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Lecture Notes in Electrical Engineering 666

Zainah Md Zain · Hamzah Ahmad ·

Dwi Pebrianti · Mahfuzah Mustafa ·
Nor Rul Hasma Abdullah ·
Rosdiyana Samad ·
Maziyah Mat Noh Editors

Proceedings of the
11th National
Technical Seminar
on Unmanned System
Technology 2019
NUSYS’19
Lecture Notes in Electrical Engineering

Volume 666

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Zainah Md Zain Hamzah Ahmad
• •

Dwi Pebrianti Mahfuzah Mustafa

• •

Nor Rul Hasma Abdullah •

Rosdiyana Samad Maziyah Mat Noh

•

Editors

Proceedings of the 11th

National Technical Seminar
on Unmanned System
Technology 2019
NUSYS’19

123
Editors
Zainah Md Zain Hamzah Ahmad
Faculty of Electrical & Electronics Faculty of Electrical & Electronics
Engineering Engineering
Universiti Malaysia Pahang Universiti Malaysia Pahang
Pekan, Pahang, Malaysia Pekan, Pahang, Malaysia

Dwi Pebrianti Mahfuzah Mustafa

Faculty of Electrical & Electronics Faculty of Electrical & Electronics
Engineering Engineering
Universiti Malaysia Pahang Universiti Malaysia Pahang
Pekan, Pahang, Malaysia Pekan, Pahang, Malaysia

Nor Rul Hasma Abdullah Rosdiyana Samad

Faculty of Electrical & Electronics Faculty of Electrical & Electronics
Engineering Engineering
Universiti Malaysia Pahang Universiti Malaysia Pahang
Pekan, Pahang, Malaysia Pekan, Pahang, Malaysia

Maziyah Mat Noh

Faculty of Electrical & Electronics
Engineering
Universiti Malaysia Pahang
Pekan, Pahang, Malaysia

ISSN 1876-1100 ISSN 1876-1119 (electronic)

Lecture Notes in Electrical Engineering
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Preface

The National Technical Seminar on Unmanned System Technology 2019

(NUSYS’19) was organized by the IEEE Oceanic Engineering Society (OES)
Malaysia Chapter and Malaysian Society for Automatic Control Engineers (MACE)
IFAC NMO. NUSYS’19 was held during December 2–3, 2019, at Universiti
Malaysia Pahang, Gambang Campus, Kuantan, Pahang, Malaysia, with a confer-
ence theme “Unmanned System Technology and AI Applications”. The event was
the 11th conference continuing from previous conferences since the year 2008.
NUSYS’19 focused on both theory and application, primarily covering the topics of
intelligent unmanned technologies, robotics and autonomous vehicle. We invited
four keynote speakers who dealt with related state-of-the-art technologies including
unmanned aerial vehicles (UAVs), underwater vehicles (UVs), autonomous
vehicles, humanoid robot and intelligent system, among others. They are
Mr. Kamarulzaman Muhamed (Founder and CEO Aerodyne Group, “CEO of Top
10 hottest start-up company by Nikkei Japan, May 2019”), Assoc. Prof.
Dr. Hanafiah Yussof (Founder, Board of Director and Group Chief Officer of
Robopreneur Sdn. Bhd.), Assoc. Prof. Dr. Hairi Zamsuri (General Manager
eMoovit Technology Sdn. Bhd.) and Mr. Mohd Fairuz Nor Azmi (Project Manager,
Fugro Malaysia Marine Sdn. Bhd. formerly known as Fugro Geodetic Malaysia
Sdn. Bhd.). The objectives of the conference are threefold: to accommodate a
medium to discuss a wide range of unmanned system technology between uni-
versities and industries, to disseminate the latest technology in the field of
unmanned system technology and to provide an opportunity for researchers to
present their research paper in the unmanned system technology area.
Despite focusing on a rather specialized area of research concerning unmanned
system technology and electrical and electronics engineering technology,
NUSYS’19 has successfully attracted 87 papers locally from 12 universities and
one internationally from Institute Technology Surabaya, Indonesia. This volume of
proceedings from the conference provides an opportunity for readers to engage with
a selection of refereed papers that were presented during the NUSYS’19 confer-
ence. The book is organized into four parts, which reflect the research topics of the
conference themes:

v
vi Preface

Part 1: Unmanned System Technology, Underwater Technology and Marine

Part 2: Applied Electronics and Computer Engineering
Part 3: Control, Instrumentations and Artificial Intelligent Systems
Part 4: Sustainable Energy and Power Electronics.
One aim of this book is to stimulate interactions among researchers in the areas
pertinent to intelligent unmanned systems of AUV, UAV and AGV, namely
autonomous control systems and vehicles. Another aim is to share new ideas, new
challenges and the author’s expertise on critical and emerging technologies. The
book covers multifaceted aspects of unmanned system technology.
The editors hope that readers will find this book not only stimulating but also
useful and usable in whatever aspect of unmanned system design in which they may
be involved or interested. The editors would like to express their sincere appreci-
ation to all the contributors for their cooperation in producing this book.
We wish to take the opportunity to thank all individuals and organizations who
have contributed in some way in making NUSYS’19 a success and a memorable
gathering. Also, we wish to extend our gratitude to the members of the IEEE OES
Malaysia Chapter Committee and Organizing Committee for their tireless effort.
Finally, the publisher, Springer, and most importantly, Mr. Karthik Raj Selvaraj for
his support and encouragement in undertaking this publication.

Editors
Contents

Unmanned System Technology, Underwater Technology

and Marine
Tracking Control Design for Underactuated Micro Autonomous
Underwater Vehicle in Horizontal Plane Using Robust Filter
Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Muhammad Azri Bin Abdul Wahed and Mohd Rizal Arshad
Design and Development of Remotely Operated Pipeline
Inspection Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Mohd Shahrieel Mohd Aras, Zainah Md Zain, Aliff Farhan Kamaruzaman,
Mohd Zamzuri Ab Rashid, Azhar Ahmad, Hairol Nizam Mohd Shah,
Mohd Zaidi Mohd Tumari, Alias Khamis, Fadilah Ab Azis,
and Fariz Ali@Ibrahim
Vision Optimization for Altitude Control and Object Tracking
Control of an Autonomous Underwater Vehicle (AUV) . . . . . . . . . . . . . 25
Joe Siang Keek, Mohd Shahrieel Mohd Aras, Zainah Md. Zain,
Mohd Bazli Bahar, Ser Lee Loh, and Shin Horng Chong
Development of Autonomous Underwater Vehicle Equipped
with Object Recognition and Tracking System . . . . . . . . . . . . . . . . . . . . 37
Muhammad Haniff Abu Mangshor, Radzi Ambar,
Herdawatie Abdul Kadir, Khalid Isa, Inani Yusra Amran,
Abdul Aziz Abd Kadir, Nurul Syila Ibrahim, Chew Chang Choon,
and Shinichi Sagara
Dual Image Fusion Technique for Underwater Image
Contrast Enhancement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Chern How Chong, Ahmad Shahrizan Abdul Ghani,
and Kamil Zakwan Mohd Azmi

vii
viii Contents

Red and Blue Channels Correction Based on Green Channel

and Median-Based Dual-Intensity Images Fusion for Turbid
Underwater Image Quality Enhancement . . . . . . . . . . . . . . . . . . . . . . . . 73
Kamil Zakwan Mohd Azmi, Ahmad Shahrizan Abdul Ghani,
and Zulkifli Md Yusof
Analysis of Pruned Neural Networks (MobileNetV2-YOLO v2)
for Underwater Object Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
A. F. Ayob, K. Khairuddin, Y. M. Mustafah, A. R. Salisa, and K. Kadir
Different Cell Decomposition Path Planning Methods for Unmanned
Air Vehicles-A Review . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Sanjoy Kumar Debnath, Rosli Omar, Susama Bagchi, Elia Nadira Sabudin,
Mohd Haris Asyraf Shee Kandar, Khan Foysol,
and Tapan Kumar Chakraborty
Improved Potential Field Method for Robot Path Planning
with Path Pruning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Elia Nadira Sabudin, Rosli Omar, Ariffudin Joret, Asmarashid Ponniran,
Muhammad Suhaimi Sulong, Herdawatie Abdul Kadir,
and Sanjoy Kumar Debnath
Development of DugongBot Underwater Drones Using Open-Source
Robotic Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Ahmad Anas Yusof, Mohd Khairi Mohamed Nor,
Mohd Shahrieel Mohd Aras, Hamdan Sulaiman, and Abdul Talib Din
Development of Autonomous Underwater Vehicle for Water Quality
Measurement Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Inani Yusra Amran, Khalid Isa, Herdawatie Abdul Kadir, Radzi Ambar,
Nurul Syila Ibrahim, Abdul Aziz Abd Kadir,
and Muhammad Haniff Abu Mangshor
Discrete Sliding Mode Controller on Autonomous Underwater Vehicle
in Steering Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Nira Mawangi Sarif, Rafidah Ngadengon, Herdawatie Abdul Kadir,
and Mohd Hafiz A. Jalil
Impact of Acoustic Signal on Optical Signal and Vice Versa
in Optoacoustic Based Underwater Localization . . . . . . . . . . . . . . . . . . 177
M. R. Arshad and M. H. A. Majid
Design and Development of Mini Autonomous Surface Vessel
for Bathymetric Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Muhammad Ammar Mohd Adam, Zulkifli Zainal Abidin,
Ahmad Imran Ibrahim, Ahmad Shahril Mohd Ghani,
and Al Jawharah Anchumukkil
Contents ix

Control, Instrumentation and Artificial Intelligent Systems

Optimal Power Flow Solutions for Power System Operations
Using Moth-Flame Optimization Algorithm . . . . . . . . . . . . . . . . . . . . . . 207
Salman Alabd, Mohd Herwan Sulaiman,
and Muhammad Ikram Mohd Rashid
A Pilot Study on Pipeline Wall Inspection Technology Tomography . . . 221
Muhammad Nuriffat Roslee, Siti Zarina Mohd. Muji,
Jaysuman Pusppanathan, and Mohd. Fadzli Abd. Shaib
Weighted-Sum Extended Bat Algorithm Based PD Controller
Design for Wheeled Mobile Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Nur Aisyah Syafinaz Suarin, Dwi Pebrianti, Nurnajmin Qasrina Ann,
and Luhur Bayuaji
An Analysis of State Covariance of Mobile Robot Navigation
in Unstructured Environment Based on ROS . . . . . . . . . . . . . . . . . . . . . 259
Hamzah Ahmad, Lim Zhi Xian, Nur Aqilah Othman,
Mohd Syakirin Ramli, and Mohd Mawardi Saari
Control Strategy for Differential Drive Wheel Mobile Robot . . . . . . . . . 271
Nor Akmal Alias and Herdawatie Abdul Kadir
Adaptive Observer for DC Motor Fault Detection
Dynamical System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
Janet Lee, Rosmiwati Mohd-Mokhtar,
and Muhammad Nasiruddin Mahyuddin
Water Level Classification for Flood Monitoring System
Using Convolutional Neural Network . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
J. L. Gan and W. Zailah
Evaluation of Back-Side Slits with Sub-millimeter Resolution
Using a Differential AMR Probe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
M. A. H. P. Zaini, M. M. Saari, N. A. Nadzri, A. M. Halil,
A. J. S. Hanifah, and K. Tsukada
Model-Free Tuning of Laguerre Network for Impedance Matching
in Bilateral Teleoperation System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
Mohd Syakirin Ramli, Hamzah Ahmad, Addie Irawan,
and Nur Liyana Ibrahim
Identification of Liquid Slosh Behavior Using Continuous-Time
Hammerstein Model Based Sine Cosine Algorithm . . . . . . . . . . . . . . . . 345
Julakha Jahan Jui, Mohd Helmi Suid, Zulkifli Musa,
and Mohd Ashraf Ahmad
x Contents

Cardiotocogram Data Classification Using Random Forest Based

Machine Learning Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
M. M. Imran Molla, Julakha Jahan Jui, Bifta Sama Bari, Mamunur Rashid,
and Md Jahid Hasan
FPGA Implementation of Sensor Data Acquisition for Real-Time
Human Body Motion Measurement System . . . . . . . . . . . . . . . . . . . . . . 371
Zarina Tukiran, Afandi Ahmad, Herdawatie Abd. Kadir,
and Ariffudin Joret
Pulse Modulation (PM) Ground Penetrating Radar (GPR) System
Development by Using Envelope Detector Technique . . . . . . . . . . . . . . . 381
Maryanti Razali, Ariffuddin Joret, M. F. L. Abdullah,
Elfarizanis Baharudin, Asmarashid Ponniran,
Muhammad Suhaimi Sulong, Che Ku Nor Azie Hailma Che Ku Melor,
and Noor Azwan Shairi
An Overview of Modeling and Control of a Through-the-Road
Hybrid Electric Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
M. F. M. Sabri, M. H. Husin, M. I. Jobli, and A. M. N. A. Kamaruddin
Euler-Lagrange Based Dynamic Model of Double Rotary
Inverted Pendulum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419
Mukhtar Fatihu Hamza, Jamilu Kamilu Adamu,
and Abdulbasid Ismail Isa
Network-Based Cooperative Synchronization Control
of 3 Articulated Robotic Arms for Industry 4.0 Application . . . . . . . . . 435
Kam Wah Chan, Muhammad Nasiruddin Mahyuddin, and Bee Ee Khoo
EEG Signal Denoising Using Hybridizing Method Between Wavelet
Transform with Genetic Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
Zaid Abdi Alkareem Alyasseri, Ahamad Tajudin Khader,
Mohammed Azmi Al-Betar, Ammar Kamal Abasi,
and Sharif Naser Makhadmeh
Neural Network Ammonia-Based Aeration Control for Activated
Sludge Process Wastewater Treatment Plant . . . . . . . . . . . . . . . . . . . . . 471
M. H. Husin, M. F. Rahmat, N. A. Wahab, and M. F. M. Sabri
A Min-conflict Algorithm for Power Scheduling Problem
in a Smart Home Using Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
Sharif Naser Makhadmeh, Ahamad Tajudin Khader,
Mohammed Azmi Al-Betar, Syibrah Naim,
Zaid Abdi Alkareem Alyasseri, and Ammar Kamal Abasi
An Improved Text Feature Selection for Clustering Using Binary
Grey Wolf Optimizer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503
Ammar Kamal Abasi, Ahamad Tajudin Khader,
Mohammed Azmi Al-Betar, Syibrah Naim, Sharif Naser Makhadmeh,
and Zaid Abdi Alkareem Alyasseri
Contents xi

Applied Electronics and Computer Engineering

Metamaterial Antenna for Biomedical Application . . . . . . . . . . . . . . . . . 519
Mohd Aminudin Jamlos, Nur Amirah Othman, Wan Azani Mustafa,
and Maswani Khairi Marzuki
Refraction Method of Metamaterial for Antenna . . . . . . . . . . . . . . . . . . 529
Maswani Khairi Marzuki, Mohd Aminudin Jamlos, Wan Azani Mustafa,
and Khairul Najmy Abdul Rani
Circular Polarized 5.8 GHz Directional Antenna Design
for Base Station Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Mohd Aminudin Jamlos, Nurasma Husna Mohd Sabri,
Wan Azani Mustafa, and Maswani Khairi Marzuki
Medical Image Enhancement and Deblurring . . . . . . . . . . . . . . . . . . . . 543
Reza Amini Gougeh, Tohid Yousefi Rezaii, and Ali Farzamnia
A Fast and Efficient Segmentation of Soil-Transmitted Helminths
Through Various Color Models and k-Means Clustering . . . . . . . . . . . . 555
Norhanis Ayunie Ahmad Khairudin, Aimi Salihah Abdul Nasir,
Lim Chee Chin, Haryati Jaafar, and Zeehaida Mohamed
Machine Learning Calibration for Near Infrared
Spectroscopy Data: A Visual Programming Approach . . . . . . . . . . . . . . 577
Mahmud Iwan Solihin, Zheng Zekui, Chun Kit Ang, Fahri Heltha,
and Mohamed Rizon
Real Time Android-Based Integrated System for Luggage
Check-in Process at the Airport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591
Xin Yee Lee and Rosmiwati Mohd-Mokhtar
Antenna Calibration in EMC Semi-anechoic Chamber
Using Standard Antenna Method (SAM) and Standard
Site Method (SSM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605
Abdulrahman Ahmed Ghaleb Amer, Syarfa Zahirah Sapuan,
Nur Atikah Zulkefli, Nasimuddin Nasimuddin, Nabiah Binti Zinal,
and Shipun Anuar Hamzah
An Automatic Driver Assistant Based on Intention Detecting
Using EEG Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617
Reza Amini Gougeh, Tohid Yousefi Rezaii, and Ali Farzamnia
Hybrid Skull Stripping Method for Brain CT Images . . . . . . . . . . . . . . 629
Fakhrul Razan Rahmad, Wan Nurshazwani Wan Zakaria, Ain Nazari,
Mohd Razali Md Tomari, Nik Farhan Nik Fuad,
and Anis Azwani Muhd Suberi
xii Contents

Improvising Non-uniform Illumination and Low Contrast Images

of Soil Transmitted Helminths Image Using Contrast
Enhancement Techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641
Norhanis Ayunie Ahmad Khairudin, Aimi Salihah Abdul Nasir,
Lim Chee Chin, Haryati Jaafar, and Zeehaida Mohamed
Signal Processing Technique for Pulse Modulation (PM) Ground
Penetrating Radar (GPR) System Based on Phase and Envelope
Detector Technique . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659
Che Ku Nor Azie Hailma Che Ku Melor, Ariffuddin Joret,
Asmarashid Ponniran, Muhammad Suhaimi Sulong, Rosli Omar,
and Maryanti Razali
Evaluation of Leap Motion Controller Usability in Development
of Hand Gesture Recognition for Hemiplegia Patients . . . . . . . . . . . . . . 671
Wan Norliyana Wan Azlan, Wan Nurshazwani Wan Zakaria,
Nurmiza Othman, Mohd Norzali Haji Mohd,
and Muhammad Nurfirdaus Abd Ghani
Using Convolution Neural Networks Pattern for Classification
of Motor Imagery in BCI System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 683
Sepideh Zolfaghari, Tohid Yousefi Rezaii, Saeed Meshgini,
and Ali Farzamnia
Metasurface with Wide-Angle Reception for Electromagnetic
Energy Harvesting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 693
Abdulrahman A. G. Amer, Syarfa Zahirah Sapuan, Nasimuddin,
and Nabiah Binti Zinal
Integrated Soil Monitoring System for Internet
of Thing (IOT) Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 701
Xin Yi Lau, Chun Heng Soo, Yusmeeraz Yusof, and Suhaila Isaak
Contrast Enhancement Approaches on Medical
Microscopic Images: A Review . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 715
Nadzirah Nahrawi, Wan Azani Mustafa,
Siti Nurul Aqmariah Mohd Kanafiah, Mohd Aminudin Jamlos,
and Wan Khairunizam
Effect of Different Filtering Techniques on Medical
and Document Image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 727
Wan Azani Mustafa, Syafiq Sam, Mohd Aminudin Jamlos,
and Wan Khairunizam
Implementation of Seat Belt Monitoring and Alert System
for Car Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 737
Zainah Md Zain, Mohd Hairuddin Abu Bakar, Aman Zaki Mamat,
Wan Nor Rafidah Wan Abdullah, Norsuryani Zainal Abidin,
and Haris Faisal Shaharuddin
Contents xiii

Electroporation Study: Pulse Electric Field Effect

on Breast Cancer Cell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 751
Nur Adilah Abd Rahman, Muhammad Mahadi Abdul Jamil,
Mohamad Nazib Adon, Chew Chang Choon, and Radzi Ambar
Influence of Electroporation on HT29 Cell Proliferation, Spreading
and Adhesion Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 761
Hassan Buhari Mamman, Muhammad Mahadi Abdul Jamil,
Nur Adilah Abd Rahman, Radzi Ambar, and Chew Chang Choon
Wound Healing and Electrofusion Application via Pulse Electric
Field Exposure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 775
Muhammad Mahadi Abdul Jamil, Mohamad Nazib Adon,
Hassan Buhari Mamman, Nur Adilah Abd Rahman, Radzi Ambar,
and Chew Chang Choon
Color Constancy Analysis Approach for Color Standardization
on Malaria Thick and Thin Blood Smear Images . . . . . . . . . . . . . . . . . 785
Thaqifah Ahmad Aris, Aimi Salihah Abdul Nasir, Haryati Jaafar,
Lim Chee Chin, and Zeehaida Mohamed
Stochastic Analysis of ANN Statistical Features for CT Brain
Posterior Fossa Image Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . 805
Anis Azwani Muhd Suberi, Wan Nurshazwani Wan Zakaria,
Razali Tomari, Ain Nazari, Nik Farhan Nik Fuad,
Fakhrul Razan Rahmad, and Salsabella Mohd Fizol
Improvement of Magnetic Field Induction for MPI Application Using
Maxwell Coils Paired-Sub-coils System Arrangement . . . . . . . . . . . . . . 819
Muhamad Fikri Shahkhirin Birahim, Nurmiza Othman,
Syarfa’ Zahirah Sapuan, Mohd Razali Md Tomari,
Wan Nurshazwani Wan Zakaria, and Chua King Lee
DCT Image Compression Implemented on Raspberry Pi
to Compress Image Captured by CMOS Image Sensor . . . . . . . . . . . . . 831
Ibrahim Saad Mohsin, Muhammad Imran Ahmad, Saad M. Salman,
Mustafa Zuhaer Nayef Al-Dabagh, Mohd Nazrin Md Isa,
and Raja Abdullah Raja Ahmad
A Racial Recognition Method Based on Facial Color and Texture
for Improving Demographic Classification . . . . . . . . . . . . . . . . . . . . . . . 843
Amer A. Sallam, Muhammad Nomani Kabir, Athmar N. M. Shamhan,
Heba K. Nasser, and Jing Wang
Automatic Passengers Counting System Using Images Processing
Based on YCbCr and HSV Colour Spaces Analysis . . . . . . . . . . . . . . . . 853
Muhammad Shahid Che Husin and Aimi Salihah Abdul Nasir
xiv Contents

Face Recognition Using PCA Implemented on Raspberry Pi . . . . . . . . . 873

Ibrahim Majid Mohammed, Mustafa Zuhaer Nayef Al-Dabagh,
Muhammad Imran Ahmad, and Mohd Nazrin Md Isa
Comparability of Edge Detection Techniques for Automatic Vehicle
License Plate Detection and Recognition . . . . . . . . . . . . . . . . . . . . . . . . 891
Fatin Norazima Mohamad Ariff, Aimi Salihah Abdul Nasir,
Haryati Jaafar, and Abdul Nasir Zulkifli
Classification of Facial Part Movement Acquired from Kinect V1
and Kinect V2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 911
Sheng Guang Heng, Rosdiyana Samad, Mahfuzah Mustafa,
Zainah Md Zain, Nor Rul Hasma Abdullah, and Dwi Pebrianti
Hurst Exponent Based Brain Behavior Analysis of Stroke Patients
Using EEG Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 925
Wen Yean Choong, Wan Khairunizam, Murugappan Murugappan,
Mohammad Iqbal Omar, Siao Zheng Bong, Ahmad Kadri Junoh,
Zuradzman Mohamad Razlan, A. B. Shahriman,
and Wan Azani Wan Mustafa
Examination Rain and Fog Attenuation for Path Loss Prediction
in Millimeter Wave Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 935
Imadeldin Elsayed Elmutasim and Izzeldin I. Mohd
Introduction of Static and Dynamic Features to Facial Nerve
Paralysis Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 947
Wan Syahirah W Samsudin, Rosdiyana Samad, Kenneth Sundaraj,
and Mohd Zaki Ahmad
Offline EEG-Based DC Motor Control for Wheelchair Application . . . . 965
Norizam Sulaiman, Nawfan Mohammed Mohammed Ahmed Al-Fakih,
Mamunur Rashid, Mohd Shawal Jadin, Mahfuzah Mustafa,
and Fahmi Samsuri
Automated Cells Counting for Leukaemia and Malaria Detection
Based on RGB and HSV Colour Spaces Analysis . . . . . . . . . . . . . . . . . 981
Amer Fazryl Din and Aimi Salihah Abdul Nasir
Simulation Studies of the Hybrid Human-Fuzzy Controller
for Path Tracking of an Autonomous Vehicle . . . . . . . . . . . . . . . . . . . . 997
Hafiz Halin, Wan Khairunizam, Hasri Haris, Z. M. Razlan, S. A. Bakar,
I. Zunaidi, and Wan Azani Mustafa
A New Approach in Energy Consumption Based on Genetic
Algorithm and Fuzzy Logic for WSN . . . . . . . . . . . . . . . . . . . . . . . . . . . 1007
Ali Adnan Wahbi Alwafi, Javad Rahebi, and Ali Farzamnia
Contents xv

Sustainable Energy and Power Engineering

Comparison of Buck-Boost Derived Non-isolated DC-DC
Converters in a Photovoltaic System . . . . . . . . . . . . . . . . . . . . . . . . . . . 1023
Jotham Jeremy Lourdes, Chia Ai Ooi, and Jiashen Teh
Fault Localization and Detection in Medium Voltage Distribution
Network Using Adaptive Neuro-Fuzzy Inference System (ANFIS) . . . . . 1039
N. S. B. Jamili, Mohd Rafi Adzman, Wan Syaza Ainaa Wan Salman,
M. H. Idris, and M. Amirruddin
Flashover Voltage Prediction on Polluted Cup-Pin the Insulators
Under Polluted Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1053
Ali. A. Salem, R. Abd-Rahman, M. S. Kamarudin, N. A. Othman,
N. A. M. Jamail, N. Hussin, H. A. Hamid, and I. M. Rawi
Effect of Distributed Generation to the Faults in Medium Voltage
Network Using ATP-EMTP Simulation . . . . . . . . . . . . . . . . . . . . . . . . . 1067
Wan Syaza Ainaa Wan Salman, Mohd Rafi Adzman, Muzamir Isa,
N. S. B. Jamili, M. H. Idris, and M. Amirruddin
Optimal Reactive Power Dispatch Solution by Loss Minimisation
Using Dragonfly Optimization Algorithm . . . . . . . . . . . . . . . . . . . . . . . . 1083
Ibrahim Haruna Shanono, Masni Ainina Mahmud,
Nor Rul Hasma Abdullah, Mahfuzah Mustafa, Rosdiyana Samad,
Dwi Pebrianti, and Aisha Muhammad
Analysis of Pedal Power Energy Harvesting for Alternative
Power Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1105
Sheikh-Muhammad Haziq Sah-Azmi and Zuraini Dahari
An Application of Barnacles Mating Optimizer Algorithm
for Combined Economic and Emission Dispatch Solution . . . . . . . . . . . 1115
Mohd Herwan Sulaiman, Zuriani Mustaffa, Mohd Mawardi Saari,
and Amir Izzani Mohamed
Development of Microcontroller Based Portable Solar Irradiance
Meter Using Mini Solar Cell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1125
Lee Woan Jun, Mohd Shawal Jadin, and Norizam Sulaiman
Performance of Graphite and Activated Carbon as Electrical
Grounding Enhancement Material . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1139
Mohd Yuhyi Mohd Tadza, Tengku Hafidatul Husna Tengku Anuar,
Fadzil Mat Yahaya, and Rahisham Abd Rahman
Design on Real Time Control for Dual Axis Solar Tracker
for Mobile Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1155
Muhammad Hanzolah Shahul Hameed, Mohd Zamri Hasan,
and Junaidah Ali Mohd Jobran
xvi Contents

Modified Particle Swarm Optimization for Robust Anti-swing

Gantry Crane Controller Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1173
Mahmud Iwan Solihin, Wei Hong Lim, Sew Sun Tiang,
and Chun Kit Ang
Feasibility Analysis of a Hybrid System for a Health Clinic
in a Rural Area South-Eastern Iraq . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1193
Zaidoon W. J. AL-Shammari, M. M. Azizan, and A. S. F. Rahman
Optimal Sizing of PV/Wind/Battery Hybrid System for Rural
School in South Iraq . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1203
Zaidoon W. J. AL-Shammari, M. M. Azizan, and A. S. F. Rahman
The Use of Gypsum and Waste Gypsum for Electrical
Grounding Backfill . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1213
Amizatulhani Abdullah, Nurmazuria Mazelan,
Mohd Yuhyi Mohd Tadza, and Rahisham Abd Rahman
Energy-Efficient Superframe Scheduling in Industrial Wireless
Networked Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1227
Duc Chung Tran, Rosdiazli Ibrahim, Fawnizu Azmadi Hussin,
and Madiah Omar
Design of Two Axis Solar Tracker Based on Optoelectrical Tracking
Using Hybrid FuGA Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1243
Imam Abadi, Erma Hakim Setyawan, and D. R. Pramesrani
 Unmanned System Technology,
Underwater Technology and Marine
Tracking Control Design
for Underactuated Micro Autonomous
Underwater Vehicle in Horizontal Plane
Using Robust Filter Approach

Muhammad Azri Bin Abdul Wahed and Mohd Rizal Arshad

Abstract Micro autonomous underwater vehicle (µAUV) design and developed at

Underwater, Control and Robotics Group (UCRG) is a torpedo-shaped vehicle
measuring only 0.72 m in length and 0.11 in diameter with a mass of approximately
6 kg. This paper proposed a time invariant tracking control method for underactu-
ated micro AUV in horizontal plane using robust filter approach to track a predefined
trajectory. Tracking error is introduced which can then be converged by using force
in surge direction and moment in yaw direction. A robust control will minimize
the effects of external disturbance and parameter uncertainties on the AUV perfor-
mance. With only rigid-body system inertia matrix information of the micro AUV,
robustness against parameter uncertainties, model nonlinearities, and unexpected
external disturbance is achievable with the proposed controller. Performance of the
proposed robust tracking control is demonstrated in simulation results.

Keywords Underactuated system Micro autonomous underwater vehicles



Robust control Trajectory tracking

1 Introduction

The micro Autonomous Underwater Vehicle [1] developed by Underwater, Control

and Robotics Group (UCRG) is a torpedo shaped vehicle design for use in shallow
water inspection such as coral reef inspection. It measures at 0.72 m in length, 0.11
in diameter and 6 kg at its most basic configuration.
Underwater mission requires the µAUV to be very stable to be able to follow the
predefined trajectory with high accuracy. However, this µAUV is an underactuated
AUV and this complicates the AUV to follow a predefined trajectory. Therefore, a

M. A. B. A. Wahed
M. R. Arshad (&)

Underwater, Control and Robotics Group, School of Electrical and Electronic Engineering,
Universiti Sains Malaysia, 14300 Nibong Tebal, Pulau Pinang, Malaysia
e-mail: [email protected]

© Springer Nature Singapore Pte Ltd. 2021 3

Z. Md Zain et al. (eds.), Proceedings of the 11th National Technical Seminar on
Unmanned System Technology 2019, Lecture Notes in Electrical Engineering 666,
https://doi.org/10.1007/978-981-15-5281-6_1
4 M. A. B. A. Wahed and M. R. Arshad

tracking control system is required to allow the AUV to overcome the limitation of
its propulsion system. Furthermore, performance of the µAUV is adversely affected
by the unpredictable disturbances in the underwater environment.
A precise mathematical representation of an Autonomous Underwater Vehicle
(AUV) is very hard to obtain and this cause the control problem of underwater
robot becomes even more challenging. Hydrodynamic parameters that occurs in the
interaction between the vehicle and fluid is difficult to obtain with reasonable
accuracy due to their variations against different maneuvering conditions.
Therefore, a robust control technique with the constraint of not having its
complete mathematical representation is required to reduce the effects of external
disturbance on system behavior of the AUV.
Sliding Mode Control (SMC) has been used by many researchers due to it
robustness and is the most powerful robust control technique. SMC technique alter
the dynamics of underwater vehicle by applying a discontinuous control signal. The
control signal guides and maintains the trajectory of the system state error toward a
specified surface called sliding surface [2].
However, because of the frequent switching, chattering phenomenon occur in
the control input of SMC. Chattering has to be avoided because it causes high
thruster wear and degrade the system performance. To avoid chattering, dynamics
in a small vicinity of the discontinuity surface need to be alter by using a smoothing
function such as saturation function and hyperbolic tangent function [3, 4].
Unfortunately, accuracy and robustness are partially lost as convergence are only
ensured to approach a boundary layer of the sliding surface.
To overcome the chattering effect, a second order SMC controller has been
proposed [5, 6]. No smoothing function is required by the second order SMC
controller to produce the continuous control signal and this allows for finite-time
convergence to zero of the first-time derivative of sliding surfaces. However, sec-
ond order SMC controller takes a longer time for its error to converges to zero.
Another robust control technique used in underwater environment is Time Delay
Control (TDC) which is relatively a new technique. It assumes that during a small
short enough time, a continuous signal will remain the same. Therefore, past
observation of uncertainties and disturbance can be used directly in the controller.
Even in the presence of sensor noise and ocean current disturbance, good perfor-
mance is achievable by using TDC controller [7, 8].
In general, TDC controller consists of time delay estimator and linear controller.
However, the introduced delay causes the TDC controller unable to eliminate
estimation error that arises. To avoid critically affecting the stability and perfor-
mance of the system, the feedback data acquisition rate has to be fast in order to
shorten the delay time.
In this paper, position of AUV is controlled by using a time invariant tracking
control method using robust filter approach. First proposed by [9], robustness
against parameter uncertainties, model nonlinearities, and unexpected external
disturbance is achievable with only inertia matrix information. The controller [10,
11] is designed consisting of a nominal controller and a robust compensator.
Tracking Control Design for Underactuated (lAUV) ... 5

This paper contains 6 sections. Section 1 introduce the research background

while Sect. 2 presents the µAUV dynamic model and Sect. 3 presents the control
objectives. Section 4 presents the design of proposed robust tracking control
design, Sect. 5 discussed the simulation result and finally Sect. 6 concluded this
paper.

2 Mathematical Modeling of µAUV

Before defining the model, reference frames need to be defined. AUV are best
described as a nonlinear system, thus two reference frame are considered:
Earth-fixed frame and Body-fixed frame. Standard notation from Society of Naval
Architects and Marine Engineers (SNAME) is used for easier understanding in this
paper. Figure 1 shows the defined reference frames. Earth-fixed frame has its x-axis
and y-axis pointing towards the North and East respectively while z-axis points
downwards normal to the surface of earth. On the other hand, Body-fixed frame has
its origin coincides with the center of gravity of the AUV.
In this paper, the AUV is assumed to be moving only at a certain depth and is
passively stable in roll direction. Therefore, all corresponding elements are
neglected during derivation of dynamic equation.
The nonlinear equations of motion of a Body-fixed frame is expressed in a
vectorial setting as shown in (1)–(6), where v represents vector of linear and angular
velocities expressed in Body-fixed frame, rigid-body system inertia matrix repre-
sented by MRB while added mass system inertia matrix represented by MA . DL and
DQ represents linear hydrodynamic damping matrix and quadratic hydrodynamic
damping matrix respectively. Lift matrix represented by L and the vector of

Fig. 1 Defined Earth-fixed frame and Body-fixed frame

6 M. A. B. A. Wahed and M. R. Arshad

Body-fixed force from actuators is represented by s. For simplicity, the lift matrix is
assume as input.

ðMRB þ MA Þv þ ðDL þ DQ jvjÞv ¼ s þ Ljvjv ð1Þ

v ¼ ½u v r T ð2Þ

MRB ¼ diag½ m m Iz  ð3Þ

MA ¼ diag½ MAu MAv MAr  ð4Þ

DL ¼ diag½ DLu DLv DLr  ð5Þ

DQ ¼ diag½ DQu DQv DQr  ð6Þ

Body-fixed linear and angular velocities can be conveyed in Earth-fixed frame

using Euler angle transformation as shown in (7)–(9). g represents the vector of
position and attitude expressed in Earth-fixed frame while J represents the Jacobian
matrix.

g_ ¼ J ðwÞv ð7Þ

g ¼ ½ x y w T ð8Þ
2 3
cos w  sin w 0
J ðwÞ ¼ 4 sin w cos w 05 ð9Þ
0 0 1

3 Control Objectives

Before designing the trajectory tracking control problem, we need to first defined
the tracking error as shown in (10). e represent the vector tracking error in
Earth-fixed frame while gd represent the vector of desired position and orientation.
Because the AUV is underactuated in sway direction, the desired velocities in x and
y directions has to depend on the desired yaw angle as (12).

e ¼ gd  g ð10Þ

e ¼ ½ ex ey ew  T ð11Þ
 
y_ d
wd ¼ tan1 ð12Þ
x_ d
Tracking Control Design for Underactuated (lAUV) ... 7

The first objective of this research is in designing a controller for an underac-

tuated AUV to track a predefined, time-varying trajectory in the horizontal plane.
Using only force in surge direction and moment in yaw direction, the proposed
controller should be able to converge to zero the tracking error of the underactuated
AUV in the x, y and w directions.
The second objective of this research is to design a robust filter to compensate
the effect of unknown hydrodynamic parameters on the AUV. This is because the
complete mathematical representation of the AUV is not available.

4 Robust Tracking Control Design

This section presents the design of the proposed tracking control of underactuated
AUV in horizontal plane by using robust filter approach. Figure 2 shows the block
diagram of the proposed controller.
There are 3 steps in designing the proposed controller. Firstly, the tracking error
has to be transformed to allow it to be converge by only using force in surge
direction and moment in yaw direction. The Earth-fixed tracking error vector
described as shown in (10) is transformed into introduced error vector in
Body-fixed frame as shown in (13).

ge ¼ ½ x e ye we T ð13Þ

xe ¼ cosðwÞex þ sinðwÞey ð14Þ

ye ¼  sinðwÞex þ cosðwÞey ð15Þ

we ¼ ew þ aye ð16Þ

Second step is in designing a robust filter to compensate the effect of added mass
and hydrodynamic damping force on the AUV system as used by [12]. Since the
complete mathematical representation of the AUV is unknown, an artificial signal
of equivalent disturbance, q as shown in (17) which represent effect of added mass
and damping force on the AUV system is introduced. This equivalent signal is then
compensated by compensating signal as shown in (18) produced by a unity gain,

Fig. 2 Block diagram of the proposed controller

8 M. A. B. A. Wahed and M. R. Arshad

low pass filter. FLP represent the low pass filter with fs and fl representing the two
positive constants related to undamped natural frequency of the filter.

MRB v_ þ q ¼ s ð17Þ

uR ¼ FLP q ð18Þ

q ¼ s  MRB v_ ð19Þ
h i
fl fs fl fs
FLP ðsÞ ¼ ðs þ fl Þðs þ fs Þ 0 ðs þ fl Þðs þ fs Þ ð20Þ

Final step is to designed a nominal controller to introduce desired error dynamic

into the AUV system. The nominal control signal which is similar to PD controller is
shown in (21). KD and KP represent derivative and proportional gain matrix
respectively. A predefined error dynamic as shown in (22) will converge the
introduced tracking error to zero by using a suitable derivative and proportional gain.

uN ¼ MRB ðKD g_ e þ KP ge Þ ð21Þ

€ge þ KD g_ e þ KP ge ¼ 0 ð22Þ

In the proposed controller, two input from robust compensator and nominal
controller is used as shown in (23). Where uR is robust compensating signal while
uN is nominal control signal.

s ¼ uR þ uN ð23Þ

5 Simulations

For simulation, SimulinkTM is used to verify the performance of the proposed

controller. AUV parameters derived in (1) based on parameters presented in [1] is
used as the AUV parameters while control parameters values are shown in (24)–
(27).

KP ¼ diag½ 0:2 0 0:89  ð24Þ

KD ¼ diag½ 0:2 0 0:89  ð25Þ

fl ¼ 8 ð26Þ

fs ¼ 2 ð27Þ

Simulation 1 is performed to test the performance of the proposed controller in a

straight line trajectory with a constant velocity. The parameter of the value used is
Tracking Control Design for Underactuated (lAUV) ... 9

Table 1 Straight-line trajectory with constant velocity simulation parameters

Desired trajectory gd ¼ ½ 0:2t 0:5 0 T
Initial position in y direction eð0Þ ¼ ½ 0 0:5 0 T
Initial velocity in x direction e_ ð0Þ ¼ ½ 0:2 0 0 T
Positive constant related to converging rate of ye a¼1

Fig. 3 Position response of straight-line trajectory tracking

shown in Table 1 and the results are shown in Figs. 3, 4 and 5. At a constant
velocity, the controller is able to track a straight-line trajectory and converge to zero
the initial error in y direction within 30 s.
Next, simulation 2 is done to show the capabilities of the proposed controller in a
sinusoidal desired trajectory against a Model Free High Order Sliding Mode
Control (MFHOSMC) controller designed by [6]. The parameter of the value used
is shown in Table 2. From Fig. 6, both controller is able to achieve a path similar to
the desired path. In Fig. 7, the tracking error reach steady state for proposed con-
troller in 22 s while MFHOSMC controller requires 25 s. Finally, Fig. 8 shows the
comparison for the controllers to reach steady state in y direction with the proposed
controller tracking error bounded to within 2  10−3 while SMC controller
bounded within 20  10−3. The tracking error is bigger in y direction due to no
actuator in y direction.
10 M. A. B. A. Wahed and M. R. Arshad

Fig. 4 Tracking error in x direction of straight-line trajectory tracking

Fig. 5 Tracking error in y direction of straight-line trajectory tracking

Tracking Control Design for Underactuated (lAUV) ... 11

Table 2 Sinusoidal trajectory tracking simulation parameters

Desired trajectory gd ¼ ½ 0:2t sinð0:05tÞ 0:25 cosð0:05tÞ T
Initial position in y direction eð0Þ ¼ ½ 0 0 0:25 T
Initial velocity in x direction e_ ð0Þ ¼ ½ 0:2 0:05 0 T
Positive constant related to converging rate of ye a¼4

Fig. 6 Position response of sinusoidal trajectory tracking

Fig. 7 Tracking error in x direction of sinusoidal trajectory tracking

12 M. A. B. A. Wahed and M. R. Arshad

Fig. 8 Tracking error in y direction of sinusoidal trajectory tracking

6 Conclusions

This paper proposed an underwater tracking control method using robust filter
approach. By using the proposed controller, the effects of external influences on
AUV’s system behavior with subjects to the constraint of not having a complete
representation of the AUV system has been minimized. Simulation results show
that the proposed controller is able to track trajectory of straight-line and sinusoidal
with an excellent performance.

Acknowledgements The authors would like to thank RUI grant (Grant no.: 1001/PELECT/
8014088) and Universiti Sains Malaysia for supporting the research.

References

1. Wahed MA, Arshad MR (2019) Modeling of Torpedo-Shaped Micro Autonomous

Underwater Vehicle. Springer, Singapore
2. Shtessel Y, Edwards C, Fridman L, Levant A (2014) Sliding Mode Control and Observation.
Springer, New York
3. Guo J, Chiu FC, Huang CC (2003) Design of a sliding mode fuzzy controller for the guidance
and control of an autonomous underwater vehicle. Ocean Eng 30(16):2137–2155
4. Hoang NQ, Kreuzer E (2008) A robust adaptive sliding mode controller for remotely operated
vehicles. Tech Mech 28(3–4):185–193
5. Deng CN, Ge T (2013) Depth and heading control of a two DOF underwater system using a
model-free high order sliding controller with transient process. In: Proceedings of 2013 5th
Tracking Control Design for Underactuated (lAUV) ... 13

International Conference on Measuring Technology and Mechatronics Automation,

ICMTMA 2013, pp 423–426
6. García-Valdovinos LG, Salgado-Jiménez T, Bandala-Sánchez M, Nava-Balanzar L,
Hernández-Alvarado R, Cruz-Ledesma JA (2014) Modelling, design and robust control of
a remotely operated underwater vehicle. Int J Adv Robot Syst 11(1):1–16
7. Prasanth Kumar R, Dasgupta A, Kumar CS (2007) Robust trajectory control of underwater
vehicles using time delay control law. Ocean Eng 34(5–6):842–849
8. Park JY, Cho BH, Lee JK (2009) Trajectory-tracking control of underwater inspection robot
for nuclear reactor internals using Time Delay Control. Nucl Eng Des 239(11):2543–2550
9. Zhong YS (2002) Robust output tracking control of SISO plants with multiple operating
points and with parametric and unstructured uncertainties. Int J Control 75(4):219–241
10. Gilbert S, Varghese E (2017) Design and simulation of robust filter for tracking control of
quadcopter system. In: 2017 International Conference on Circuit, Power and Computing
Technologies, ICCPCT, Kollam, pp 1–7
11. Yu Y, Zhong YS (2008) Robust tracking control for a 3DOF helicopter with multi-operation
points. In: Proceedings 27th Chinese Control Conference, CCC, pp 733–737
12. Song YS, Arshad MR (2016) Tracking control design for autonomous underwater
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2016, pp 374–380
Another Random Scribd Document
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The Project Gutenberg eBook of Trouble
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Title: Trouble

Author: George O. Smith

Illustrator: Swenson

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Language: English

Original publication: United States: Street & Smith Publications,

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*** START OF THE PROJECT GUTENBERG EBOOK TROUBLE ***

Trouble
 By GEORGE O. SMITH

[Transcriber's Note: This etext was produced from

Astounding Science-Fiction, July 1946.
Extensive research did not uncover any evidence that
the U.S. copyright on this publication was renewed.]
Tom Lionel, Consulting Engineer, awoke with a shake of his head. At
once, he was out of bed. He consulted first the calendar and then the
clock. The thought struck him funny. He hadn't been drinking, but the
idea of looking at a calendar upon awakening might be construed as
an admission that he didn't know what time of what day it was.
Or mayhap what month.
"Ding it," he grunted. "I've been away again."
He dressed by stages. At the trousers department, Tom wandered out
into the living room and stood over a chessboard, studying the set-up.
The opponent had moved the queen to the rook's fourth, menacing
his bishop. Tom smiled and moved his knight to his knight's sixth and
checked the opponent's king on the rook's first, and the queen
simultaneously. He slid the drawer below the table open and removed
a little standing sign that said, in red, block letters:

CHECK!
"Let him try that one, will he?" laughed Tom. The move was basic; in
checking the king and menacing the queen simultaneously, Tom had
—or would upon the next move—collect himself his opponent's queen
with no great loss.
At the shirt and necktie stage, Tom Lionel stood teetering on his heels
before the bookcase on the right of the fireplace. He took from the
case a slim volume and read the title with considerable distaste:
"Theory of Monomolecular Films in Fission-Reaction"
By A. G. Rodan, Ph.D., M.M., LL.D.
"Yipe!" exploded Tom as he opened the book and glanced at the
price: $9.50. With ease he prorated the price against the thickness of
the volume and came to the estimate that the book had cost
approximately nineteen dollars per inch excluding covers. He riffled
through the pages and paused here and there to read, but the pages
themselves were a good average of four lines of text to the rest of the
page full of nuclear equations.
Tom Lionel snorted. He ran down through one of the arguments and
followed it to conclusion.
"Why can't he get something worth reading?" he yawned, putting the
book back in its place. "Darned impractical stuff." As usual with a man
who spends much time in his own company, Tom Lionel talked aloud
to himself—and occasionally was known to answer himself back.
"The whole trouble with the entire tribe of physicists per se is the fact
that once, someone told one of them that he was a theorist, an
idealist, and a dealer in the abstract. Now the bunch of them are
afraid to do anything practical because they're afraid if they do,
people won't know they're physicists. Physicists are a sort of
necessary, end-product evil."

During the breakfast section of Tom's morning duties, Tom read the
latest copy of the "Proceedings of the I.R.E." with some relish. A
paper on the "Crystallographic Generation of Microwaves" complete
with plainly manipulated differential calculus and engineering data
occupied most of his time. The rest of the time through coffee he was
making marks on the tablecloth with the egg-laden end of his fork and
trying to fit the crystallographic generation of microwaves into a
problem that made the article most timely; the solution for which he
had been seeking for a week.
The mail arrived. Three household bills were filed in the desk to await
the first of the month. Two advertisements were filed into the
wastebasket. One thick letter addressed to Thomas Lionel, Ph.D.,
M.M., was taken carefully between thumb and forefinger and
deposited in a letter file.
Tom then inspected the other letter file and found two letters
addressed to Tom Lionel, Consulting Engineer, which he opened and
read. One was from a concern in Cedar Rapids that wanted some
information on a method of induction heating glued joints selectively
without waiting for the normal drying time. The other was a letter from
a medium-sized town in Illinois pertaining to some difficulty they were
having with police-radio coverage of that area.
Both letters meant money, and Tom Lionel set the first aside while he
started to work on the second. From the engineering data supplied by
the local engineer, Tom decided that a change in antenna height and
a conversion from quarter-wave current fed to a one and one quarter-
wave current fed antenna would give the desired coverage. He
concluded his letter with four pages of calc, seven diagrams, and as a
last measure dropped a photograph of a similar installation in the
envelope.
He gloated. That would net him a pretty penny. The guy who hung
that antenna on top of the water tank thought he was smart, getting
all that height. But the roof was metal, and therefore the radiation
angle took off from the rooftop as a basis rather than the true ground
a hundred feet below.
The tank top was greater than three wave lengths in diameter, and
conical to boot. Tom grinned at the maze of mathematics that solved
it—and as far as he was concerned it was solved, for Tom Lionel was
a top-flight engineer.
He checked on his calendar. Metal for the sonic job was not due for a
week yet; a minute casting was still being held up for the foundry's
pleasure; and the life-test of the bearing-jewel for the Watson
Instrument Corporation was still on. Good jewel that. No sign of
freeze-up or wear-out after twenty-seven million cycles.
"Theory of Monomolecular Films be hanged," he snorted. "He's the
kind of a guy that would try to analyze the brew that MacBeth's three
witches were cooking up. And don't ask why!"
What he objected to most was the other's unconcern at spending
money. Nine bucks and fifty cents for a book of the most questionable
theory—and nine fifty that the other didn't really earn. It was getting
worse. The other was really beginning to obtrude. He hadn't minded,
particularly, except for the mental anguish. He'd become reconciled to
it by sheer rationalization. Way, way down deep in his heart he knew
that he'd have enjoyed being a physicist himself. But physicists were
not particularly practical, and money was made with practical things.
He knew, and recognized, that his retreat from being a physicist
himself had given him a dislike for the breed, especially when he
knew that solution of a problem was theirs, but reduction to practice
was his. He was continuously being forced to take some physicist's
wild-haired scheme and making it cook meat, open cans, or dig post
holes. The physicist had all the fun of standing on the threshold and
delving into phenomena that abounded just over the line. And then
instead of working on the suggestion that the physicist had located in
the wilderness, the physicist just tossed it over his shoulder into
Lionel's lap and went on digging.
Obviously it must be fun to dig in the unknown, but why in the name
of sense—
"Theory of Monomolecular Films in Fission-Reaction," scowled Tom
Lionel. "A hypothesis on a theory for an idea, based upon a practical
impossibility, and directed at a problem solvable only by concentrated
masses. He should be working in a negative universe where
nonmatter repels nonmatter disproportionately to the nonmass and
inversely disproportional to the not-square of the not-distance
between. Holy Entropy."

Tom Lionel went out of the house, mentally tinkering with the glue-
joint heating problem. That shouldn't be hard, he thought, high-
frequency heating was no trick, though the furniture company
probably had no one in the place that knew what high frequency
really meant.
He'd take a chair, rip it apart at the joints, and start tinkering with the
big radio-frequency heater in the lab. Another fat consulting fee—
eminently practical and satisfying—from the simple engineering of a
means to accelerate the drying of glue by electronics.
Eminently practi—hell!
Lionel stared. The door closed slowly behind him as he walked ever
so slowly across the floor of the lab. There was his radio-frequency
heater, all right. But it was not in its usual place. It was across the
room nuzzling up against another piece of equipment—the latter new,
shining, and absolutely alien to the lab.
Tom went over to the set-up and inspected it with critical derision.
The alien piece of equipment had been a standard model of mass
spectrograph. Its sleek sides were gaping open, and the high-
frequency heater was permanently wired—piped—into the very heart
of the spectrograph. Peering into the maze of one-inch copper tubing
that led from the output of the high-frequency heater to the insides of
the spectrograph, Lionel saw at once what the reason was.
The spectrograph had been overhauled by the physicist. It now
contained a pair of "D" chambers.
Operating on the cyclotron principle, the spectrograph was using the
output of the high-frequency heater to energize the D chambers.
Lionel nodded. The frequency was about right; could be adjusted to
the proper value without any trouble at all. He felt an infinitesimally
short twitch of admiration for the idea before he started to roar in
anguish.
His first impulse was to rip the gadget apart so that he could go to
work on something practical. But the engineer's admiration for the
idea stopped him.
But this was getting thick.
It had been getting thicker for a long time. It was getting intolerable.
He didn't mind too much having volumes of utterly cock-eyed theory
about the place, but when the physicist starts to appropriate
equipment for his screwball ideas, it was time to call a halt.
Lionel left the laboratory, returned to his house, and called a
psychiatrist.
An hour later he was in Dr. Hamilton's office.
"Why are you here?" asked Hamilton pleasantly.
"I want to get rid of a physicist."
"Tell him to go away."
"Can't. Impossible."
"Nothing is impossible."
"Look, doctor, have you ever tried to light a safety match on a wet bar
of soap?"
"Suppose you tell me about it, then."

Tom Lionel was more than talkative for a half hour.

"A clear-cut case of split-personality. A most remarkable cleavage."
Lionel muttered something.
"What did you say?"
"I'd rather not repeat it," said Tom.
"Please—it may have a bearing on your case."
"I was merely thinking of an hypothetical case. Says the doctor to his
associate: 'Doctor, look at this magnificent tumor,' and his buddy
answers: 'Lovely, but you should see my case of angina; it's positively
beautiful.'"
"Oh?"
"So I'm a most remarkable case, huh?"
"You are. There seems to be a deep-seated liking for one another
that has been barred psychologically by certain factors in your youth.
You play chess. You respect one another's property—"
"That's what you say. The other bird just screwed up my dielectric
heater to fiddle up a cyclotronic spectrograph."
"Might try putting it to work," observed Hamilton.
"Oh, I will. After all, he can't get ahead of me."
"Then why the outcry?"
"Because who knows what he'll do next."
"He's appropriated things before?"
"Only to the extent of buying books."
"What manner of books?"
"The last one he purchased was entitled 'The Theory of
Monomolecular Films in Fission-Reaction.'"
"Mind explaining that? It sounds like Greek to me."
Lionel smiled tolerantly. "If you have a flat table and a pile of kid's toy
blocks, you can either build a structure or lay 'em on the table in a
single layer. Since molecules are often called the building-blocks of
the universe, the analogy is quite clear. The blocks in a single layer
form a monomolecular layer. Fission reaction is a self-sustaining
nuclear reaction."
"Sounds quite erudite."
"In the first place, no one with any sense would try to make use of it.
It is the type of volume that a physicist would write in the hope that he
will get letters pro and con on the subject which will be useful in
forming a later theory."
"Then it is not a complete waste of time."
"Any time I lay out nine bucks for a half-inch of paper—"
"Expensive, isn't it?" asked the doctor.
"Sure. Those things are not best sellers, usually. The publisher puts it
out in the name of science and must at least get his printing cost out
of the very limited edition."
"I see. And you want to get rid of this physicist?"
"Who wouldn't? After all, I had this body first. He's an interloper."
"Seems that way."
"It is—and it's annoying."
"We may be able to do something about it," said the psychiatrist.
"Permit me to think about this for a few days. We'll have another
consultation in a week. We may require another one before I make a
decision. But it seems to me that you are both intelligent, useful
citizens. Neither of you is irresponsible or dangerous. You have
enough money to afford schizophrenia for a while. Especially if the
personality B dreams up things that personality A makes practical,
financially advantageous use of. Ergo you need fear nothing for a few
weeks."
"Ugh. Means I'll have to go out and buy another high-frequency
heater. O.K., doctor. I'll lay low."

Thomas Lionel, Ph.D., M.M., awoke with a shake of his head. At

once, he was out of bed. He consulted first the calendar and then the
clock. The thought struck him funny. He hadn't been drinking, but the
idea of looking at a calendar upon awakening might be construed as
an admission that he didn't know what time of what day it was.
Or mayhap what month.
"I've been away again," he grunted.
He dressed by stages. At the trousers department, Thomas
wandered out into the living room and stood over the chessboard,
studying the set-up.
He removed the little sign that said:

CHECK!
and dropped it into the drawer again. He moved his king aside with a
contemplative smile. His queen was gone on the next move, he knew.
So he had lost a major piece. So that other bird thought that losing a
major piece was bad, huh? Well, winning battles does not count—it is
a matter of who wins the last one.
He found the volume on the theory of monomolecular films and
started to read with relish. Over coffee, at breakfast, Thomas made
notations on the margin of the book with a pencil; checked some of
the equations and though he found them balanced properly, the
author was amiss in not considering the lattice-effect in his
presumptions. No monomolecular film could follow that type of
reaction simply because—well, it could follow it, but since the thing
was to take place in a monomolecular film, the fission-reaction and
the radiation byproducts that cause the self-sustaining nature could
only be effective in a plane of molecular thickness. That meant a
.999999% loss, since the radiation went off spherically. Fission-
reaction might take place, but it would be most ineffective. Besides,
the equations should have taken that into account.
He stopped by the desk and wrote for a half hour, filling seventeen
pages full of text and mathematics, explaining the error in the author's
presumption.
He sealed it up and mailed it with some relish. No doubt that letter
would start a fight.
He found his letter in the letter file and read it. It was a request to
indulge in some basic research at a fancy figure, but Thomas was not
particularly interested. He was thinking of another particular line of
endeavor. He dropped the letter into the wastebasket.
He went into the lab and took a look at his cyclotronic spectrograph.
There was a letter hung on the front. Thomas opened it and read:
Dear Isaac Newton:
I don't particularly mind your laying out thirty-five hundred bucks for a
mass spectrograph.
Appropriating my high-frequency generator didn't bother me too
much.
Nor did your unsymmetrical wiring and haywire peregrinations in and
about the two of them annoy (too acutely) my sense of mechanical
and electrical precision.
But the idea of your using the ##&&%!! spectrograph only once—just
for pre-change calibration—makes me madder than mad!
Sincerely,
Tom Lionel,
 Consulting Engineer
Thomas grinned boyishly and picked up the notebook on top of the
high-frequency heater. It was Tom's, and the physicist riffled through it
to the last-used pages. He found considerable in the way of notes
and sketches on the cyclotronic spectrograph. Cut in size by about
one quarter, the thing would be not only a research instrument of
value, but would be of a price low enough to make it available to
schools, small laboratories, and perhaps production-lines—if Tom
Lionel could find a use for a mass spectrograph on a production line.
Thomas grinned again. If it were possible, Tom would certainly have it
included on some production line, somewhere.
He looked the spectrograph over and decided that it was a fine piece
of apparatus. So it wasn't the shining piece of commercial panel and
gleaming meters. The high-frequency plumbing in it had the touch of
a one-thumbed plumber's apprentice after ten days' drinking and the
D plates were soldered together with a heavy hand. But it did work—
and that's all he cared. The knobs and dials he had added were
sticking out at all angles, but they functioned.
And the line-voltage ripple present in the high-frequency generator
made a particular mess out of the spectrograph separation. But
electronic heaters do not normally come luxuriously equipped with
rectifiers and filters so that the generator tubes were served with pure
direct current—the circuit was self-rectified which would give a
raucous signal if used as a radio transmitter. That generated a ripple-
varied signal for the D plates and it screwed up the dispersion. The
omission of refinement satisfied Thomas. So it wasn't perfect. It would
be by the time Tom Lionel got through with it.
And for the time being, Thomas would leave it alone. No use trying to
make it work until Tom made an engineering model out of the
physicist's experiment.
Smiling to himself, Thomas went to work in the laboratory. He ignored
Tom's experiments and started a few of his own accord.
Some hours later, the doorbell rang and Thomas went to the door to
find a letter, addressed to Thomas Lionel, Ph.D. It was from an Arthur
Hamilton, M.D.
"Hm-m-m," said Thomas. "Is there something the matter with me?"
He slit the envelope and removed a bill for consultation.
"Consultation? Consultation? What in the name of all that's unholy is
he consulting a doctor about? Or is the doctor consulting—no, the bill
is rendered in the wrong direction. I know my consulting engineer."
The physicist put on his hat and headed forth. It was not much later
that he was sitting again in the same chair, facing Hamilton.
"You're back."
"Nope," smiled Thomas. "I'm here, not back."
"But you were here last week."
"That was another fellow. Look, Hamilton, I think I require your
assistance. I have an engineer that is no end of bother."
"Want to get rid of him, huh?" answered Hamilton. The suppressed
smile fought valiantly and won, and the doctor's face beamed and
then he broke into laughter. "What am I, anyway? Man, I can't take
money from both sides. That's ... that's ... barratry, or something."
"I'm the same man."
"Nope. You are not."
"Well, by and large, I thought it might be of interest to you to hear
both sides. It might be that I am a useful citizen in spite of what the
engineer says."
"The engineer's opinion is that no physicist is worth an unprintable."
"The physicist's opinion is that all engineers are frustrated physicists."
"Might challenge him to a fight."
"Have. But chess isn't too satisfying. I want blood."
"It's your blood."
"That's the annoying part of it all. He seems entirely a different
fellow."
"The cleavage is perfect. You would think him a separate entity."
Hamilton paused, "But neither of you refer to the other by name. That
indicates a psychological block that may be important evidence."
"O.K., what do we do?"
"I must discover the reason for the split personality."
"I can give you that reason. The engineer was forced into being a
practical man because money lies in that direction. Upon getting out
of college, there was a heavy debt. It was paid off by hard work—a
habit formed and never broken. Bad habits, you know, are hard to
break."
"Interesting."
"Well, the desire to delve into the physicist's realm stayed with the
engineer, but people who had heavy purses were not interested in
new ways to measure the ether-drift or the effect of cosmic radiation
on the physical properties of carbon. Money wants more perfect
pencil sharpeners, ways of automatically shelling peas, and efficient
methods of de-gassing oil. All these things are merely applications in
practice of phenomena that some physicist has uncovered and
revealed and put on record so that some engineer can use the effect
to serve his ends.
"At any rate, the desire to be a physicist is strong, strong enough to
cause schizophrenia. I, Dr. Hamilton, am a living, breathing, talking
example that an engineer is but a frustrated physicist. He is the
troubled one—I am the stable personality. I am happy, well-adjusted,
and healthy."
"I see. Yet he has his point. You, like other physicists, are not
interested in making money. How, then, do you propose to live?"
"A physicist—or an engineer—can always make out well. The bank
account at the last sitting was something like ninety-four thousand,
six hundred seventeen dollars and thirty-four cents."
"That's quite a lot of money."
"The engineer considers it a business backlog," said Thomas.
"Equipment is costly. Ergo—see?"
"I see. Seems you laid out a large sum of money for a mass
spectrograph."
"I did."
"And what did he do?"
"He made notes on it and is going to peddle it as a commercial
product. He'll probably make fifty thousand dollars out of it."
"I suggested that," admitted the psychiatrist.
"That's all right. I don't mind. It sort of tickles me, basically. I do things
constantly that make him roar with anguish. And then his only rebuttal
is to take it and make something practical out of it."
"I see."
"That, you understand, is the game that has been going on for some
time between all physicists and engineers."
"If you'd leave one another alone, you'd all be better off," said
Hamilton. "From what I've heard, the trouble lies in the fact that
physicists are not too interested in the practical details, whilst the
engineer resents the physicist's insistance upon getting that last point
zero two percent of performance."
"Are you willing to give me my answer?"
"What answer?"
"How do I get rid of the engineer? One of us has got to go, and being
the stable, happy one, I feel that all in all I am the best adjusted and
therefore the most likely to succeed. After all, I am the ideal
personality according to the other one. He'd like to be me. That's why
he is, from time to time."
"Sort of a figment of your own imagination."
"That's me."
"Then I wonder—Yet, I did accept his case, not yours."
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