Prof. Dr. Ir. Mohammad NUH, DEA

Profil Dosen

NIP   195906171984031002
Nama   Prof. Dr. Ir. Mohammad NUH, DEA
Email   nuh[at]ee.its.ac.id
Pendidikan   S1: ITS, Sistem Pengaturan-Teknik Elektro (1978-1983)
S2: USTL Montpellier Perancis, Signaux et System (1986-1987)
S3: USTL Montpellier Perancis, Sistem Biomedika (1988-1990)

Penelitian dan Publikasi

Journal Articles

2017

[1] Basith, Aidatunisadina Linazizah; Setiawan, Stanley; Arifin, Achmad; Arrofiqi, Fauzan; Nuh, Muhammad, "Design and Tests of A Wearable Functional Electrical Stimulation (FES) System for Knee Joint Movement Using Cycle-To-Cycle Control Method", Journal of Theoretical and Applied Information Technology, 15th June 2017. Vol.95. No 11. pp. 2523-2571.

Paralysis has became more widespread nowadays. Mostly caused by stroke, spinal cord injury, and multiple
sclerosis, the growing number of paralysis case also implied for a better treatment for its bearer. Some of
the main problems for individual with paralysis is to improve health problems related to paralysis and to
decrease the dependence to other people by regaining muscle function. In this study, a wearable functional electrical stimulation with cycle-to-cycle control system for knee joint movement restoration was developed. The system consists of sensor system, electrical stimulator, and fuzzy logic controllers. The controller was developed as Single Input Single Output (SISO) controller for knee flexion movement and Multi Input Single Output (MISO) controller for knee extension movement. Sensor system was used to measure angle of knee joint. A combination of two inertial sensors, accelerometer and gyroscope, made up the sensor system. The angle measured by sensor system was also used as feedback to realize closed-loop control. The data from the system could be monitored and saved as database using user interface program in a PC/laptop. Tests with neurologically intact subjects was done to test the performance of the system designed. It resulted in small number of RMSE and Settling Index for both maximum knee flexion and maximum knee extension control. The system designed was expected to be developed further to provide a full wearable FES system for lower limb motoric restoration.
Keywords: Functional Electrical Stimulation, Cycle-to-cycle Control, Knee Joint, Fuzzy System

2015

[1] Fitrianto, Idil; Fitrianto, Idil; Arifin, Achmad; Nuh, Mohammad; Fitrianto, Idil; Arifin, Achmad;, "Rancangan Kontroler Perangkat Keras EH1 Milano Dengan Modul Wireless Electronics", Jurnal Teknik ITS, Vol. 4, No. 1, pp. A53--A58, 2015

Teknologi dalam dunia robot medis perkembangannya sangat pesat sekali, salah satunya adalah EH1 Milano yang dimiliki oleh salah satu laboratotium yang ada di kampus ITS Surabaya. Modul lengan robot EH1 Milano sebelumnya telah di riset oleh mahasiswa teknik elektro. Kekurangan dari riset tersebut, sistem perangkat keras masih terlalu rumit karena interface antara robot dan user masih menggunakan kabel. Sistem yang dirancang menggunakan modul Wireless Electronics untuk mengatasi masalah pengkabelan dan modul yang digunakan adalah modul Bluetooth model HC dengan jarak jangkauan sampai dengan 50 meter dan waktu pairing rata-rata 8 detik. Sensor flex dengan karakteristik sensor yang linier, dengan error percentage terkecil sebesar 0,58% sedangkan terbesar 15,13% terhadap garis linier dapat menggantikan sensor yang sebelumnya digunakan. Untuk penelitian berikutnya dapat ditambahkan EMG sebagai pembanding impuls dari sensor flex dengan sinyal electromyogram dari tiap-tiap jari.
link: www.ejurnal.its.ac.id

[2] Fuad, Muhammad Faris Zaini; Arifin, Achmad; Nuh, Mohammad;, "Perbaikan Sistem Kendali Robot Tangan EH1 Milano Menggunakan Sistem Kendali Loop Tertutup", Jurnal Teknik ITS, Vol. 4, No. 1, pp. A59--A64, 2015

Teknologi robotika sangat berkembang pesat dan penggunaanya semakin luas. Prensilia EH1 Milano dikembangkan sebagai organ buatan untuk menggantikan peranan tangan manusia yang cacat atau diamputasi. Robot EH1 Milano dilengkapi satu buah motor untuk masing-masing jari, sensor proximity untuk mendeteksi jari terbuka atau tertutup penuh, dan sensor arus yang digunakan untuk mengatur kekuatan genggaman dari robot tangan. Sebelumnya telah dibuat sistem mikrokontroler untuk mengendalikan robot tangan EH1 Milano, dengan sensor gerak berupa sarung tangan yang dilengkapi potensiometer, akan tetapi belum dapat melakukan gerakan menggenggam benda. Dalam penelitian ini dirancang sistem untuk mengendalikan robot EH1 Milano menggunakan sensor gerak berupa sebuah sarung tangan yang diengkapi flex sensor, yang berfungsi untuk mendeteksi gerakan tangan manusia dengan menggunakan kendali PID. Flex sensor digunakan karena lebih sensitif terhadap perubahan gerakan tangan dan memudahkan untuk mengendalikan robot untuk melakukan gerakan menggenggam benda. Dari pengujian yang dilakukan menunjukkan bahwa dengan sistem kendali yang diterapkan, robot tangan EH1 Milano dapat melakukan gerakan menggenggam benda dengan diameter lebih dari 5 cm. Performansi yang dihasilkan sistem kendali yang dibuat cukup baik dengan RMSE rata-rata tertinggi sebesar 0.102%± 0.016%. Untuk penelitian selanjutnya perlu perbaikan pada sensor gerak untuk ibu jari, agar pergerakan pada ibu jari dapat dilakukan dengan maksimal.
link: ejurnal.its.ac.id

2012

[1] Triwiyatno, Aris; Nuh, Mohammad; Santoso, Ari; Sutantra, I Nyoman;, "Engine Torque Control of Spark Ignition Engine using Fuzzy Gain Scheduling", International Journal of Electrical Electronics Research & Innovation (IJEERI), Vol. 10, No. 1, pp. 83, 2012

In the spark ignition engine system, driver convenience is very dependent on satisfying engine torque appropriate with the throttle position given by the driver. Unfortunately, sometimes the fulfillment of engine torque is not in line with fuel saving efforts. This requires the development of high performance and robust power train controllers. One way to potentially meet these performance requirements is to introduce a method of controlling engine torque using fuzzy gain scheduling. By using this method, the throttle opening commanded by the driver will be corrected by throttle correction signal that guarantees engine torque output will follow the desired engine torque input, and also reducing fuel consumption. In this case, spark ignition engine with automatic transmission is used to meet a good performance under this controller design.
link: journal.uad.ac.id

2011

[1] Agustinah, Trihastuti; Jazidie, Achmad; Nuh, Mohammad;, "Fuzzy tracking control based on H∞ performance for nonlinear systems", WSEAS Trans. Sys. Cont, Vol. 6, pp. 393-403, 2011

This paper presents a fuzzy tracking control design based on H∞ performance for nonlinear systems. The Takagi-Sugeno fuzzy model is employed to approximate a nonlinear system. Based on the H∞ tracking performance, the nonlinear system output is controlled to track a reference signal, and at the same time the tracking performance is attenuated to a prescribed level. Linear matrix inequalities (LMI) techniques are used to solve the fuzzy tracking control problem. The proposed method has been applied to control of a laboratory pendulum-cart system. Hence, the performance has been evaluated in simulations as well as in real-time control

[2] Agustinah, Trihastuti; Jazidie, Achmad; Nuh, Mohammad;, "Swinging up and tracking controller design for a pendulum-cart system using hybrid fuzzy control", European Journal of Scientific Research, Vol. 62, No. 2, pp. 182-197, 2011

This paper presents the design and implementation of a hybrid fuzzy control for the swinging up and the tracking control of a pendulum-cart system. First, a fuzzy swing-up controller is developed to swing the pendulum up from its pendant position to upright position using a simple control strategy. Next, a fuzzy tracking controller is designed based on a synthesis of the tracking control theory of linear multivariable control and the Takagi– Sugeno fuzzy model. The stabilizing compensator based on observer is chosen because the states of the system are not all directly measurable. The concept of parallel distributed compensation is employed to design fuzzy tracking controller from the T–S fuzzy model. Numerical simulation and real-time experiment are provided to demonstrate the effectiveness of the proposed method. Keywords:

[3] Triwiyatno, Aris; Nuh, Mohammad; Santoso, Ari; Sutantra, I Nyoman;, "Engine Torque Control of Spark Ignition Engine Using Robust Fuzzy Logic Control", IACSIT International Journal of Engineering and Technology, Vol. 3, No. 4, pp. 2-8, 2011

Due to government regulations and policies aimed at improving fuel economy and reducing emissions, it is increasingly important to achieve control over transient behavior and meet performance objectives over the life of the vehicle. This requires the development of high performance and robust power train controllers. The performance objectives are often conflicting, or at best interrelated. Controlling engine torque is one way to potentially meet these performance requirements. Spark ignition engine is a combustion engine that operates with a very wide operating point. Each point of engine operation provides different properties to each other, so that the control treatment to be given varies a great deal. This problem led to a single controller design becomes very difficult to be realized. In this research, a new design method of fuzzy robust control proposed to provide an alternative solution to build an integrated-control that can anticipate a system that works on a wide operating point and have different characters for each operating point. From the simulation results, it can be concluded that the design of robust fuzzy controller can be used simultaneously for several operating point without having to redesign the controller. Index

[4] Triwiyatno, Aris; Nuh, Mohammad; Santoso, Ari; Sutantra, I Nyoman;, "A New Method of Robust Fuzzy Control : Case Study of Engine Torque Control of Spark Ignition Engine", International Journal of Academic Research, Vol. 3, No. 5, pp. 178-185, 2011

[5] Triwiyatno, Aris; Nuh, Mohammad; Santoso, Ari; Sutantra, I Nyoman;, "Engine Torque Control of Spark Ignition Engine Using Robust Fuzzy Logic Control", IACSIT International Journal of Engineering and Technology, Vol. 3, No. 4, pp. 352-358, 2011

Due to government regulations and policies aimed at improving fuel economy and reducing emissions, it is increasingly important to achieve control over transient behavior and meet performance objectives over the life of the vehicle. This requires the development of high performance and robust power train controllers. The performance objectives are often conflicting, or at best interrelated. Controlling engine torque is one way to potentially meet these performance requirements. Spark ignition engine is a combustion engine that operates with a very wide operating point. Each point of engine operation provides different properties to each other, so that the control treatment to be given varies a great deal. This problem led to a single controller design becomes very difficult to be realized. In this research, a new design method of fuzzy robust control proposed to provide an alternative solution to build an integrated-control that can anticipate a system that works on a wide operating point and have different characters for each operating point. From the simulation results, it can be concluded that the design of robust fuzzy controller can be used simultaneously for several operating point without having to redesign the controller.

[6] Triwiyatno, Aris; Nuh, Mohammad; Santoso, Ari; Sutantra, I Nyoman;, "Engine Torque Control of SI Engine using Linear Quadratic Integral Tracking ( LQIT ) Optimal Control", Iptek, Vol. 22, No. 4, pp. 190-197, 2011

Due to the needs of improving fuel economy and reducing emissions, it is increasingly important to achieve control over robustness behavior and meet performance objectives over the life of the vehicle. This requires the development of high performance and optimal power train controllers. The performance objectives are often conflicting, or at least interrelated. One way to potentially meet these performance requirements is to introduce a method of controlling engine torque of Spark Ignition (SI) engine using Linear Quadratic Integral Tracking (LQIT) optimal control. The goal is to develop simple algorithms which can control engine torque well, thus providing fuel control more efficient and simultaneously improving engine performance due to the needs of the driver based on throttle opening information. In this case, spark ignition engine with automatic transmission simulation model is used to meet a good performance under this controller design.
link: iptek.its.ac.id

2009

[1] Triwiyatno, Aris; Nuh, Mohammad; Santoso, Ari; Sutantra, I Nyoman;, "Fuzzy State Observer Design for Engine Torque Control System of Spark Ignition Engine", TRANSMISI, Vol. 11, No. 3, pp. 159-165, 2009

The T-S (Takagi-Sugeno) model approach consists to construct nonlinear or complex dynamic systems that cannot be exactly modeled, by means of interpolating the behavior of several LTI (Linear Time Invariant) sub models. Since T-S observer based controller has been considered to develop some systematic design algorithms to guarantee the stability and specific performances for the T-S model based systems, this paper represent a new design of fuzzy state observer to estimate the states of engine torque control system of spark ignition engine. Keywords: T-S model, T-S observer, fuzzy state observer, engine torque, spark ignition engine.

[2] Triwiyatno, Aris; Nuh, Mohammad; Santoso, Ari; Sutantra, I Nyoman;, "T-S Fuzzy Model Design for Engine Torque Control System of Spark Ignition Engine", TRANSMISI, Vol. 11, No. 1, pp. 177-182, 2009

On many occasions, fuzzy rule-based systems have been demonstrated to be powerful tools in modeling, decision making and automatic control. The T-S model approach consists to construct nonlinear or complex dynamic systems that cannot be exactly modeled by mathematical model, by means of interpolating the behavior of several LTI (Linear Time Invariant) sub models . In this paper, a new modification fuzzy model based on T-S model will be designed to represent engine torque control system of spark ignition engine, since spark ignition engine is a high non linear system with wide uncertainties that very difficult to be modeled by mathematical model. Keywords: T-S model, fuzzy model, engine torque, spark ignition engine.

Conference Proceedings

2016

[1] Arifin, A; Arrofiqi, F; Watanabe, T; Nuh, M; Basith, A. L.;, "Embedded Fuzzy Logic Controller for Functional Electrical Stimulation System", 2016 International Seminar on Intelligent Technology and Its Application, pp. 89-94, 2016

Functional electrical stimulation (FES) is one of the most common techniques used to improve motor function in individuals with paralysis. In this study, fuzzy logic controller implemented in embedded system for wearable FES was developed. The controller was designed as Single Input Single Output (SISO) and Multi Input Single Output (MISO) controllers to manage electrical stimulation for seven muscles in thigh and shank and to induce certain joint movements. The system was realized in two steps utilizing 32-bit ARM microcontrollers, STM32F429 and STM32F103C8T6, respectively. Closed-loop control was used in the system and realized using feedback from the sensors. Serial communication was utilized for data transmission between embedded system and PC/laptop as monitoring station. Experiments done to test the performance of SISO controller of knee flexion proved that the system was able to adjust burst duration and to control joint movement induced. The system designed was expected to be helpful for clinical application of motor function improvement

2015

[1] Kuswadi, Son; Barakbah, Ali Ridho; Nuh, Mohammad;, "An integrated project-based learning for Intelligent Control lecture and practice at polytechnics graduate school", 2015 International Electronics Symposium (IES), pp. 100-104, IEEE, 2015

This paper presents an integrated project-based learning of lecture and laboratory practice on Intelligent Control course in Master degree Program, at Politeknik Elektronika Negeri Surabaya (PENS). This first skill-based graduate engineering education program in Indonesia, was started since 2013 to fulfill the lack of professional engineers in advanced level to be ready as innovators and leader in industries. Moreover, since the role of PENS as National Resources Polytechnics in electrical and information related fields, this program also provide practical-oriented graduate level education for the country's polytechnic lecturer that inline with the nature of polytechnic education. We will present one of example how we deliver our integrated knowledge and skill to the students, in this case Intelligent Control course. The course enable student learn the knowledge given by lecturer in the classroom, and - together with lecturer - the students design and implement practice in laboratory to get hands on practical ability. By project-based learning, students more actively involve in the learning process, and hence the student-centered learning could be realized.
link: ieeexplore.ieee.org

2011

[1] Agustinah, Trihastuti; Jazidie, Achmad; Nuh, Mohammad;, "Hybrid fuzzy control for swinging up and stabilizing of the pendulum-cart system", 2011 IEEE International Conference on Computer Science and Automation Engineering, Vol. 4, pp. 109-113, IEEE, 2011

This paper presents the design and implementation of a hybrid fuzzy control for the swinging up and stabilizing of the pendulum-cart system. The fuzzy swing-up controller is employed to swing the pendulum up from its pendant position to the stabilization zone in the upright position using as few rules as possible. After the pendulum reaches the zone, the fuzzy stabilizing controller is then switched to stabilize the inverted pendulum at the upright position. The controller is designed based on a robust performance state feedback controller using Linear Matrix Inequalities (LMI) approach for Takagi-Sugeno fuzzy systems. Numerical simulation and real-time experiment are presented to show the effectiveness of the method.
link: ieeexplore.ieee.org

2010

[1] Agustinah, Trihastuti; Jazidie, Achmad; Nuh, Mohammad; Haiping Du, Haiping; Du, Haiping;, "Fuzzy tracking control design using observer-based stabilizing compensator for nonlinear systems", 2010 International Conference on System Science and Engineering, pp. 275-280, IEEE, 2010

This paper presents fuzzy tracking control design for nonlinear systems. The design methodology is a synthesis of the tracking control theory of linear multivariable control and the Takagi-Sugeno fuzzy model. The observer-based stabilizing compensator type from multivariable tracking control theory is used, because not all states of the nonlinear system are fully available or measured while Takagi-Sugeno (T-S) fuzzy model is used to represent the dynamic of nonlinear system. The concept of parallel distributed compensation is employed to design fuzzy tracker and fuzzy observer from the T-S fuzzy model. The stability analysis of the designed system is derived via the Lyapunov function. Numerical simulation and real-time experiment are provided to illustrate the tracking control design procedure and performance of the proposed methods for practical application.
link: ieeexplore.ieee.org

2002

[1] Ari, Santoso; Belier, B.; Nuh, M.; Jazidie, Ach; Rameli, M.; Castagne, M.; Falgayrttes, P.;, "Applied of look up table controller based of FLC (fuzzy logic controller) in non-linear system AFM (atomic force microscopy)/PSTM (photon scanning tunnel microscope)", Circuits and Systems, 2002. APCCAS'02. 2002 Asia-Pacific Conference on, Vol. 2, pp. 565-568, IEEE, 2002

The problems of AFM/PSTM with piezoelectronic motor are how to control the fast and precise motion of the piezoelectronic because of its nonlinear hysteresis characteristic. On the other hand, in order to scan the surface and optical characteristics simultaneously in semiconductor material using AFM/PSTM, high speed microscope motion is required. FLC is one of the most effective algorithms to control a nonlinear system. This paper, the application of FLC to AFM/PSTM as a class nonlinear system is proposed. A look up table (LUT) controller based on FLC is used in order to overcome the quick response of the piezoelectronic motor. It was shown that the obtained images are noisy and the filter could not perfectly eliminate the noise. Nevertheless, the LUT controller based on FLC is able to overcome the nonlinear and noise problems well.
link: ieeexplore.ieee.org

[2] Nuh, M.; Jazidie, A.; Muslim, M.A.;, "Automatic detection of epileptic spikes based on wavelet neural network", IEEE Asia-Pacific Conference on Circuits and Systems, Proceedings, APCCAS, Vol. 2, pp. 483-486, IEEE, 2002

© 2002 IEEE. Detecting and classifying sharp transients in EEG (Electroencephalograph) recording by visual screening is a laborious and time-consuming task. That is why, there is an urgent need to construct a computer algorithm to detect automatically that type of EEG transient phenomena. The use of an artificial neural network as a classifier and wavelet analysis as pre-processing give promising results to answer that need. This paper proposes to develop a new method for the automatic detection of epileptic spikes based on Wavelet Neural Networks (WNN). A proper selection of scaling in WNN is introduced to overcome the problem of very long time duration during training. The result shows that proper selection of wavelet scaling can decrease training duration without decreasing WNN performance.
link: ieeexplore.ieee.org

2001

[1] Nuh, Mohammad; Jazidie, Achmad; Kuswadi, Son; Kemalasari;, "Temperature distribution pattern in normal and cancer tissues: the effect of electromagnetic wave", 2001 Conference Proceedings of the 23rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 4, pp. 3904-3908, 2001

Temperature distribution pattern on normal and cancer tissues caused by the Electromagnetic wave effect is presented in this paper. First, the pattern is modelled by using Bio Heat Transfer Equation and then the Galerkin Finite Element method is used to solve the equation via computer simulation. From the simulation results it can be shown that the temperature change on the cancer tissues is relatively constant and 0.4 o C higher than the change on the normal tissues. From this phenomenon it can be understood that the damage of the cell of the cancer tissues is greater than the damage of the cell of the normal tissues. Therefore it is possible to use the Hyperthermia technique with electromagnetic wave for cancer therapy. The simulation results can be also used to decide the control strategy for giving the dose energy of electromagnetic wave which is flowed out to the cancer tissues.
link: ieeexplore.ieee.org

1999

[1] Kuswadi, Son; Widodo, W; Wahyudi, S; NUH, Mohammad; Saito, Osami;, "Flexible arm structure control using adaptive fuzzy network", Proceeding 1999 International Symposium on Nonlinear Theory and Its Applications (NOLTA'99), Hilton Waikoloa, Hawaii, USA, Nov, pp. 527-530, 1999

Others

1999

[1] Kuswadi, Son; Basuki, Achmad; Nuh, Mohammad; Saito, Osami;, "A Genetic Algorithm For Polytechnic Time Tabling (EEPIS Timetabling Case Study)", pp. 1-5, 1999

Timetabling of polytechnic case study using genetic algorithm will be presented. The proposed modified GA operators reflect the distinctive aspects of the polytechnic education compared with university. The both hard and soft constraints almost same with the university case, except its capacity constraint because polytechnic uses packet system, instead of credit system as university did. The proposed algorithm is verified through several experiments using some mutation probability values