FKEE - Official Portal

FACULTY OF ELECTRICAL &
ELECTRONICS ENGINEERING

Dr. Zainah Binti Md. Zain

Expertise: Robot dynamics & Motion control, Underactuated system and nonlinear control, Underwater systems

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Senior Lecturer,
Robotics & Unmanned Systems (RUS) research group,
Faculty of Electrical and Electronics Engineering
Universiti Malaysia Pahang,
26600, Pekan, Pahang, Malaysia

Phone: +609-424-6123
Fax:   +609-424-6000
email: This email address is being protected from spambots. You need JavaScript enabled to view it.

 

 

Publications

Journal

  • Zainah Md. Zain, R. Badlishah Ahmad & Mohd Rizal Arshad, High Speed RS232 Fiber Optic Communication For A Microcontroller Based Remotely Operated Vehicle (ROV), Technical Journal, School of Electrical & Electronic Engineering, USM, Vol. 10, Dec 2004, 6-9
  • Zain, Z. M., Watanabe, K., Danjo, T., Izumi, K., and Nagai, I., A nonholonomic control method for stabilizing an X4-AUV, Artificial Life and Robotics, 16 (2), pg. 202-207, September 2011.
  • Zain, Z. M.,Watanabe, K., Izumi, K., and Nagai, I., A Discontinuous exponential stabilization law for an underactuated X4-AUV, Artificial Life and Robotics (2012): 1-7, Dec 11, 2012.
  • Zain, Z. M.,Watanabe, K., Izumi, K., and Nagai, I., Stabilization of an underactuated X4-AUV using a discontinuous control law, Indian Journal of Geo-Marine Sciences (IJMS), vol 41(6), Dec 2012, pp. 589- 598.
  • Pebrianti, Zain, Z. M. M.F. Abas, L. Bayuaji and K. Nonami, Modelling and Control of Quad-rotor MAV Using Motion Tracking System, Australian Journal and Applied Sciences, 8(15),Special 2014 pp. 292-301.
  • Zain, Z. M., D. Pebrianti and N. Harun, Stabilization Control for an X4-AUV using Backstepping Control Method, Australian Journal and Applied Sciences, 8(15),Special 2014 pp. 140-146.
  • Zainah Md Zain and NurFadzillah Harun, Backstepping Control Strategy for an Underactuated X4-AUV, Jurnal Teknologi, vol. 74, no. 9, UTM 2015, pp. 17 – 23.
  • Zainah Md Zain and NurFadzillah Harun, A Backstepping Based PID Controller for Stabilizing an Underactuated X4-AUV.. ARPN Journal of Engineering and Applied Sciences (JEAS), vol. 10, no. 21, November 2015, pp. 9819 -9824.
  • Zainah Md. Zain, Mohd Rizal Arshad, Maziyah Mat Noh and Norhafizah Md. Zain. Invariant Manifold for Extended Nonholonomic Double Integrator System. ARPN Journal of Engineering and Applied Sciences (JEAS), vol. 10, no. 22, Dec 2015, pp. 10673 – 10678.
  • Zainah Md. Zain and Mohd Rizal Arshad, Double Integrator Model and Invariant Manifold Theory Algorithm for an X4-AUV. ARPN Journal of Engineering and Applied Sciences (JEAS), vol. 10, no. 21, November 2015, pp. 9849 -9853.
  • Zainah Md. Zain, Nur Natasha Abu Hanipah, Maziyah Mat Noh and Norhafizah Md. Zain. Sliding Mode Control of an X4-AUV. ARPN Journal of Engineering and Applied Sciences (JEAS), vol. 10, no. 23, Nov 2015, pp. 17499 – 17505.
  • Zainah Md Zain and Safwan Rawi, Design and Development for an Underactuated X4-AUV, Jurnal Teknologi (Sciences & Engineering), 72:2 (2015), pp. 1-6.
  • M. Zain and S. M. Rawi, A Drift Force On Submerged Body In AUV Design, The Journal of Electrical, Electronics, Control and Instrumentation Engineering (JEECIE), Vol. 1, No. 2, Jan 2016, pp. 10 - 15.
  • Zainah Md Zain and NurFadzillah Harun, Comparison of an X4-AUV Performance Using a Backstepping-Integral Backstepping Approach, Jurnal Teknologi (Sciences & Engineering), 78:6 (2016), pp. 25-31
  • NurFadzillah Harun, Zainah Md Zain, Backstepping Controller with PSO for an Underactuated X4-AUV, Special Issue on Advances on Intelligent Control and Robotic,  Jurnal Teknologi (Sciences & Engineering), 78: 6-13 (2016), pp. 81-87.
  • Zainah Md Zain and NurFadzillah Harun, Integral Backstepping Controller for an Underactuated X4-AUV. ARPN Journal of Engineering and Applied Sciences (JEAS), vol. 11, no. 6, Mac 2016, 3883 – 3888.
  • M. Zain, N. Harun, N. N. A. Hanipah and N. M. Zain, Backstepping and Sliding-mode Methods for an Underactuated X4-AUV, Journal of Telecommunication, Electronic and Computer Engineering (JTEC), Universiti Teknikal Malaysia Melaka (UTem) (2017). e-ISSN: 2289-8131

 

Conference, Seminar, Proceedings

  • Zainah Md. Zain, Badlishah Ahmad & Mohd Rizal Arshad. A Microcontroller based Motor Control via Fibre Optic Link, 2nd Technical Postgraduate Symposium 2003 (National Level), TechPos’03, 16-17, December 2003, Petaling Jaya, Selangor. 515-520.
  • Zainah Md. Zain, R. Badlishah Ahmad & Mohd Rizal Arshad. Design and Development of An RS232-Based ROV Controller System, IEEE Student Conference on Research and Development (IEEE Tencon 2004) (International Level), 21-24, November 2004, Chiang Mai, Thailand.
  • Zainah Md. Zain, R. Badlishah Ahmad & Mohd Rizal Arshad. 8 Channel Serial Controller For Remotely Operated Vehicle (ROV) Applications, 1st National Conference on Electronic Design, NCED 2005, 18 -19 May, 2005, Kangar, Perlis, Malaysia.
  • Zainah Md. Zain, R. Badlishah Ahmad & Mohd Rizal Arshad. Communication with an Underwater ROV Using RS232-Fiber Optic Transmission, International Conference on Robotis, Vision , Information and Signal Processing , ROVISP 2005, 20- 22 July, 2005, Penang, Malaysia.
  • Zainah Md. Zain, Nor Rul Hasma Abdullah & Abdul Halim Mohd Hanafi. Microcontroller –Based Energy Saving Control for Air-Conditioning System Using Fuzzy Logic Approaching: An Overview, 4th Student Conference on Research and Development (SCOReD 2006), 27- 28 June, 2006, Shah Alam, Selangor, Malaysia, 246 – 249.
  • Zainah Md. Zain & Mohd Rizal Arshad. Sensing and Navigation Techniques For Underwater Vehicles, International Conference on Underwater System Technology: Theory and Applications 2006 (USYS’06), 19- 20 July, 2006, Penang, Malaysia, 116-120.
  • Zainah Md. Zain, R. Badlishah Ahmad & Mohd Rizal Arshad. Design of A Controller Hardware and Software System For Underwater Robot, International Conference on Advanced Technologies in Telecommunication And Control Engineering 2006, ATTCE 2006, 27-28 Ogos 2006, INTI College Malaysia, Nilai, Negeri Sembilan, Malaysia.
  • Zainah Md. Zain, & M.N.M Khalid. Development of Flood Detector System Using MC68HC11 Microcontroller, Proceedings of the 5thStudent Conference on Research and Development (SCOReD 2007), 11- 12 Dec, 2007, Shah Alam, Malaysia.
  • Moh Kee Gow,Zainah Md. ZainRahmatul Hidayah SaliminDesign and Development PIC-Based Autonomous Robot. In 2008 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2008, 21-24 September 2008, Chengdu, China
  • Zainah Md. Zain, A Different Approach for Teaching Electromagnetic Fields Theory: the Cooperative Learning Method , The 4th International Conference on University Learning and Teaching (INCULT), 20-21,  October 2008, Shah Alam, Selangor.
  • Zainah Md. Zain, Penerapan Konsep OBE Dalam Silibus RAKSI, National Student Development Conference (NASDEC 2008) 22-23, October 2008, UTM Skudai, Johor.
  • Zain, Z. M., Watanabe, K., Danjo, T., Izumi, K., and Nagai, I., Modeling an Autonomous Underwater Vehicle with Four-Thrusters, The Fifteenth International Symposium on Artificial Life and Robotics (AROB 15th '10), 934--937, 2010, Oita, Japan.
  • Zain, Z. M., Watanabe K., Danjo T., Izumi K. and Nagai I., Stabilization control for an X4-AUV. Proc. of the 3rd International Conference on Underwater System Technology: Theory and Applications (USYS '10), 13--17, 2010, Putrajaya, Malaysia.
  • Zain, Z. M., Watanabe K., Nagai I. and Izumi K., The stabilization control of a position and all attitudes for an X4-AUV. Proc. of the 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems (SCIS & ISIS 2010), 2010, Okayama, Japan.
  • Zain, Z.M., Watanabe, K., Izumi, K., and Nagai, I., Stabilization of an underactuated X4-AUV usinga discontinuous control law, The International Conference on Intelligent Unmanned Systems (ICIUS 2011), 2011, Chiba, Japan.
  • Zain, Z.M., Watanabe, K., Izumi, K., and Nagai, I., Discontinuous control for an underactuated X4-AUV, The 12th International Symposium on Advanced Intelligent Systems (ISIS 2011), 439--442, 2011, Suwon, South Korea.
  • Zain, Z.M., Watanabe, K., Izumi, K., and Nagai, I., A Nonholonomic control method for stabilizing an X4-AUV, The Sixteenth International Symposium on Artificial Life and Robotics (AROB 16th '11), 407--410, 2011, Oita, Japan.
  • Zain, Z. M., Watanabe, K., Izumi, K., and Nagai, I., A Discontinuous exponential stabilization law for an underactuated X4-AUV, The Seventeenth International Symposium on Artificial Life and Robotics (AROB 17th '12), 170--173, 2012, Oita, Japan.
  • Zain, Z. M., Watanabe, K., Izumi, K., and Nagai, I., Exponential Stabilization of Second-Order Nonholonomic Chained Systems, The2013 International Conference on Intelligent Robotics and Applications (ICIRA 2013), 25-28, September 2013, Busan, Korea.
  • Zain, Z. M., Watanabe, K., Izumi, K., and Nagai, I., A Discontinuous exponential stabilization of chained form system for an X4-AUV, The 5th International Conference on Mechatronics (ICOM’13), 2-4 July 2013, Kuala Lumpur, Malaysia.
  • Pebrianti Dwi, Rosdiyana Samad, Zainah Md. Zain, Addie Irawan and Mohd Razali Daud. Visual Impaired Person Navigation Assistance Using Motion Sensor, Malaysian Technical Universities Conference on Engineering & Technology (MUCET 2013), 3-4 Dec 2013, Kuantan, Pahang.
  • Zainah Md. Zain, NurFadzillah Harun, Dwi Pebrianti, Maziyah Mat Noh, Stabilization of an X4-AUV using Lyapunov Approach and Backstepping Control Method, The Proceeding of the 5th International Conference on Underwater System Technology: Theory and Applications (USYS 2014), pp. 133-138, 3-4 December 2014, Melaka, Malaysia
  • Maziyah Mat Noh, M.R Arshad, Rosmiwati Mohd-Mokhtar, Zainah Md Zain, Control of 2DOF Internal Mass of USM Underwater Glider, The Proceeding of the 5th International Conference on Underwater System Technology: Theory and Applications (USYS 2014), pg.85-90, 3-4 December 2014, Melaka, Malaysia.
  • Safwan Mohd Rawi and Zainah Md Zain, A Study on Drift Force on Submerged Body in X4-AUV Development, Colloqium on Robotics, Unmanned Systems and Cybernetics (CRUSC 2014), Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Branch Campus, 21 Oct. 2014.
  • NurFadzillah Harun and Zainah Md Zain, Backstepping Approach for Underactuated System, Colloqium on Robotics, Unmanned Systems and Cybernetics (CRUSC 2014), Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Branch Campus, 21 Oct. 2014.
  • Safwan Bin Mohd Rawi and Zainah Md Zain, Design and Development of an Underactuated Autonomous Underwater Vehicle (X4-AUV) with Four Inputs and Six States,1st ICRIL-International Conference on Innovation in Science and Technology, pp. 579 - 583, 20th April 2015, Universiti Teknologi Malaysia, Kuala Lumpur
  • Harun and Z. M. Zain, Integral Backstepping Control for Stabilizing an Underactuated X4-AUV, 1st ICRIL-International Conference on Innovation in Science and Technology, pp. 574 - 578, 20th April 2015, Universiti Teknologi Malaysia, Kuala Lumpur.
  • M. Zain, N. Harun, N. N. A. Hanipah and N. M. Zain, Backstepping and Sliding-mode Methods for an Underactuated X4-AUV, 2nd Advancement on Information Technology International Conference (ADVCIT 2015),3-5 Dec. 2015, Krabi, Thailand. (Accepted to publish in Jurnal Teknologi)
  • M. Zain and N. Harun, Comparison of an X4-AUV Performance Using a Direct Lyapunov - PD Controller and Backstepping Approach, The 10th Asian Control Conference 2015 (ASCC 2015), 31 - 3 June 2015, Kota Kinabalu, Malaysia.
  • Chan Sji Jing, Luhur Bayuaji, R. Samad, N.R.H Abdullah, M. Zain and Dwi Pebrianti, Fault Detection and Isolation for Complex System, The 3rd International Conference of Global Network for Innovative Technology (IGNITE), 27-29 Jan. 2016, Penang, Malaysia. Organized by USM.
  • Khairil Ashraf, Zainah Md Zain, Maziyah Mat Noh and Nurfadzilah Harun, "Hull Design for ROV with four Thrusters (X4-ROV)", 3rd National Conference for Postgraduate Research (NCON-PGR) 2016, 24-25 September 2016, UMP Pekan.
  • Zainah Md Zain, Maziyah Mat Noh, Khairil Ashraf, Nurfadzilah Harun, "Design and Development of an X4-ROV",  6th IEEE International Conference on Underwater System Technology: Theory & Applications (USYS'16), pp. 207-211.

 

Books, Documents

  • Buku Program Rakan siswa (RAKSI) – Edisi Fasilitator & Edisi Pelajar, Institusi Kefeloan (IKUMP), Jabatan Hal Ehwal Pelajar & Alumni, UMP. 2008.
  • Zain, Z. M., Watanabe, K., Izumi, K., and Nagai, I., Exponential Stabilization of Second-Order Nonholonomic Chained Systems, Intelligent Robotics and Applications, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligent Bioinformatics), Volume 8103(2), 2013, pp. 96 – 107, Springer (Book Chapter).