Yuhyi Mohd Tadza, Tengku Hafidatul Husna Tengku Anuar, Fadzil Mat Yahaya, Rahisham Abd Rahman)....Pages 1139-1154
 Design on Real Time Control for Dual Axis Solar Tracker for Mobile Robot  (Muhammad Hanzolah Shahul Hameed, Mohd Zamri Hasan, Junaidah Ali Mohd Jobran)....Pages 1155-1172
 Modified Particle Swarm Optimization for Robust Anti-swing Gantry Crane Controller Tuning  (Mahmud Iwan Solihin, Wei Hong Lim, Sew Sun Tiang, Chun Kit Ang)....Pages 1173-1192
 Feasibility Analysis of a Hybrid System for a Health Clinic in a Rural Area South-Eastern Iraq  (Zaidoon W. J. AL-Shammari, M. M. Azizan, A. S. F. Rahman)....Pages 1193-1202
 Optimal Sizing of PV/Wind/Battery Hybrid System for Rural School in South Iraq  (Zaidoon W. J. AL-Shammari, M. M. Azizan, A. S. F. Rahman)....Pages 1203-1211
 The Use of Gypsum and Waste Gypsum for Electrical Grounding Backfill  (Amizatulhani Abdullah, Nurmazuria Mazelan, Mohd Yuhyi Mohd Tadza, Rahisham Abd Rahman)....Pages 1213-1226
 Energy-Efficient Superframe Scheduling in Industrial Wireless Networked Control System  (Duc Chung Tran, Rosdiazli Ibrahim, Fawnizu Azmadi Hussin, Madiah Omar)....Pages 1227-1242
 Design of Two Axis Solar Tracker Based on Optoelectrical Tracking Using Hybrid FuGA Controller  (Imam Abadi, Erma Hakim Setyawan, D. R. Pramesrani)....Pages 1243-1263