publications

2023

1. ACIRS

   Rover wheel assistive grouser shape effects on traction force in flat soft terrain

   I.N.A.C. Aziz, A.N. Ibrahim, I. Basri, and 1 more author

   In 2023 IEEE International Conference on Automatic Control and Intelligent Systems (ACIRS), 2023

   Abs DOI

   This paper presents an experimental study on the effects of different assistive grouser shapes on traction force generated by a single rover wheel traversing flat soft sandy terrain.

2. ACIRS

   Effect of tag-to-anchor and multiple tag interference on UWB sensors accuracy for dynamic real-time position tracking of mobile robot in indoor environment

   H.D. Idris and A.N. Ibrahim

   In 2023 IEEE International Conference on Automatic Control and Intelligent Systems (ACIRS), 2023

   Abs

   This paper studies the accuracy of UWB sensors for real-time indoor position tracking of mobile robots, examining the effects of tag-to-anchor distance and interference from multiple simultaneous UWB tags.

2022

1. Springer

   Recent Trends in Mechatronics Towards Industry 4.0

   A. Nasir, A.N. Ibrahim, I. Ishak, and 3 more authors

   2022

   Abs DOI

   This edited volume presents recent advances in mechatronics engineering aligned with Industry 4.0 paradigms, spanning robotics, intelligent manufacturing, sensing systems, control, and automation.

2. Appl. Sci.

   Negotiating uneven terrain by a simple teleoperated tracked vehicle with internally movable center of gravity

   Y. Fukuoka, K. Oshino, and A.N. Ibrahim

   Applied Sciences, 2022

   Abs DOI

   This paper presents a teleoperated tracked vehicle with an internally movable centre of gravity mechanism, demonstrating improved traversal capability over uneven terrain through active weight shifting.

3. Appl. Sci.

   Pace running of a quadruped robot driven by pneumatic muscle actuators: an experimental study

   Y. Fukuoka, R. Komatsu, K. Machii, and 4 more authors

   Applied Sciences, 2022

   Abs DOI

   This study experimentally investigates pace running gait in a quadruped robot actuated by pneumatic muscle actuators, analysing speed, stability, and energy efficiency characteristics.

2020

1. ICETAS

   Outdoor position estimation of a mobile platform for precision farming and agriculture automation

   H.D. Idris, M.A. Zakaria, and A.N. Ibrahim

   In 2020 IEEE 7th International Conference on Engineering Technologies and Applied Sciences (ICETAS), 2020

   Abs

   This paper presents an outdoor position estimation approach for a mobile agricultural platform, targeting precision farming and automation use cases.

2. Mekatronika

   Field study of PID parameter tuning investigation in peristaltic dosing pump control for use in automated fertilizer mixing system

   W.X. Yong and A.N. Ibrahim

   Mekatronika, 2020

   Abs

   This paper investigates PID controller parameter tuning for a peristaltic dosing pump used in an automated fertilizer mixing system for agricultural automation.

3. SCOReD

   Investigation of effect of assistive grouser attack angle when moving in unconsolidated soft sand inclination slope using discrete element method (DEM) simulation

   S.S. Sabarudin, A.N. Ibrahim, and Y. Fukuoka

   In 2020 IEEE Student Conference on Research and Development (SCOReD), 2020

   Abs DOI

   This paper uses DEM simulation to investigate the effect of assistive grouser attack angle on sand particle movement and wheel performance on unconsolidated soft sand slopes.

2019

1. ICARM

   Effects of wheel grouser angle of attack on simulated robot wheel performance on soft sand with high slip condition

   A.N. Ibrahim, S.S. Sabarudin, and Y. Fukuoka

   In 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM), 2019

   Abs DOI

   This paper uses DEM simulation to investigate the effect of grouser angle of attack on robot wheel performance in soft sand under high slip conditions.

2. iM3F

   Effect of grouser angle of attack on performance of adjustable robot wheel assistive grouser

   S.S. Sabarudin, A.N. Ibrahim, and Y. Fukuoka

   In Proceedings of the International Manufacturing Engineering Conference & The International Conference on Materials and Manufacturing Engineering (iM3F 2019), 2019

   Abs

   This paper examines the effect of different grouser angle of attack configurations on the performance of an adjustable assistive grouser robot wheel traversing soft sand terrain.

3. JSAE

   Tyre Safety Performance on Asphalt Pavement in Malaysia Climate — Analysis through Finite Element Method

   A.H. Sufian, A.S. Jamaludin, A.N. Ibrahim, and 2 more authors

   Journal of the Society of Automotive Engineers Malaysia, 2019

   Abs

   This paper analyses tyre safety performance on asphalt pavement under Malaysian climate conditions using Finite Element Method simulation.

2018

1. Springer

   Effect of assistive grouser mechanism on lightweight rover power consumption pattern on steep soft sand inclines

   A.N. Ibrahim and Y. Fukuoka

   In Intelligent Manufacturing & Mechatronics, 2018

   Abs DOI

   This paper investigates the power consumption characteristics of a lightweight rover equipped with the proposed assistive grouser mechanism compared to conventional fixed grousers on steep soft sand inclines.

2. ROBIO

   Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy

   K. Otaka, A.N. Ibrahim, K. Inoue, and 1 more author

   In 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2018

   Abs DOI

   This paper presents a bio-inspired approach to adaptive serpentine locomotion in a snake robot, where locomotion patterns are passively modified through sensory feedback driven by longitudinal frictional anisotropy.

3. RITA

   Design of Fast Climbing Robot for Tree with Multiple Diverging Branches

   A.N. Ibrahim, O.Y. Pang, W.K. Yap, and 1 more author

   In RITA 2018, 2018

   Abs

   This paper presents the mechanical design of a robot capable of climbing trees with multiple diverging branches at high speed, suitable for tree inspection and agricultural monitoring applications.

4. M2VIP

   Modification of Lab color model for minimizing blue-green illumination of underwater vision system

   A.S.A. Ghani, A.F.A. Nasir, M.A. Zakaria, and 1 more author

   In 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2018

   Abs DOI

   This paper proposes a modification of the CIE Lab colour model to minimise the distortion caused by blue-green illumination in underwater vision systems.

2016

1. Sensors

   The effect of assistive anchor-like grousers on wheeled rover performance over unconsolidated sandy dune inclines

   A.N. Ibrahim, S. Aoshima, N. Shiroma, and 1 more author

   Sensors, 2016

   Abs DOI

   This paper investigates the effect of assistive anchor-like grousers on the traction performance of wheeled rovers traversing unconsolidated sandy dune inclines. Results demonstrate improved mobility through grouser geometry optimisation.

2. ROBIO

   Development of wheeled rover for traversing steep slope of cohesionless sand with stuck recovery using assistive grousers

   A.N. Ibrahim, S. Aoshima, and Y. Fukuoka

   In 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2016

   Abs DOI

   This paper proposes an assistive grouser mechanism attached to the sides of a conventional rover wheel to aid in climbing steep slopes of cohesionless sand and enable stuck recovery without additional control input.

2014

1. SII

   Development of rover designed to climb steep slope of uncompacted loose sand

   A. Najmuddin, Y. Fukuoka, and S. Aoshima

   In 2014 IEEE/SICE International Symposium on System Integration (SII), 2014

   Abs DOI

   This paper presents an improved leg-wheel prototype rover incorporating a variable centre of gravity mechanism and an independently adjustable lower-leg angle, designed to climb steep slopes of uncompacted loose sand.

2013

1. ROBIO

   A leg-wheel prototype rover designed to climb steep slope of uncompacted loose sand

   A. Najmuddin, Y. Fukuoka, and S. Aoshima

   In 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013

   Abs DOI

   This paper presents a mechanically simple leg-wheel prototype rover with a variable centre of gravity mechanism and adjustable leg angle, designed to climb steep slopes of uncompacted loose sand.

2012

1. SII

   Experimental development of stiffness adjustable foot sole for use by bipedal robots walking on uneven terrain

   A. Najmuddin, Y. Fukuoka, and S. Ochiai

   In 2012 IEEE/SICE International Symposium on System Integration (SII), 2012

   Abs DOI

   This paper presents the experimental development of a stiffness-adjustable foot sole mechanism for bipedal robots, enabling stable locomotion on uneven terrain surfaces. The mechanism adapts its compliance in real time, improving ground contact and stability during walking.