Haider Abbas F. Almurib

• University of Nottingham Malaysia Campus

Spiking Neural Networks have earned increased recognition in recent years owing to their biological plausibility and event-driven computation. Spiking neurons are the fundamental building components of Spiking Neural Networks. Those neurons act as computational units that determine the decision to fire an action potential. This work presents a meth...

Spiking neurons are the core building blocks of Spiking Neural Networks. This work presents a methodology for designing minimal neuron circuits using various types of devices. We postulate that Sodium ion channels show Type-N negative differential resistance. Consequently, we demonstrate multiple examples where a circuit or device showing Type-N ne...

Memristive devices have earned increased recognition over the past decade, owing to their application in memory and neuromorphic systems. Recently, memristive devices have found a propitious role in Spiking Neural Networks. This is partly attributed to an emerging family of memristive devices that are volatile. Volatile memristors, especially Mott...

Four-dimensional (4D) printing of shape memory polymers is a leading research field due to the possibilities allowed by using these materials. The strain difference in the structures that is caused by the different stiffness profiles can be used to influence the shape-memory effect in the actuators. In this study, the influence of patterns on the s...

Variable stiffness or compliance is a feature that is well-known in many naturally occurring materials ranging from wood and bone. For a long time, replicating this characteristic in man-made materials, without prohibitive cost, was an arduous task due to limitations imposed by the manufacturing process. However, the recent rise in additive manufac...

The Inexact Newton method using the conjugate gradient has been widely used to solve large-scale unconstrained optimization problems, such as the total variation-based image denoising. To improve energy and latency, this paper initially proposes an additional step length parameter ( $\alpha $ ), such that the required number of iterations (and the...

This paper presents a project‐based learning pedagogy for undergraduate mechanical engineering students which integrates traditional hardware‐based laboratory with LabVIEW to control the angular position, velocity, and acceleration of AC servo motors of a six‐degree of freedom manipulator. The proposed experimental modules have been proved to be ve...

An electrical model of a multi-level Ta2O5/TaOx resistive random-access memory (ReRAM) has been presented. The model is based on tunnelling current which is the dominant conduction mechanism at 3–4 nm oxide layer thickness. The presented model is capable of multi-level switching with four resistance states (LRS≈10 kΩ, IRS-1≈13 kΩ, IRS-2≈20 kΩ, and...

Phase change memories (PCMs) are chemical compounds containing chalcogen elements such as sulphur, selenium or tellurium, and demonstrate thermally induced phase change. The atomic structure of phase change materials changes from amorphous phase with high electrical resistivity to crystalline phase with low electrical resistivity [9]. The use of ph...

The main objective of this paper is to design a robotic arm with all the motors located at the base, so the arm becomes lighter than the conventional arms where each motor is set on the links leading to the extra weight of the motor to be held by previous motors. The main advantage of this development is to decrease the torque required to control t...

This article presents a review of physical, analytical, and compact models for oxide-based RRAM devices. An analysis of how the electrical, physical, and thermal parameters affect resistive switching and the different current conduction mechanisms that exist in the models is performed. Two different physical mechanisms that drive resistive switchin...

This paper proposes the use of a novel algorithm for smart direct load control and load shedding to minimize power outages in sudden grid load changes and reduce the Peak-to-Average Ratio (PAR). The algorithm utilizes forecasting, load shedding, and smart direct load control. It also uses the Internet of Things and stream analytics to provide real-...

This paper proposes a new framework for digital image processing; it relies on inexact computing to address some of the challenges associated with the discrete cosine transform (DCT) compression. The proposed framework has three levels of processing; the first level uses approximate DCT for image compressing to eliminate all computational intensive...

This article addresses the stability of soft-constrained model predictive control. It is shown that the infinite horizon soft-constrained model predictive control problem can be solved as a finite horizon soft-constrained model predictive control problem if the prediction horizon is greater than an upper-bound. The contribution of this paper is a p...

This paper presents a novel phase change memory (PCM) cell emulator circuit design created solely with off-the-shelf discrete electronic components. The designed emulator circuit reproduces PCM cell behavior in terms of temperature across the cell, threshold voltage, and programmed resistance levels in response to a given input. The presented circu...

DATE 2017 PhD Forum (Design, Automation & Test in Europe) https://www.date-conference.com/proceedings-archive/2017/html/phdforum.html

An optimized design of a PV-diesel hybrid renewable energy system has been proposed to electrify remote locations in the eastern part of Malaysia, which are located far away from the grid. First, a brief review of energy status in the eastern part of Malaysia has been conducted along with the various electrification plans for remote locations in st...

In recent years there has been a steady increase in the use of robotic in medical fields due to their precision, repeatability and high work load. This has led to many new attempts in design and development of new neurosurgical robots. In each of these new designs the researchers target a group of tasks that happens in surgery and it is important t...

Abstract—The death toll caused by cardiovascular diseases is steadily increasing over the years. Ventricular Assist Device (VAD) as the second best alternative therapy for heart failure (HF) patients had been identified as an important tool to deal with the increasing population of patients in end stage HF. This paper demonstrates the simulation of...

This paper presents a method of solving the inverse kinematics of a three-links planar redundant manipulator to avoid obstacle and to reach a destination point with the implementation of neural networks. An algorithm of the pseudo-inverse method with gradient projection technique is first used to determine the trajectory of the manipulator. The adj...

This paper addresses the extension of the Sinusoidal Input Describing Function (SIDF) analysis for unstable multivariable systems. Contrast to the traditional approach, in this extended methodology the controller for the nonlinear plant is synthesized from the open loop transfer function that is derived from the nominal describing function model of...

Recently, the researchers have been focusing on the convolutional neural network due to its high reliability in image recognition. It is proposed that the feedforward neural network could compete equivalently with the convolutional neural network. In this paper, we have explored the possibility and proposed a feedforward neural network, namely the...

This paper introduces and tests a time-aware sensing scheme to overcome the drift issue in Multi-Level Phase Change Memory (MLPCM). Adaptive resistance thresholds are calculated based on statistical data to generate timely reference levels for comparison. Simulations are carried out utilizing MLPCM cell model that mimics the physical behavior of ML...

Abstract: Minimizing the computational complexity of torque optimization and the ability to calculate the magnitude of the joint torque accurately will result in a safe operation without overloading the joint actuators. Reduced torque will lead to lighter robotic arm and easier control. The main objective of this work is to design a robotic arm wit...

A new methodology for the implementation of a power system model for damping low-frequency oscillations in field programmable gate array (FPGA)-based real-time simulator is proposed. The continuous form of the model is converted to discrete-time domain model, and then reduced to block diagrams involving the delay operators and gains for the impleme...

This paper proposes the use of a novel algorithm for smart direct load control and load shedding to minimise the power outage in sudden grid load changes, as well as reduce the Peak-to-Average Ratio (PAR). The algorithm uses forecasting, shedding, and smart direct load control. The algorithm also uses the Internet of Things and stream analytics to...

This paper presents a method for operational testing of a memristor-based look-up table (LUT) memory block. In the proposed method the deterioration of the memristors (as storage elements of a LUT), is modeled based on the reduction of the resistance range, a phenomenon well known as reported in the technical literature. A quiescent current techniq...

In this work, a novel memristive SRAM cell is designed using seven transistors and one memristor (7T1M). In this 7T1M SRAM cell, the non-volatile functionality is achieved by adding a single memristor and a transistor to the design of a volatile SRAM cell. The designing of the 7T1M SRAM cell also introduces VC-TRL which allows bidirectional current...

At nanoscale grain boundaries and surface scattering effects lead to an increase of connecting wires electrical resistivity with decreasing wire dimensions. This increase of resistivity leads to significant power loss across connecting wires in nanocrossbars. In this study, the resistance of connecting wire as a function of material properties and...

This article proposes a Configurable Memristive Logic Block (CMLB) that comprises of novel memristive logic cells. The memristive logic cells are constructed from memristive D flip-flop, 6-bit non-volatile look-up table (NVLUT), and multiplexers. The memristive logic cells are interconnected using memristive switch matrix cells to form the CMLB. Th...

Designing a SPICE model is a critical step toward understanding the behavior of the resistive random access memory (RRAM) devices when integrated in memory design for the future generation storage devices. In this paper, a SPICE model is developed for the Ta 2 O 5 /TaO x bi-layered RRAM. The proposed model emphasizes the impact of the change in the...

Nonvolatile memories have emerged in recent years and have become a leading candidate towards replacing dynamic and static random-access memory devices. In this article, the performances of TiO2 and TaO2 nonvolatile memristive devices were compared and the factors that make TaO2 memristive devices better than TiO2 memristive devices were studied. T...

This study presents the detailed design and analysis of a new memristor-based look-up table (LUT) for field programmable gate arrays (FPGAs). The proposed memory utilises memristors as storage elements with N-type metal- oxide-semiconductor transistors for row access. New WRITE and READ operations are proposed; the proposed LUT requires no addition...

The design and implementation of a robust multivariable model predictive control (MPC) on a quadruple tanks system (QTS) is addressed in this paper. Mismatch between the MPC's model and the process may cause constraint violation, nonoptimised performance, and even instability. It is the objective of this paper to offset-free control the process in...

This paper presents a scheme for designing a memristor-based look-up table (LUT) in which the memristors are connected in rows and columns. As the columns are isolated, the states of the unselected memristors in the proposed scheme are not affected by the WRITE/READ operations; therefore, the prevalent problems associated with nano crossbars (such...

This paper presents a novel sensing technique for Phase Change Memory (PCM) based memory crossbar. The technique aims to reduce consumed and leaked energy in crossbar memory structure by using AC current for sensing, where a low pass filter is utilized and the level of attenuation of the signal indicates the stored state. The proposed sensing schem...

This work presents the circuit level design of a non-volatile D-latch (NVDL) using memristor that retains the stored data in the event of power interruption. The programming complexity of proposed NVDL, unlike previous NV latches, is simplified. The proposed NVDL is designed using 32nm node and results are compared with the volatile CMOS based D-la...

This paper presents a novel mathematical model of the bipolar resistive switching (BRS) of the metal-insulator-semiconductor-metal (MISM) in a Pt/Ta2O5/TaOx/Pt memristor. The proposed model is based on quantum mechanics and describes the BRS behaviour based on electron band theory and the physical characteristics of the metal-insulator-semiconducto...

This paper presents performance comparison between two emerging resistive Non-Volatile Memory (NVM) technologies; namely Memristors and Phase Change Memory (PCM); using nanocrossbar architecture. A comparison in terms of leakage current, reading and writing delay, and energy consumption between both non-volatile memory devices, with SRAM based nano...

In this paper a strong Lyapunov function is proposed, for the first time, for a parameterized family of homogeneous sliding mode based controllers. Indeed, from twisting algorithm, to the linear PD control law, to the uniformly stable control law, a general homogeneous family of control algorithms are considered. The strict locally Lipschitz homoge...

For a parameterized family of homogeneous sliding mode based controllers under the influence of bounded perturbation, a strong Lyapunov function is presented for the first time. The family of controllers range from twisting algorithm, the linear PD control law, to the uniformly stable control law. The strict homogeneous Lyapunov function proposed h...

This paper presents a novel scheme for a memristor-based look-up table (LUT); in this scheme the states of the unselected memristors are unaffected by WRITE/READ operations. Therefore, it addresses the prevalent problems associated with nano crossbars, such as the write half-select and sneak path currents. In the proposed scheme the memristors are...

This paper presents a Multilevel Phase Change Memory (MLPCM) cell model, the suggested model is MATLAB based and can accurately simulate the behavior of the cell in response to the programming input. The model calculates the resistance of the cell as a function of the crystalline fraction resulting from the temperature generated by the programming...

Nonvolatile memories have emerged in recent years and have become a leading candidate towards replacing dynamic and static random-access memory devices. In this article, the performance of physical TiO2 and TaO2 nonvolatile memristive devices were compared in terms of switching speed, retention and endurance. TaO2 memristive devices have shown bett...

In recent researches, much emphasis has been placed in developing non-volatile memories as candidates for replacement of volatile memories. Apart from non-volatility, memristive devices also have high switching speed, low energy consumption, and small device size. In this article, a novel one-bit memory cell using two transmission gates and one mem...

This paper presents a novel LTSPICE based Phase Change Memory (PCM) cell emulator model, using only off the shelf discrete electronic components. The electrical based model simulates not only the continuous resistance change (as corresponding to amorphous and crystalline phases), but also the temperature profile across the cell during programming,...

This paper presents a new multilevel selective harmonic elimination pulse-width modulation (MSHE–PWM) technique for transformerless static synchronous compensator (STATCOM) system employing cascaded H-bridge inverter (CHI) configuration. The proposed MSHE–PWM method optimizes both the dc-voltage levels and the switching angles, enabling more harmon...

This paper addresses the design and implementation of a robust multivariable model predictive control (MPC) on a quadruple tanks system. Mismatch between the MPC's model and the process may cause constraint violation, non-optimized performance and even instability. It is the objective of this paper to offset-free control the process in the presence...

This paper details a new coordinated design between Power System Stabilizers (PSSs) and Unified Power Flow Controller (UPFC), using Genetic Algorithms (GA). The GA scheme determines the optimal location for the UPFC while tuning its control parameters, resulting in the optimization of the quantity, parameters and locations of the PSSs under differe...

We quantify the dexterity of underactuated robot manipulators equipped with active and passive joints. We discuss the harnessing of redundant degrees of freedom in a robotic manipulator in order to keep it in service. We assume that the passive joints are locked at an arbitrary known position. There are three important dexterity measures: workspace...

This paper presents a new method for diagnosing (detection and location) multiple faults in an application-dependent interconnect of a SRAM-based FPGA. For fault detection, the proposed technique retains the original interconnect configuration and modifies the function of the LUTs using the new LUT programming function 1-Bit Sum Function (1-BSF); i...

This paper presents an LTSpice model for a Phase Change Memory (PCM) cell that accurately simulate the temperature profile, the crystalline fraction and the resistance of the cell as a function of the programming pulse based on physical theories. The model is able to generate the I-V characteristics of a PCM cell, and precisely simulate the drift p...

This paper presents a memristor-based Look-Up Table (LUT) for FPGAs. The proposed memory utilizes memristors as storage elements and NMOS transistors for selection. New WRITE and READ operations are proposed; the proposed LUT requires no additional circuit to handle the WRITE 1 (0) operation for both the word and bit lines. Also, it requires a REST...

This paper describes a method to determine the optimal location and the number of multi-machine power system stabilizers (PSSs) using participation factor (PF) and genetic algorithm (GA). The PF method is primarily used for number estimation and to identify the location of the PSSs, while the GA is applied to further reduce the number of PSSs, resu...

This paper presents a simple controller integrating a new reactive current reference algorithm for enhancing the transient performance of static synchronous compensator (STATCOM). A multilevel cascaded inverter with separated dc capacitors which is driven by carrier-based pulse width modulation is used to implement the STATCOM. The voltage across e...

In this paper, the procedure to optimize the gains of a nth order square linear controller with respect to nonlinear multivariable square system is established. The optimization is conducted in time domain and frequency domain for closed loop and open loop system respectively. The developed procedure is demonstrated on an unstable multivariable rob...

This paper details a new coordinated design between Power System Stabilizers (PSSs) and Unified Power Flow Controller (UPFC) using Genetic Algorithm (GA). The GA determines the optimal location for the UPFC while tuning its control parameters, resulting in the optimization of the quantity, parameters and locations of PSSs under different operating...

This paper presents the detailed analysis of a memristor-based cell for a Look-Up Table (LUT) of a FPGA. The basic operational properties of this memristor-based cell are considered in depth. It shows that different from previous schemes, the ringing phenomenon of the so-called normalized state parameter does not affect data integrity. An extensive...

This paper proposes an approach for testing a nanocrossbar switch; fault detection is considered in the presence of faulty switches and nets (of a permanent nature only) in the crossbar. To ensure detection, a one-to-one (onto) relationship in the setting (programming) of the switches is established in each of the configurations of the crossbar. Th...

This study presents a new method for application testing of field programmable gate array (FPGA) interconnects at run time. This method utilises new features related to the function for the programming of the look up tables (LUTs), the utilisation (by logic activation/deactivation) of the nets in a interconnect configuration as well as the primary...

For over two decades Neural Network (NN) has been applied to power system monitoring and control. Conventional controllers suffer from certain limitations which NN as an Artificial Intelligence (AI) technique is able to overcome. Therefore, many researchers prefer to use NN technique in the monitoring and control of power systems. This paper review...

This paper proposes a new fine grain fault diagnosis method for the interconnect of an arbitrary design implemented in a Field Programmable Gate Array (FPGA). In the proposed method, interconnect faults detected at the primary output are back-tracked until the faulty nets are precisely located. This is carried out by programming the LUTs on the fau...

This paper proposes an approach for testing a nano crossbar switch; fault detection is considered in the presence of faulty switches and nets in the crossbar. To ensure detection, a one-to-one (onto) relationship in the setting (programming) of the switches is established in each of the configurations of the crossbar. This is accomplished using a c...

This paper presents a new method for locating multiple faults in an interconnect following application testing of an FPGA. This method utilizes conditions related to the interconnect structure and in particular, the presence of paths of nets that are either disjoint or joint between the primary input and at least one primary output. They yield to a...

This paper proposes a Takagi-Sugeno (TS) fuzzy gain-scheduling PI stabilizer to damp the power system low-frequency oscillations and enhance power system stability. The work describes the construction of appropriate fuzzy membership functions and rules for a Power System Stabilizer (PSS) so that its proportional and integral gains can be automatica...

Controllers of HVAC systems are expected to be able to manipulate the inherent nonlinear characteristics of these large scale systems that also have pure lag times, big thermal inertia, uncertain disturbance factors and constraints. In addition, indoor thermal comfort is affected by both temperature and humidity, which are coupled properties. To co...

Research on joint torque reduction in robot manipulators has received considerable attention in recent years. Minimizing the computational complexity of torque optimization and the ability to calculate the magnitude of the joint torque accurately will result in a safe operation without overloading the joint actuators. This paper presents a mechanic...

Modeling of UPFC into multi-machine power systems by H.F.Wang published by IET, has been widely quoted by many researchers. However, the correctness of the derivation of its equations has not been strictly scrutinized. The model cannot properly represent power system networks in its current form and need to be corrected. In this paper, the model pr...

This work presents a hybrid model to be used for effectively controlling indoor thermal comfort in a heating, ventilating and air conditioning (HVAC) system. The first modeling part is related to the building structure and its fixture. Since building models contain many nonlinearities and have large thermal inertia and high delay time, empirical ca...

Robotics is at an infertile stage of technology that crosses usual engineering limitations. The understanding the difficulty of robots and their application need knowledge of electrical engineering, mechanical engineering, industrial engineering and mathematics. New engineering fields, such as manufacturing engineering become known to deal with the...

This paper presents a new method for application-dependent testing of SRAM-based FPGA interconnects at run time. This method utilizes new features related to the function for the programming of the LUTs, the utilization (by logic activation/deactivation) of the nets in a interconnect configuration as well as the primary (unused) IOs of the FPGAs. A...

This paper describes the materials and the methods used to make a tensile test of composite materail. The experimental study is conducted to observe the crashing behavior of composite material using different types of material namely; glass/epoxy carbon/epoxy and jute/epoxy specimens. Then, the behavior of the composite specimens is observed to det...

In this paper, the application of offset-free model predictive control to a quadruple tanks system is addressed. The main goal is to eliminate steady state tracking error which is produced by model mismatch. The model mismatch between process and model used by model predictive controller is due to parameter uncertainty. It is shown how this uncerta...

The purpose of heating, ventilating and air conditioning (HVAC) system is to provide and maintain a comfortable indoor temperature and humidity. The objective of this work is to model building structure, including equipments of HVAC system. The hybrid HVAC model is built with physical and empirical functions of thermal inertia quantity. Physical la...

In this paper, the development of an experimental procedure for human elbow joint mechanism is described. The experiment will be set up to imitate the human motion of the elbow joint. In this article, the arm supplied with micro electrical linear actuator to mimic the flexion and extension movements of the human elbow. The main component of the mec...

The theory analysis of this review is applied to the task of controlling and maneuvering the quad-rotor. The singular four rotor flying vehicle is designed, optimized and applied to the expanded multi-agent system. This produces an evaluation and discussion of the most common and lesser known control laws used to navigate the vehicle as it performs...

The kinematic and dynamic analysis is applied to the task of controlling and maneuvering the quad-rotor. Here, an evaluation and discussion of the PD (Proportional Derivative) controller is used to navigate the vehicle as it performs basic translational and rotational motions. A comparison is made between the advantages and disadvantages of the con...

In this paper, Genetic Algorithms is applied to find out the number of PSSs and to optimize their parameters and locations under different operating conditions for Iraqi power network. The problem is formulated as an optimization problem to maximize the minimum damping ratio of the electromechanical modes using different number of PSSs. The robustn...

This paper addresses search and rescue using quad-rotors. The kinematic and dynamic analysis is applied to the task of controlling and maneuvering the quad-rotor. In stage one, initial static path planning using Dijkstra algorithm and flight mode dynamic path planning is applied with Virtual Potential Function algorithm. Upon reaching target, stage...

This paper describes the mechanical design, analysis, and prototyping of a 7 DoF robotic arm that uses electrical actuators as its muscles. The structure of the arm is a hybrid Serial-Parallel-Parallel (SPP) configuration. The robotic arm is similar in size and structure to the human arm and can imitate the human arm movements; the 3 DoF shoulder h...

In this paper, explicit model predictive controller is applied to an inverted pendulum apparatus. Explicit solutions to constrained linear model predictive controller can be computed by solving multi-parametric quadratic programs. The solution is a piecewise affine function, which can be evaluated at each sample to obtain the optimal control law. T...