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- 저자 : Mohd Helmi Suid (검색결과 2 건)
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Suid, Mohd Helmi,Jusof, M F.M.,Ahmad, Mohd Ashraf The Korean Institute of Electrical Engineers 2018 Journal of Electrical Engineering & Technology Vol.13 No.3
A new nonlinear filtering algorithm for effectively denoising images corrupted by the random-valued impulse noise, called dual sliding statistics switching median (DSSSM) filter is presented in this paper. The proposed DSSSM filter is made up of two subunits; i.e. Impulse noise detection and noise filtering. Initially, the impulse noise detection stage of DSSSM algorithm begins by processing the statistics of a localized detection window in sorted order and non-sorted order, simultaneously. Next, the median of absolute difference (MAD) obtained from both sorted statistics and non-sorted statistics will be further processed in order to classify any possible noise pixels. Subsequently, the filtering stage will replace the detected noise pixels with the estimated median value of the surrounding pixels. In addition, fuzzy based local information is used in the filtering stage to help the filter preserves the edges and details. Extensive simulations results conducted on gray scale images indicate that the DSSSM filter performs significantly better than a number of well-known impulse noise filters existing in literature in terms of noise suppression and detail preservation; with as much as 30% impulse noise corruption rate. Finally, this DSSSM filter is algorithmically simple and suitable to be implemented for electronic imaging products.
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Composite PD and Fuzzy Logic Approach for Vibration of Elastic Joint Manipulator
Mohd Ashraf Ahmad,Raja Mohd Taufika Raja Ismail,Mohd Syakirin Ramli,Mohd Anwar Zawawi,Mohd Helmi Suid 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite collocated proportional-derivative (PD) and Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator respectively. To study the effectiveness of the controllers, a collocated PD Controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller for vibration reduction of the flexible joint system. Simulation results of the response of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the composite control schemes are examined in terms of input tracking capability, level of vibration reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.
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