The recent advancements in Information and Communication Technology (ICT) as well as increasing d... more The recent advancements in Information and Communication Technology (ICT) as well as increasing demand for vehicular safety has led to significant progressions in Autonomous Vehicle (AV) technology. Perception and Localisation are major operations that determine the success of AV development and usage. Therefore, significant research has been carried out to provide AVs with the capabilities to not only sense and understand their surroundings efficiently, but also provide detailed information of the environment in the form of 3D maps. Visual Simultaneous Localisation and Mapping (V-SLAM) has been utilised to enable a vehicle understand its surroundings, map the environment, and identify its position within the area. This paper presents a detailed review of V-SLAM techniques implemented for AV perception and localisation. An overview of SLAM techniques is presented. In addition, an in-depth review is conducted to highlight various V-SLAM schemes, their strengths, and limitations. Chal...
Maize is a food crop for millions of people in sub-Saharan Africa. However, severe weed infestati... more Maize is a food crop for millions of people in sub-Saharan Africa. However, severe weed infestation might cause significant yield loss. This study investigated weed composition, abundance and distribution in maize-based cropping systems in the Southern Guinea Savanna of Nigeria. Fields were surveyed between February and March 2022. The Importance Value Index (IVI) of each weed species was determined using relative frequency, relative density, and relative abundance. A total of 29 weed species from 15 families were identified. Poaceae (34.9 %) was the most prevalent weed family, followed by Cyperaceae (26.9 %) and Portulacaceae (12.8 %). The IVI showed that Cyperus rotundus (38.6), Portulaca oleraceae (29.4), Digitaria horizontalis (25.5), Brachiaria deflexa (24.2), Senna obtusifolia (17.6), Ageratum conyzoides (16.0), Cynodon dactylon (12.6), Phyllanthus niruri (11.1) and Eragrostis sp. (10.6) were the most dominant. Principal Component Analysis (PCA) ordination biplot revealed that...
The 5th International Conference on Future Networks & Distributed Systems
The lack of proper orientation prior to the commencement of the Student Industrial Work Experienc... more The lack of proper orientation prior to the commencement of the Student Industrial Work Experience Scheme (SIWES) has been identified as one of the challenges facing the scheme. In addressing this identified challenge, a four-stage Industry Immersion Programme for Students (IIP4S) consisting of: Planning, Orientation and Training, Industry Immersion and Impact has been proposed in this paper as the solution to this problem. In evaluating the effectiveness of each stage of the scheme, the quantitative data collection method was used. The data obtained were then analyzed to evaluate the effect of organizing an orientation programme prior to the commencement of the scheme.
International Journal of Information Processing and Communication (IJIPC), 2020
Nowadays, the demand for video surveillance systems is rapidly increasing as an essential compone... more Nowadays, the demand for video surveillance systems is rapidly increasing as an essential component of many security formations and apparatuses. Many times, video surveillance has demonstrated its importance and benefits by providing immediate supervision of environment, people and their valuable properties. However, surveillance has been a major issue in almost every facet of life since infrastructure, companies, homes and offices required the safety of their possessions from intruders. Therefore, this paper presents a comprehensive and systematic literature review on existing methods in motion detection such as background subtraction, as well as, an overview on basic concepts in surveillance technologies and the drawbacks of various methods. Consequently, in this paper an enhanced methodology to improve the existing method in smart surveillance systems is presented.
DOAJ (DOAJ: Directory of Open Access Journals), Nov 16, 2020
Proportional-Integral-Derivative (PID) controllers and Internal Model Controllers (IMC) are effec... more Proportional-Integral-Derivative (PID) controllers and Internal Model Controllers (IMC) are effective tools in control analysis and design. However, parameter tuning, and inaccurate model representation often lead to unsatisfactory closed loop performance. In this study, we analyse the effect of PID controllers and IMCs tuned with Genetic Algorithm (GA) and Fuzzy Logic (FL), on a poultry feeding system. The use of GA and FL for tuning of the PID and IMC parameters was done to enhance the adaptability and optimality of the controller. A comparative analysis was made to analyse closed loop performance and ascertain the most effective controller. The results showed that the GA-PID and FL-PID gave a better performance in the aspect of rise time, settling time and Integrated Absolute Error (IAE). On the other hand, the GA-IMC and FL-IMC gave better performances in the aspect of the performance overshoot. Therefore, for processes in which a faster response and lower IAE are desired, the GA-PID and FL-PID are more effective while for processes in which the major objective is to minimise the overshoot, the GA-IMC and FL-IMC are more suitable.
This paper presents the performance evaluation of a mobile intelligent poultry liquid feed dispen... more This paper presents the performance evaluation of a mobile intelligent poultry liquid feed dispensing system by using a Genetic Algorithm (GA) tuned Proportional Integral Derivative (PID) controller, a Particle Swarm Optimization (PSO) tuned PID controller and an Internal Model Controller (IMC). The performances of the various controllers were evaluated using system responses in terms of the transient response as well as the Integral Absolute error. The obtained results showed that the IMC has the least performance as compared to the optimally tuned PID controllers with respect to the rise time, settling time and internal of the Absolute error. However, the IMC proffers a better solution with respect to the zero overshoot. On the overall the PSO Tuned PID controller offers significant performance enhancement to the system, thus ensuring a better and improve return on investment, reduced human involvement as well as improved productivity on the use of the system.
Autonomous vehicles (AVs) have grown in popularity and acceptability due to their unique capacity... more Autonomous vehicles (AVs) have grown in popularity and acceptability due to their unique capacity to reduce pollution, road accidents, human error, and traffic congestion. Vehicle suspension is an important component of a car chassis since it affects the performance of vehicle dynamics. As a result, enhancing suspension performance and stability is critical in order to achieve a more pleasant and safer car. Although there are several suspension control methods, they all suffer from fixed gain characteristics that are prone to nonlinearities, disturbances, and the inability to be tuned online. This research provides a comparison of Internal Model Control (IMC) performance metrics for vehicle suspension control. The IMC approach was tuned using the Genetic Algorithm and the Particle Swarm Optimisation algorithms. The performance of each of these schemes was analysed and compared in order to determine the approach with the best performance in terms of AV suspension control. The perform...
2021 1st International Conference on Multidisciplinary Engineering and Applied Science (ICMEAS), 2021
The decaying road infrastructure in Nigeria raises the need for autonomous vehicles capable of de... more The decaying road infrastructure in Nigeria raises the need for autonomous vehicles capable of detecting and navigating road anomalies. Existing control schemes for navigation are unsuitable for implementation due to the unstructured and dynamic nature of the environment. Due to the aforementioned factors, this paper presents a conceptual design of an autonomous vehicle for road anomaly detection and navigation. The vehicle utilizes a computer vision scheme based on Convolutional Neural Networks (CNN) for road anomaly detection and Model Predictive Control (MPC) for manoeuvring. The implementation of a vehicle prototype with remote monitoring and control capabilities is also presented in this paper. The implementation of this will provide an efficient scheme for road anomaly detection and manoeuvring in autonomous vehicles.
2021 1st International Conference on Multidisciplinary Engineering and Applied Science (ICMEAS), 2021
Road accidents have become one of the major problems for the health sector around the world, and ... more Road accidents have become one of the major problems for the health sector around the world, and are of the main causes of death particularly in Nigeria. There are several causes that can be associated with road crashes, ranging from poor road conditions, altitude, bad weather, to lack of driver attention. Reckless drivers are the main cause of road traffic accident worldwide. The late identification of bumps and the inability of drivers to slow down while hitting a bump has also been a big challenge faced by many nations. Therefore, an automatic and intelligent device is required to be built into vehicles to mitigate the number of road accidents through appropriate velocity control at speedbump locations. This study reviews existing speed bump identification techniques and proposes the development of an intelligent speed bump detection and speed control system.
2021 1st International Conference on Multidisciplinary Engineering and Applied Science (ICMEAS), 2021
The proportional Integral and Derivative (PID) Controllers remains one the most versatile and wid... more The proportional Integral and Derivative (PID) Controllers remains one the most versatile and widely adopted controller for industrial as well as educational applications. However, the efficacy of this controller lies in the ability to know how to tune them effectively and efficiently to suit operational needs. There exist numerous approaches to tuning the gains of the controller with varying degrees of complexity. Of all the existing approaches, the internal model control (IMC) stands out because it requires only the filter gain to determine the corresponding PID parameters. However, the ability to determine the appropriate filter gain is also a challenge as it is often than not selected arbitrarily using a trial by error approach. To this end, in this work, a genetic algorithm (GA) technique has been adopted in tuning this filter parameter to eliminate the associated problems of the trial by error approach. The results of the implementation on the double couple tank problem show the performance of the GA tuned IMC outweighing that of the conventional GA tuned PI controller approach.
2021 1st International Conference on Multidisciplinary Engineering and Applied Science (ICMEAS), 2021
Road accidents are a major cause of fatalities globally. These accidents are caused by human erro... more Road accidents are a major cause of fatalities globally. These accidents are caused by human errors, which include over speeding, drowsiness, intoxication, and loss of concentration. In an attempt to overcome these challenges, Autonomous Vehicles (AVs) have been developed and the prominence of these vehicles is rapidly growing. AVs are classified into five (5) steps ranging from no automation to full automation. For a successful operation of an AV, numerous features are put in place, one of which is Road Feature Detection and Vehicle Control. Several techniques have been adopted to ensure an effective feature detection in AVs. This paper presents a review and survey of existing techniques in lane detection and identification of road anomalies with respect to AVs. An overview of AVs and computer vision are presented, as well as the features, strengths, weaknesses of existing literature. Existing schemes were discovered to be unfit for unstructured and complex environments due to a lack of consideration for nonlinearities and an inability to perform in real-time scenarios.
2021 1st International Conference on Multidisciplinary Engineering and Applied Science (ICMEAS), 2021
Velocity control is a key function of autonomous vehicles (AVs). Speed control, particularly in a... more Velocity control is a key function of autonomous vehicles (AVs). Speed control, particularly in areas such as overtaking, platooning and change in lane, is critical in AV operations. In literature, however, there are various methods of cruise control, most of which suffer from the inability to manage nonlinearities and disturbances, their fixed gain characteristics and their chatter sensitivity. This research presents a sliding mode control scheme for speed control in AVs with the aim of addressing these limitations. The SMC's super twisting variant is implemented here to handle chattering while the controller gain is chosen adaptively using a fuzzy logic system. The results showed good velocity reference tracking performance, ensuring convergence of the error value to zero. This scheme can be implemented in AVs for effective velocity control operations.
International Journal of Advances in Applied Sciences, 2020
Agricultural sector is one of the economic pillars of developing nations, because it provides mea... more Agricultural sector is one of the economic pillars of developing nations, because it provides means of boosting gross domestic profit. However, weeds pose a threat to food crop by competing with it for nutrients and undermining the profit to be made from it. The treatment of these weeds is necessary, but at minimal impact on the actual food crop. Herbicide usage is one major means of weed control, owning to the expensive and labour-intensive nature of hand weeding. Recently, the need for site specific spraying has been on the rise because of health concerns which have been raised on the effect of herbicides on food crops and the effect on the environment. Most research on the field focuses on accurately identifying the weeds whilst neglecting the weed control. In this research, we apply fuzzy logic-based expert system to control how herbicide is sprayed on low-land rice in order to reduce excessive herbicide usage. The system supplies the control with weed density (Box size) and con...
The recent advancements in Information and Communication Technology (ICT) as well as increasing d... more The recent advancements in Information and Communication Technology (ICT) as well as increasing demand for vehicular safety has led to significant progressions in Autonomous Vehicle (AV) technology. Perception and Localisation are major operations that determine the success of AV development and usage. Therefore, significant research has been carried out to provide AVs with the capabilities to not only sense and understand their surroundings efficiently, but also provide detailed information of the environment in the form of 3D maps. Visual Simultaneous Localisation and Mapping (V-SLAM) has been utilised to enable a vehicle understand its surroundings, map the environment, and identify its position within the area. This paper presents a detailed review of V-SLAM techniques implemented for AV perception and localisation. An overview of SLAM techniques is presented. In addition, an in-depth review is conducted to highlight various V-SLAM schemes, their strengths, and limitations. Chal...
Maize is a food crop for millions of people in sub-Saharan Africa. However, severe weed infestati... more Maize is a food crop for millions of people in sub-Saharan Africa. However, severe weed infestation might cause significant yield loss. This study investigated weed composition, abundance and distribution in maize-based cropping systems in the Southern Guinea Savanna of Nigeria. Fields were surveyed between February and March 2022. The Importance Value Index (IVI) of each weed species was determined using relative frequency, relative density, and relative abundance. A total of 29 weed species from 15 families were identified. Poaceae (34.9 %) was the most prevalent weed family, followed by Cyperaceae (26.9 %) and Portulacaceae (12.8 %). The IVI showed that Cyperus rotundus (38.6), Portulaca oleraceae (29.4), Digitaria horizontalis (25.5), Brachiaria deflexa (24.2), Senna obtusifolia (17.6), Ageratum conyzoides (16.0), Cynodon dactylon (12.6), Phyllanthus niruri (11.1) and Eragrostis sp. (10.6) were the most dominant. Principal Component Analysis (PCA) ordination biplot revealed that...
The 5th International Conference on Future Networks & Distributed Systems
The lack of proper orientation prior to the commencement of the Student Industrial Work Experienc... more The lack of proper orientation prior to the commencement of the Student Industrial Work Experience Scheme (SIWES) has been identified as one of the challenges facing the scheme. In addressing this identified challenge, a four-stage Industry Immersion Programme for Students (IIP4S) consisting of: Planning, Orientation and Training, Industry Immersion and Impact has been proposed in this paper as the solution to this problem. In evaluating the effectiveness of each stage of the scheme, the quantitative data collection method was used. The data obtained were then analyzed to evaluate the effect of organizing an orientation programme prior to the commencement of the scheme.
International Journal of Information Processing and Communication (IJIPC), 2020
Nowadays, the demand for video surveillance systems is rapidly increasing as an essential compone... more Nowadays, the demand for video surveillance systems is rapidly increasing as an essential component of many security formations and apparatuses. Many times, video surveillance has demonstrated its importance and benefits by providing immediate supervision of environment, people and their valuable properties. However, surveillance has been a major issue in almost every facet of life since infrastructure, companies, homes and offices required the safety of their possessions from intruders. Therefore, this paper presents a comprehensive and systematic literature review on existing methods in motion detection such as background subtraction, as well as, an overview on basic concepts in surveillance technologies and the drawbacks of various methods. Consequently, in this paper an enhanced methodology to improve the existing method in smart surveillance systems is presented.
DOAJ (DOAJ: Directory of Open Access Journals), Nov 16, 2020
Proportional-Integral-Derivative (PID) controllers and Internal Model Controllers (IMC) are effec... more Proportional-Integral-Derivative (PID) controllers and Internal Model Controllers (IMC) are effective tools in control analysis and design. However, parameter tuning, and inaccurate model representation often lead to unsatisfactory closed loop performance. In this study, we analyse the effect of PID controllers and IMCs tuned with Genetic Algorithm (GA) and Fuzzy Logic (FL), on a poultry feeding system. The use of GA and FL for tuning of the PID and IMC parameters was done to enhance the adaptability and optimality of the controller. A comparative analysis was made to analyse closed loop performance and ascertain the most effective controller. The results showed that the GA-PID and FL-PID gave a better performance in the aspect of rise time, settling time and Integrated Absolute Error (IAE). On the other hand, the GA-IMC and FL-IMC gave better performances in the aspect of the performance overshoot. Therefore, for processes in which a faster response and lower IAE are desired, the GA-PID and FL-PID are more effective while for processes in which the major objective is to minimise the overshoot, the GA-IMC and FL-IMC are more suitable.
This paper presents the performance evaluation of a mobile intelligent poultry liquid feed dispen... more This paper presents the performance evaluation of a mobile intelligent poultry liquid feed dispensing system by using a Genetic Algorithm (GA) tuned Proportional Integral Derivative (PID) controller, a Particle Swarm Optimization (PSO) tuned PID controller and an Internal Model Controller (IMC). The performances of the various controllers were evaluated using system responses in terms of the transient response as well as the Integral Absolute error. The obtained results showed that the IMC has the least performance as compared to the optimally tuned PID controllers with respect to the rise time, settling time and internal of the Absolute error. However, the IMC proffers a better solution with respect to the zero overshoot. On the overall the PSO Tuned PID controller offers significant performance enhancement to the system, thus ensuring a better and improve return on investment, reduced human involvement as well as improved productivity on the use of the system.
Autonomous vehicles (AVs) have grown in popularity and acceptability due to their unique capacity... more Autonomous vehicles (AVs) have grown in popularity and acceptability due to their unique capacity to reduce pollution, road accidents, human error, and traffic congestion. Vehicle suspension is an important component of a car chassis since it affects the performance of vehicle dynamics. As a result, enhancing suspension performance and stability is critical in order to achieve a more pleasant and safer car. Although there are several suspension control methods, they all suffer from fixed gain characteristics that are prone to nonlinearities, disturbances, and the inability to be tuned online. This research provides a comparison of Internal Model Control (IMC) performance metrics for vehicle suspension control. The IMC approach was tuned using the Genetic Algorithm and the Particle Swarm Optimisation algorithms. The performance of each of these schemes was analysed and compared in order to determine the approach with the best performance in terms of AV suspension control. The perform...
2021 1st International Conference on Multidisciplinary Engineering and Applied Science (ICMEAS), 2021
The decaying road infrastructure in Nigeria raises the need for autonomous vehicles capable of de... more The decaying road infrastructure in Nigeria raises the need for autonomous vehicles capable of detecting and navigating road anomalies. Existing control schemes for navigation are unsuitable for implementation due to the unstructured and dynamic nature of the environment. Due to the aforementioned factors, this paper presents a conceptual design of an autonomous vehicle for road anomaly detection and navigation. The vehicle utilizes a computer vision scheme based on Convolutional Neural Networks (CNN) for road anomaly detection and Model Predictive Control (MPC) for manoeuvring. The implementation of a vehicle prototype with remote monitoring and control capabilities is also presented in this paper. The implementation of this will provide an efficient scheme for road anomaly detection and manoeuvring in autonomous vehicles.
2021 1st International Conference on Multidisciplinary Engineering and Applied Science (ICMEAS), 2021
Road accidents have become one of the major problems for the health sector around the world, and ... more Road accidents have become one of the major problems for the health sector around the world, and are of the main causes of death particularly in Nigeria. There are several causes that can be associated with road crashes, ranging from poor road conditions, altitude, bad weather, to lack of driver attention. Reckless drivers are the main cause of road traffic accident worldwide. The late identification of bumps and the inability of drivers to slow down while hitting a bump has also been a big challenge faced by many nations. Therefore, an automatic and intelligent device is required to be built into vehicles to mitigate the number of road accidents through appropriate velocity control at speedbump locations. This study reviews existing speed bump identification techniques and proposes the development of an intelligent speed bump detection and speed control system.
2021 1st International Conference on Multidisciplinary Engineering and Applied Science (ICMEAS), 2021
The proportional Integral and Derivative (PID) Controllers remains one the most versatile and wid... more The proportional Integral and Derivative (PID) Controllers remains one the most versatile and widely adopted controller for industrial as well as educational applications. However, the efficacy of this controller lies in the ability to know how to tune them effectively and efficiently to suit operational needs. There exist numerous approaches to tuning the gains of the controller with varying degrees of complexity. Of all the existing approaches, the internal model control (IMC) stands out because it requires only the filter gain to determine the corresponding PID parameters. However, the ability to determine the appropriate filter gain is also a challenge as it is often than not selected arbitrarily using a trial by error approach. To this end, in this work, a genetic algorithm (GA) technique has been adopted in tuning this filter parameter to eliminate the associated problems of the trial by error approach. The results of the implementation on the double couple tank problem show the performance of the GA tuned IMC outweighing that of the conventional GA tuned PI controller approach.
2021 1st International Conference on Multidisciplinary Engineering and Applied Science (ICMEAS), 2021
Road accidents are a major cause of fatalities globally. These accidents are caused by human erro... more Road accidents are a major cause of fatalities globally. These accidents are caused by human errors, which include over speeding, drowsiness, intoxication, and loss of concentration. In an attempt to overcome these challenges, Autonomous Vehicles (AVs) have been developed and the prominence of these vehicles is rapidly growing. AVs are classified into five (5) steps ranging from no automation to full automation. For a successful operation of an AV, numerous features are put in place, one of which is Road Feature Detection and Vehicle Control. Several techniques have been adopted to ensure an effective feature detection in AVs. This paper presents a review and survey of existing techniques in lane detection and identification of road anomalies with respect to AVs. An overview of AVs and computer vision are presented, as well as the features, strengths, weaknesses of existing literature. Existing schemes were discovered to be unfit for unstructured and complex environments due to a lack of consideration for nonlinearities and an inability to perform in real-time scenarios.
2021 1st International Conference on Multidisciplinary Engineering and Applied Science (ICMEAS), 2021
Velocity control is a key function of autonomous vehicles (AVs). Speed control, particularly in a... more Velocity control is a key function of autonomous vehicles (AVs). Speed control, particularly in areas such as overtaking, platooning and change in lane, is critical in AV operations. In literature, however, there are various methods of cruise control, most of which suffer from the inability to manage nonlinearities and disturbances, their fixed gain characteristics and their chatter sensitivity. This research presents a sliding mode control scheme for speed control in AVs with the aim of addressing these limitations. The SMC's super twisting variant is implemented here to handle chattering while the controller gain is chosen adaptively using a fuzzy logic system. The results showed good velocity reference tracking performance, ensuring convergence of the error value to zero. This scheme can be implemented in AVs for effective velocity control operations.
International Journal of Advances in Applied Sciences, 2020
Agricultural sector is one of the economic pillars of developing nations, because it provides mea... more Agricultural sector is one of the economic pillars of developing nations, because it provides means of boosting gross domestic profit. However, weeds pose a threat to food crop by competing with it for nutrients and undermining the profit to be made from it. The treatment of these weeds is necessary, but at minimal impact on the actual food crop. Herbicide usage is one major means of weed control, owning to the expensive and labour-intensive nature of hand weeding. Recently, the need for site specific spraying has been on the rise because of health concerns which have been raised on the effect of herbicides on food crops and the effect on the environment. Most research on the field focuses on accurately identifying the weeds whilst neglecting the weed control. In this research, we apply fuzzy logic-based expert system to control how herbicide is sprayed on low-land rice in order to reduce excessive herbicide usage. The system supplies the control with weed density (Box size) and con...
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Papers by Jibril A Bala