Novel tire inflating system using extreme learning machine algorithm for efficient tire identification
- Authors: Choudhury, Tanveer , Kahandawa, Gayan , Ibrahim, Yousef , Dzitac, Pavel , Mazid, Abdul Md , Man, Zhihong
- Date: 2017
- Type: Text , Conference proceedings , Conference paper
- Relation: 2017 IEEE International Conference on Mechatronics, ICM 2017; Gippsland, Victoria; 13th-15th February 2017 p. 404-409
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- Description: Tire inflators are widely used all around the word and the efficient and accurate operation is essential. The main difficulty in improving the inflation cycle of a tire inflator is the identification of the tire connected for inflation. A robust single hidden layer feed forward neural network (SLFN) is, thus, used in this study to model and predict the correct tire size. The tire size is directly related to the tire inflation cycle. Once the tire size is identified, the inflation process can be optimized to improve performance, speed and accuracy of the inflation system. Properly inflated tire and tire condition is critical to vehicle safety, stability and controllability. The training times of traditional back propagation algorithms, mostly used to model such tire identification processes, are far slower than desired for implementation of an on-line control system. Use of slow gradient based learning methods and iterative tuning of all network parameters during the learning process are the two major causes for such slower learning speed. An extreme learning machine (ELM) algorithm, which randomly selects the input weights and biases and analytically determines the output weights, is used in this work to train the SLFNs. It is found that networks trained with ELM have relatively good generalization performance, much shorter training times and stable performance with regard to the changes in number of hidden layer neurons. The result represents robustness of the trained networks and enhance reliability of the mode. Together with short training time, the algorithm has valuable application in tire identification process. © 2017 IEEE.
- Description: Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
OEE improvement of thermoforming machines through application of TPM at Tibaldi Australasia
- Authors: Chundhoo, Vickram , Chattopadhyay, Gopinath , Gunawan, Indra , Ibrahim, Yousef
- Date: 2017
- Type: Text , Conference proceedings , Conference paper
- Relation: 2017 IEEE International Conference on Industrial Engineering and Engineering Management, IEEM 2017; Singapore, Singapore; 10th-13th December 2017 p. 929-933
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- Description: Overall Equipment Effectiveness (OEE) evaluates quantitatively how effectively a manufacturing operation is utilised. Total Productive Maintenance (TPM) was considered by Tibaldi, a leading food manufacturer in Australia for achieving OEE. This research project has identified performance gaps, developed plan and implemented it in Thermoforming area of the business. The developed methodology helped Tibaldi in improving productivity and quality through TPM involving machines, equipment, processes, and employees. This paper demonstrates how this can be achieved by reducing lead time and establishing lean environment. Productivity improvement through the devised methodology led to further enhancement of competitiveness of the organisation for domestic and international markets of processed food manufactured by Tibaldi Australia. Lessons learned from application of TPM in Thermoforming, a key asset area, is rolled out to other sections of the plat and results from this pilot study are presented in this paper.
A new method of electrical equipment maintenance optimisation based on reliability analysis: industrial perspective
- Authors: DeLa Rosa, Wolman , Ibrahim, Yousef
- Date: 2008
- Type: Text , Conference paper
- Relation: Industrial Electronics, 2008. ISIE 2008. IEEE International Symposium p. 1796-1801
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- Description: This paper describes a new methodology for developing common maintenance strategy based on reliability-centered maintenance (RCM) principles. The development took place in a major industrial establishment in South America. The name of this industrial establishment is suppressed for commercial confidentiality. Performance-based maintenance contract has become a general trend in many industrial organizations. This allows the organizations to focus on their core business while others handle maintenance tasks. This paper demonstrates that the transition of a maintenance contract based on body shop to a one based on performance is feasible. As demonstrated in the paper, this can be accomplished by changing the maintenance strategy from being based on vendor recommendations to a strategy based on RCM principles. The new strategy can computer-simulated to calculate the maintenance indicators. The produced indicators are the basis to change the traditional maintenance contract to a performance based maintenance contract. The experience gained and the method of simulation is explained in this paper. The optimization process and its results are discussed.
E-Learning in Industrial Electronics during Covid-19
- Authors: Dunai, Larisa , Martins, Joao , Umetani, Kazuhiro , Lucia, Oscar , Ibrahim, Yousef , Appuhamillage, G. K.
- Date: 2021
- Type: Text , Conference paper
- Relation: 22nd IEEE International Conference on Industrial Technology, ICIT 2021 Vol. 2021-March, p. 1227-1233
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- Description: The educational methodologies employed in Industrial Electronics have been affected by Covid-19. In many cases, conventional learning methods relying on face-to-face lectures have been replaced by online methodologies. The whole process has required a fast adaptation and development of the e-learning tools to ensure a quality of theoretical, practical and laboratory lectures, as well as the development of new methods for the reliable assessment of the learning process. From this perspective, the present paper deals with the different strategies that have been implemented in institutions of several countries located in different geographical areas, including Portugal, Spain, Japan and Australia. It is shown that the use of methodologies, such as flip teaching, has provided a wide variety of possibilities to adapt to the new educational context. Moreover, for Industrial Electronics degrees, the use of virtual or remote laboratories, portable learning tools and advanced information and communication technologies have also risen as valuable resources. The paper also reports the problems arising during the development of the e-learning tools, their implementation constraints, and the evaluation of their results. © 2021 IEEE.
Friction-based slippage and tangential force detection in robotic grasping
- Authors: Dzitac, Pavel , Mazid, Abdul Md , Ibrahim, Yousef , Choudhury, Tanveer , Appuhamillage, Gayan
- Date: 2015
- Type: Text , Conference paper
- Relation: IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society p. 004871-004874
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- Description: This paper presents a newly developed parallel gripper prototype capable of sensing grasp force, tangential force and slippage. In this design the gripper itself is used as part of the sensing strategy rather than just being simply a structural support for other sensors. The sensing capability of this gripper is simple in design and reliable. The sensing strategy can be customised to specific applications such as the ability to handle large loads while maintaining its ability to detect slippage as reliably as when handling lighter loads.
Optimum grasp force and resistance to slippage
- Authors: Dzitac, Pavel , Mazid, Abdul Md , Ibrahim, Yousef , Choudhury, Tanveer , Appuhamillage, Gayan
- Date: 2017
- Type: Text , Conference paper
- Relation: 2017 IEEE International Conference on Mechatronics (ICM) p. 297-302
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- Description: This paper presents an analysis and experimental results as part of the research into the optimal rate of grasp force application in precision grasping. It also offers the concept of resistance to object rotation in the robot gripper, which in turn contributes to the resistance to object slippage during robotic object manipulation. It is envisaged that this knowledge will be useful to researchers and designers of robotic grippers, especially those for industrial applications.
Friction-based slip detection in robotic grasping
- Authors: Dzitac, Pavel , Mazid, Abdul Md , Ibrahim, Yousef , Appuhamillage, Gayan , Choudhury, Tanveer
- Date: 2015
- Type: Text , Conference paper
- Relation: IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society p. 004871-004874
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- Description: A functional prototype of a friction-based object slippage detection gripper for robotic grasping and manipulation has been designed and built. Object grasping and manipulation experiments have been successfully performed to study the appropriateness of the methodology and the newly built slippage detection gripper. The main advantage of this slippage detection method is that slippage detection is an inherent capability of the sensing element, and not a derived capability like that of sensors based on vibration. This slippage detection and control strategy is simple by design and low in cost, but robust in function. It has the potential to be used in a variety of environments such as high temperatures, low temperatures and underwater. The robustness of the design makes it highly suitable for grasping and manipulating safely a large range of object weights and sizes.
Cyclic production for robotic cells served by multi-function robots with resumable processing regime
- Authors: Foumani, Mehdi , Ibrahim, Yousef , Gunawan, Indra
- Date: 2013
- Type: Text , Conference paper
- Relation: 2013 IEEE International Conference on Industrial Engineering and Engineering Management, Bangkok, (10 - 13 December 2013) p. 551-555
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- Description: This paper addresses the problem of finding the optimal robot move cycle to minimise the cycle time of two-machine cells. The earlier robot's function was mainly moving parts between machines in a manufacturing process. We lift this assumption on robot tasks and assumed a special robot, namely multi-function, which performs a unique operation in transit. This robot starts performing this operation after unloading a part from input buffer and finishes it before loading the part to the output buffer. The processing mode on robot is “stop resume”. Thus, regardless of the gap interrupts during the operation, the robot continues processing on part when it is reloaded to the robot without any loss in time. The focus of this study is on one-unit cycles since they are very popular in industry. The cycle time of two possible one-unit cycles is obtained, and the optimality condition of them is determined.
Quantifying the impact of using multi-function robots on productivity of rotationally arranged robotic cells
- Authors: Foumani, Mehdi , Ibrahim, Yousef , Gunawan, Indra
- Date: 2015
- Type: Text , Conference paper
- Relation: 2013 IEEE International Conference on Industrial Engineering and Engineering Management , Bangkok, 2013 p. 1194-1198
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- Description: This paper investigates the scheduling of a rotationally arranged robotic cell with the Multi-Function Robot (MFR). The earlier known robotic study in this area assumed that the robot only moves the part between machines. We lift this assumption on robot tasks and assumed a special class of robots which is also able to perform a special operation in transit. The aim is to find a minimum cycle time for identical part production. Considering additive and constant travel-time, the distance between any two machines is varying or constant based on the robot acceleration/deceleration for incompact and compact cells. The lower bound of the cycle time is deduced to evaluate the optimality of two practical permutations namely uphill and downhill. It also identifies the regions where using a Multi-Function Robotic Cell (MFRC) is more economical than a Single-Function Robotic Cell (SFRC).
Performance of WiMAX Security Algorithm (The Comparative Study of RSA Encryption Algorithm with ECC Encryption Algorithm)
- Authors: Habib, Masood , Mehmood, Tahir , Ullah, Fasee , Ibrahim, Yousef
- Date: 2009
- Type: Text , Conference paper
- Relation: Computer Technology and Development, 2009. ICCTD '09. International Conference on
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- Description: IEEE 802.16, known as WiMax, is at the top of communication technology drive because it is gaining a great position in the next generation of wireless networks. Due to the evolution of new technologies wireless is not secured as like others networking technologies. A lot of security concerns are needed to secure a wireless network. By keeping in mind the importance of security, the WiMax working groups has designed several security mechanisms to provide protection against unauthorized access and malicious threats, but still facing a lot of challenging situations. An authentication and authorization model provides protection for a network or technology and protects its resources from unauthorized use. This paper examines the threats which are associated with MAC layer and physical layer of WiMax and also proposes some enhancements to the existing model for improving the performance of the encryption algorithm. The paper proposes some techniques in the existing model to enhance its functionality and capability. Simulation is done using Qualnet4.5 simulation tool and the results are given at the end.
Evaluating the Performances of the Agoraphilic Navigation Algorithm under Dead-Lock Situations
- Authors: Hewawasam, Hasitha , Ibrahim, Yousef , Kahandawa, Gayan , Choudhury, Tanveer
- Date: 2020
- Type: Text , Conference proceedings , Conference paper
- Relation: 29th IEEE International Symposium on Industrial Electronics, ISIE 2020 Vol. 2020-June, p. 536-542
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- Description: This paper presents a summary of the research which was conducted in developing a new free-space based (Agoraphilic) navigation algorithm. This new methodology is capable of maneuvering robots in static as well as dynamically cluttered unknown environments. The new algorithm uses only one force to drive the robot. This force is always an attractive force created by the freespace. This force is focused towards the goal by a force shaping module. Consequently, the robot is motivated to follow free-space directing towards the goal. As this method only based on the attractive forces, the robot always moves towards the goal as long as there is free-space . This method has eradicated many drawbacks of the traditional APF method. Several experimental tests were conducted using Turtlebot3 research platform. These tests were focused on testing the behavior of the new algorithm under dead-lock (local minima) situations for APF method. The test results proved that the proposed algorithm has successfully eliminated the local minima problem of APF method. © 2020 IEEE.
Agoraphilic navigation algorithm in dynamic environment with and without prediction of moving objects location
- Authors: Hewawasam, Hasitha , Ibrahim, Yousef , Kahandawa, Gayan , Choudhury, Tanveer
- Date: 2019
- Type: Text , Conference proceedings , Conference paper
- Relation: 45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 Vol. 2019-October, p. 5179-5185
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- Description: This paper presents a summary of research conducted in performance improvement of Agoraphilic Navigation Algorithm under Dynamic Environment (ANADE). The ANADE is an optimistic navigation algorithm which is capable of navigating robots in static as well as in unknown dynamic environments. ANADE has been successfully extended the capacity of original Agoraphilic algorithm for static environment. However, it could identify that ANADE takes costly decisions when it is used in complex dynamic environments. The proposed algorithm in this paper has been successfully enhanced the performance of ANADE in terms of safe travel, speed variation, path length and travel time. The proposed algorithm uses a prediction methodology to estimate future growing free space passages which can be used for safe navigation of the robot. With motion prediction of moving objects, new set of future driving forces were developed. These forces has been combined with present driving force for safe and efficient navigation. Furthermore, the performances of proposed algorithm (Agoraphilic algorithm with prediction) was compared and benched-marked with ANADE (Without predication) under similar environment conditions. From the investigation results, it was observed that the proposed algorithm extends the effective decision making ability in a complex navigation environment. Moreover, the proposed algorithm navigated the robot in a shorter and quicker path with smooth speed variations. © 2019 IEEE.
- Description: E1
Machine learning-based agoraphilic navigation algorithm
- Authors: Hewawasam, Hasitha , Ibrahim, Yousef , Kahandawa, Gayan
- Date: 2022
- Type: Text , Conference paper
- Relation: 48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022, Brussels, 17-20 October 2022, Proceedings IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society Vol. 2022-October
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- Description: This paper presents a novel machine learning-based Agoraphilic (free space attraction) navigation algorithm. The proposed algorithm is capable of undertaking local path planning for mobile robots in unknown dynamic environments with a moving goal. The inability to track and reach a moving goal is one of the common weaknesses of most existing navigation algorithms operating in dynamic environments. High uncertainty involved in dynamic environments is also another major challenge. The novel machine learning-based approach helps the proposed algorithm to successfully overcome these challenges. This paper also introduces the integrated modular-based architecture for free-space attraction-based algorithms. This allows the algorithm to incorporate ten different modules with miscellaneous algorithms to perform sub-tasks such as tracking, prediction, map generation, machine learning-based free space attraction force generation and robot motion command generation. The new modular-based architecture integrates those sub-modules to create the robot's driving force. This driving force is the single attractive force to pull the robot towards the moving goal via current free space leading to future free space passages. The proposed algorithm was experimentally tested under a dynamic environment. The experiment was focused on testing the behaviour of the algorithm under the challenge of reaching a moving goal. Furthermore, the test results demonstrate that the Agoraphilic algorithm is successful in reaching a moving goal in an unknown dynamically cluttered environment. © 2022 IEEE.
The agoraphilic navigation algorithm under dynamic environment with a moving goal
- Authors: Hewawasam, Hasitha , Ibrahim, Yousef , Kahandawa, Gayan , Choudhury, Tanveer
- Date: 2021
- Type: Text , Conference paper
- Relation: 30th IEEE International Symposium on Industrial Electronics, ISIE 2021 Vol. 2021-June
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- Description: This paper presents a research conducted in developing a new navigation algorithm to navigate robots under dynamically cluttered environments with a moving goal. There are only a few navigation algorithms capable of navigating robots under dynamic environments compared to static environments. The inability to track and reach a moving goal/target is a one of the common weakness of existing navigating algorithms operating in dynamic environments. The existing free space attraction (Agoraphilic) based navigation algorithms also suffer from this common problem. The proposed algorithm, in this paper was developed to overcome this issue. Agoraphilic Navigation Algorithm under Dynamic Environment, 'ANADE' consists of eight main modules. These modules are iteratively used to create the robot's driving force which pulls the robot towards the moving goal. An obstacle tracking module is used to identify the time varying free spaces by tracking moving obstacles. Furthermore, a tracking system is also used to track the moving goal. The capacity of the ANADE was further strengthen by obstacle and goal path prediction modules. Future location prediction allowed the algorithm to make decision considering future environments around the robot. The proposed algorithm was tested under dynamic environment. These tests were focused on testing the behavior of the algorithm under the challenge of reaching a moving goal. Furthermore, the test results demonstrate that ANADE is successful in reaching a moving goal under an unknown dynamically cluttered environment. © 2021 IEEE.
Tele-operation control system for non-homothetic master/slave kinematics for minimally-invasive surgery
- Authors: Houssem Saafi , Laribi, Med Amine , Zeghloul, Said , Ibrahim, Yousef
- Date: 2013
- Type: Text , Conference paper
- Relation: IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society, Vienna, Austria 10-13 Nov. 2013 p.3798-3803
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- Description: The current objective of this robotics research study is mainly to develop a cheap and not cumbersome systems for special applications. A PROMIS (Pprime RObot for Minimally Invasive Surgery) system is designed with this philosophy. The developed system is composed of master, slave and control system for collaborative operation between the surgeon and the robot. A parallel robot haptic device is used as master to teleoperate a serial robot with three degrees of freedom (dof). The advantage of this method is the possibility of coupling master and slave with non-matching kinematics through a kinematic transformation. The developed control system architecture is presented in this paper. The control architecture was designed to control the teleoperation system where the master and slave robots do not have homothetic kinematics. Finally, the viability of the developed control is demonstrated by the experimental results.
Mechatronics training through project-based learning and industry liaison
- Authors: Ibrahim, Yousef
- Date: 2008
- Type: Text , Conference paper
- Relation: ISIE08 30 June 2008 to 2 July 2008 p. 1383-1387
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- Description: This paper presents a technique that was used in the development of Mechatronics courses in Thailand and Australia. The technique was based on project-based learning and industry engagement. Mechatronics course development was supported by AusAID grant to the Royal Thai Government (RTG) to establish six different mechatronics programs in six Universities. Mechanisms were established to ensure industrypsilas input throughout the stages of mechatronics course development at each University. This paper discusses those mechanisms.
On the minimization of complete test set of reversible k-CNOT circuits for Stuck-at Fault model
- Authors: Ibrahim, Yousef , Chowdhury, Ahsan , Babu, Hafiz
- Date: 2008
- Type: Text , Conference paper
- Relation: Computer and Information Technology, 2008. ICCIT 2008. 11th International Conference
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- Description: In this paper, we propose an algorithm that produces the complete test set (CTS) of a reversible circuit for Single stuck-at fault (SSF) and multiple-stuck-at fault (MSF) models. Our algorithm works only for an important subclass of reversible circuits - the circuits consisting of k-CNOT gates (k ges 2) though, any n-wire circuit having 0-CNOT or 1-CNOT gates can be converted to a (n + 2) wire circuit having only k-CNOT gates with k ges 2 with some additional hardware cost. Generated complete test set is not necessarily optimal, but minimizing the size of the complete test set is our key concern. Finally we provide some experimental results for the proposed method and compare it with existing methods to show how it outperforms almost all of the existing algorithms in terms of number of elements of CTS but is outperformed by some of the existing ones in terms of hardware cost.
Industry-led mechatronics degree development in regional Australia
- Authors: Ibrahim, Yousef , Kahandawa, Gayan , Choudhury, Tanveer , Mazid, Abdul Md
- Date: 2017
- Type: Text , Conference proceedings , Conference paper
- Relation: 2017 IEEE International Conference on Mechatronics, ICM 2017; Gippsland, Australia; 13th-15th February 2017 p. 419-424
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- Description: This paper presents a technique that was used in the recent development of a new Mechatronics degree in Australia. This technique addressed the local industry needs and the available resources for a well-balanced Mechatronics degree program. The degree development was based on project-based learning and industry engagement. The development of the new Mechatronics degree was made possible via a State Government grant of AU$2.4 Million which was matched by industry contribution of AU$10 Million in cash and in-kind. Since industry was a major stake holder in this degree, a specific industry survey was conducted to check the desired graduates attributes, from industry point of view. The results of this survey is also included in this papers. In addition, the program also addressed the regional industry's challenge of retaining qualified engineers via a clear pathway program for students knowledge and skills development. This paper presents industry's anticipated outputs of the academic Mechatronics program. In addition the paper also discusses the mechanisms adopted for the development of this new degree. The developed fully integrated Mechatronics program was founded on the realisation that if a person undertook a mechanical degree followed by an electronics degree followed by a computer science degree, that person is, still, NOT a Mechatronics engineer. © 2017 IEEE.
- Description: Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
An unreliability analysis for k-out-of-n: F system
- Authors: Ibrahim, Yousef , Gunawan, Indra , Khorshidi, Hadi
- Date: 2014
- Type: Text , Conference paper
- Relation: Proceedings of 6th Asia-Pacific International Symposium on Advanced Reliability and Maintenance Modeling (APARM 2014): Advanced Reliability and Maintenance Modeling VI p. 208-215
- Full Text: false
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System dynamics modeling for multi-state systems
- Authors: Khorshidi, Hadi , Gunawan, Indra , Ibrahim, Yousef
- Date: 2015
- Type: Text , Conference paper
- Relation: 25th European Safety and Reliability Conference, ESREL 2015; Zurich, Switzerland; 7th-10th September 2015 p. 925-930
- Full Text: false
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- Description: In this paper, the dynamic behavior of the system reliability is modeled by system dynamics approach. Since the reliability levels of the components and systems changes during functioning periods, this variability should be considered in reliability assessment. System dynamics has been used to simulate the dynamic interactions of the phenomena in different areas such as economics, environment, social, humanity, management, and engineering. In system dynamics, Causal Loop Diagrams (CLDs) and stock and flow structures are employed to both represent the elements and model their interactions in order to predict the future status of the system. Due to the capability of the system dynamics in capturing the dynamic behavior of complex systems, it is used for a dynamic assessment of system reliability. The components in this system are multi-state so that they have more performance levels than failure and working states. A case of a multi-state weighted k-out-of-n system is simulated in this study. Software iThink is used to develop the dynamic model for the case study. The results of the system dynamics approach are compared with the outputs of the dynamic availability assessment by mathematical modeling. In addition, the associated cost of maintenance activities is added in the model. Therefore, different scenarios can be evaluated in terms of cost and reliability with the intention of finding optimal decisions. Finally, a sensitivity analysis has been conducted under various conditions in the simulation model. © 2015 Taylor & Francis Group, London.