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Novel Algorithm for Mobile Robot Path Planning in Constrained Environment

Computers, Materials & Continua 2022年第5期71卷 2697-2719页

作者： Aisha Muhammad Mohammed A.H.Ali Sherzod Turaev Ibrahim Haruna Shanono Fadhl Hujainah mohd nashrul mohd zubir Muhammad Khairi Faiz Erma Rahayu mohd Faizal Rawad Abdulghafor Faculty of Manufacturing Engineering Universiti Malaysia Pahang(UMP)Pekan26600Malaysia Department of Mechanical Engineering Faculty of EngineeringUniversity of Malaya50603Kuala LumpurMalaysia Department of Computer Science and Software Engineering College of Information TechnologyUnited Arab Emirates UniversityAl AinUnited Arab Emirates Faculty of Electrical and Electronics Engineering Universiti Malaysia Pahang(UMP)Pekan26600Malaysia Department of Mechatronics Engineering Faculty of TechnologyBayero UniversityKano(BUK)700241Nigeria Computer Science and Engineering Department Chalmers and University of Gothenburg41296GothenburgSweden Department of Artificial Intelligence Faculty of Computer Science and Information TechnologyUniversity of Malaya50603Kuala LumpurMalaysia Department of Computer Science Faculty of Information and Communication TechnologyInternational Islamic University Malaysia53100Kuala LumpurMalaysia

This paper presents a development of a novel path planning algorithm, called Generalized Laser simulator (GLS), for solving the mobilerobot path planning problem in a two-dimensional map with the presence ofconstraints. This approach gives the possibility to find the path for a wheelmobile robot considering some constraints during the robot movement inboth known and unknown environments. The feasible path is determinedbetween the start and goal positions by generating wave of points in alldirection towards the goal point with adhering to constraints. In simulation,the proposed method has been tested in several working environments withdifferent degrees of complexity. The results demonstrated that the proposedmethod is able to generate efficiently an optimal collision-free path. Moreover,the performance of the proposed method was compared with the A-star andlaser simulator (LS) algorithms in terms of path length, computational timeand path smoothness. The results revealed that the proposed method hasshortest path length, less computational time and the best smooth path. Asan average, GLS is faster than A∗ and LS by 7.8 and 5.5 times, respectivelyand presents a path shorter than A∗ and LS by 1.2 and 1.5 times. In orderto verify the performance of the developed method in dealing with constraints, an experimental study was carried out using a Wheeled Mobile Robot(WMR) platform in labs and roads. The experimental work investigates acomplete autonomous WMR path planning in the lab and road environmentsusing a live video streaming. Local maps were built using data from a live video streaming with real-time image processing to detect segments of theanalogous-road in lab or real-road environments. The study shows that theproposed method is able to generate shortest path and best smooth trajectoryfrom start to goal points in comparison with laser simulator.

关键词： Path planning generalized laser simulator wheeled mobile robot global path panning local path planning

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Hyperuricemia Prediction Using Photoplethysmogram and Arteriograph

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Computers, Materials & Continua 2022年第4期71卷 287-304页

作者： Hafifah Ab Hamid Nazrul Anuar Nayan mohd zubir Suboh Nurin Izzati Mohamad Azizul Mohamad Nazhan mohd Nizar Amilia Aminuddin mohd Shahrir Mohamed Said Saharuddin Ahmad Department of Electrical Electronic and SystemsFaculty of Engineering and Built EnvironmentUniversiti Kebangsaan MalaysiaBangi43600Malaysia Department of Physiology Faculty of MedicineUniversiti Kebangsaan MalaysiaCheras56000Malaysia Department of Medicine Faculty of MedicineUniversiti Kebangsaan MalaysiaCheras56000Malaysia Family Medicine Department Faculty of MedicineUniversiti Kebangsaan MalaysiaCheras56000Malaysia

Hyperuricemia is an alarming issue that contributes to cardiovascular *** acid(UA)level was proven to be related to pulse wave velocity,a marker of arterial stiffness.A hyperuricemia prediction method utilizing photoplethysmogram(PPG)and arteriograph by using machine learning(ML)is *** the literature search,there is no available papers found that relates PPG with UA level even though PPG is highly associated with vessel *** five phases in this research are data collection,signal preprocessing including denoising and signal quality indexes,features extraction for PPG and SDPPG waveform,statistical analysis for feature selection and classification of UA levels using *** PPG to the current arteriograph able to reduce cost and increase the prediction *** and arteriograph data were measured from 113 subjects,and 226 sets of data were collected from the left and right hands of the *** performance of four types of ML,namely,artificial neural network(ANN),linear discriminant analysis(LDA),k-nearest neighbor(kNN),and support vector machine(SVM)in predicting hyperuricemia was *** the total of 98 features extracted,16 features of which showed statistical significance for hyper and *** gives the best performance compared to the other three ML techniques with 91.67%,95.45%,and 94.12%for sensitivity,specificity,and accuracy,*** from PPG and arteriograph able to be used to predict hyperuricemia accurately and *** study is the first to find the relationship of PPG with *** shows a significant relation between PPG signals and arteriograph data toward the UA *** proposed method of UA prediction shows its potential for noninvasive preliminary assessment.

关键词： PPG arteriograph second derivative of PPG hyperuricemia ML

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Cardiovascular Disease Prediction Among the Malaysian Cohort Participants Using Electrocardiogram

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Computers, Materials & Continua 2022年第4期71卷 1111-1132页

作者： mohd zubir Suboh Nazrul Anuar Nayan Noraidatulakma Abdullah Nurul Ain Mhd Yusof Mariatul Akma Hamid Azwa Shawani Kamalul Arinfin Syakila mohd Abd Daud mohd Arman Kamaruddin Rosmina Jaafar Rahman Jamal Faculty of Engineering and Built Environment Universiti Kebangsaan MalaysiaBangi43600Malaysia Medical Engineering Technology Section Universiti Kuala Lumpur British Malaysian InstituteGombak53100Malaysia Institut Islam Hadhari Universiti Kebangsaan MalaysiaBangi43600Malaysia UKM Medical Molecular Biology Institute(UMBI) Kuala Lumpur56000Malaysia Faculty of Health Sciences Universiti Kebangsaan MalaysiaBangi43600Malaysia

A comprehensive study was conducted to differentiate cardiovascular disease (CVD) subjects from non-CVD subjects using short recording electrocardiogram (ECG) of 244 Malaysian adults in The MalaysianCohort project. An automated peak detection algorithm to detect nine fiducialpoints of electrocardiogram (ECG) was developed. Forty-eight features wereextracted in both time and frequency domains, including statistical featuresobtained from heart rate variability and Poincare plot analysis. These includefive new features derived from spectrum counts of five different frequencyranges. Feature selection was then made based on p-value and correlationmatrix. Selected features were used as input for five classifiers of artificialneural network (ANN), k-nearest neighbors (kNN), support vector machine(SVM), discriminant analysis (DA), and decision tree (DT). Results showedthat six features related to T wave were statistically significant in distinguishingCVD and non-CVD groups. ANN had performed the best with 94.44% specificity and 86.3% accuracy, followed by kNN with 80.56% specificity, 86.49%sensitivity and 83.56% accuracy. The novelties of this study were in providingalternative solutions to detect P-onset, P-offset, T-offset as well as QRS-onsetpoints using discrete wavelet transform method. Additionally, two out of thefive newly proposed spectral features were significant in differentiating bothgroups, at frequency ranges of 1–10 Hz and 5–10 Hz. The prediction outcomeswere also comparable to previous related studies and significantly importantin using ECG to predict cardiac-related events among CVD and non-CVDsubjects in the Malaysian population.

关键词： Cardiovascular disease ECG fiducial point detection electrocardiogram feature extraction machine learning

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Low-energy X-ray attenuation characteristics of Rhizophora ***

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Nuclear Science and Techniques 2021年第3期32卷 11-29页

作者： Damilola Oluwafemi Samson Ahmad Shukri mohd zubir Mat Jafri Rokiah Hashim mohd Zahri Abdul Aziz Sylvester Jande Gemanam mohd Fahmi mohd Yusof School of Physics Universiti Sains Malaysia11800 GelugorPenangMalaysia School of Industrial Technology Universiti Sains Malaysia11800 GelugorPenangMalaysia Advanced Medical and Dental Institute Universiti Sains Malaysia13200 BertamPenangMalaysia School of Health Sciences Universiti Sains Malaysia16150 Kota BharuKelantanMalaysia

Photon absorption parameters such as mass attenuation coefficients(μ_m),molar extinction coefficients(ε),total molecular(σ_(t,m)),atomic(σ_(t,a))and electronic(σ_(t,el))cross sections,half-value layers(X_(1/2)),tenth-value layers(X_(1/10)),mean free paths(λ),effective atomic numbers(Z_(eff)),and effective electron densities(N_(el))were estimated for defatted soy flour(DSF),soy protein concentrate(SPC),and soy protein isolate(SPI)-based Rhizophora *** composites substituted with 10 wt%sodium hydroxide(NaOH)and 0,5,10,and 15 wt%itaconic acid polyamidoamine-epichlorohydrin(IA-PAE)*** composition was assessed using ultrahigh-resolution field emission scanning electron microscopy-energy dispersive X-ray spectrometry(UHR-FESEM-EDX).The interaction parameters were evaluated for K_(α1)photons at16.59,17.46,21.21,and 25.26 keV,employing a low-energy germanium(LEGe)detector system and an~(241)Amγ-ray source.X-ray diffraction characterization revealed an amorphous phase in the developed particleboard *** DSF15',SPC15',and SPI15'exhibited the highest values ofμ_m,ε,σ_(t,m),Zeff,and N_(el)among all of the studied particleboard samples,within the range of measured photon *** addition,all of the modified samples exhibited lower X_(1/2),X_(1/10),λ,σ_(t,a),andσ_(t,el)than the unmodified samples,with DSF-,SPC-,and SPI/NaOH/Rhizophora spp./IA-PAE(15 wt%),indicating insignificant *** current results of the particleboard samples'analysis can be useful for medical radiation applications and shielding research.

关键词： Photon interaction parameters Shielding DSF–SPC–SPI Particleboards NaOH/IA-PAE

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Specialized Optical Fiber Sensor for Nondestructive Intrinsic Quality Measurement of Averrhoa Carambola

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Photonic Sensors 2013年第3期3卷 272-282页

作者： Ahmad Fairuz OMAR mohd zubir MATJAFRI School of Physics Universiti Sains Malaysia 11800 Penang Malaysia

这份报纸为非破坏性的水果质量分析论述一条创新、便宜的途径。在这发展并且介绍纸的专业化光纤维传感器使用了单色的波长，而非一个宽广系列，到措施未经触动的杨桃(星水果) 内在的质量，也就是 pH 和坚定。这研究的主要目的是调查也... 详细信息

这份报纸为非破坏性的水果质量分析论述一条创新、便宜的途径。在这发展并且介绍纸的专业化光纤维传感器使用了单色的波长，而非一个宽广系列，到措施未经触动的杨桃(星水果) 内在的质量，也就是 pH 和坚定。这研究的主要目的是调查也就是，在这个工作使用的二个光纤维传感器在在 880 nm 与山峰敏感操作了的红外线的光谱学系统( OF-NIRS )附近在 635 nm 和光纤维与山峰敏感操作了的光纤维红系统( OF-RS )。两个系统超过 0.75 与关联系数 R 在 pH 和未经触动的杨桃的坚定测量显示出好精确性，并且测量结果与商业分光计的那些是可比较的。最好的测量结果用 OF-RS 被获得(pH：R = 0.876；根均方差(RMSE )= 0.211 pH；坚定：R = 0.872；RMSE = 0.909 kgf ) 。

关键词：光纤传感器质量测量无损红外光谱仪阳桃均方根误差 pH值品质分析

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Monitoring Surface Water Quality in Coastal Area of Penang

Monitoring Surface Water Quality in Coastal Area of Penang

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International Conference on Environment Science and Engineering（ICESE 2011）

作者： Saumi Syahreza Lim Hwee San mohd zubir Mat Jafri mohd Rifhan Mustapha Department of Physics Syiah Kuala University Aceh 23111 Banda Aceh Indonesia School of Physics Universiti Sains Malaysia (USM) 11800 Penang Malaysia

The water quality parameter total suspended solids in the coastal area of Penang Island, Malaysia have been studied using Landsat TM data. The aim of this study was to test the feasibility of using satellite data for mapping and monitoring water quality parameter total suspended solids (TSS) by using remote sensing and digital processing techniques. The model used in this study is based on the reflectance model which is a function of the inherent optical properties (IOP) of water and this in turn can be related to the concentration of its constituents. The digital numbers for each band corresponding to the sea-truth locations were extracted and then converted into radiance and reflectance values. The reflectance values were used for calibration of the water quality algorithm. The efficiency of the proposed algorithm was investigated based on the observations of correlation coefficient (R) and root-mean-square deviations (RMS) using the sea truth data. The proposed algorithm is considered superior to other tested algorithms based on the values of the correlation coefficient, R=0.93 and root-mean square error, RMS=9 mg/l. The calibrated TSS algorithm was used to generate the water quality maps. The water quality image was geometrically corrected and image smoothing was performed on the map to remove random noise. The generated map was color-coded for visual interpretation.

关键词： water quality landsat TM TSS

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Feasibility of using multi-band imageries captured by Cropcam Unmanned Aerial Vehicle autopilot for land cover mapping

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材料科学与工程：中英文版 2009年第12期3卷 26-31页

作者： Lim Hwee-San mohd zubir Mat Jafr Khiruddin Abdullah Faez Hassan Nasirun mohd Saleh School of Physics University Science Malaysia Penang 11800 Malaysia

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Solar Erythemal Dose Rate over Peninsular Malaysia Obtained by Ozone Monitoring Instrument

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材料科学与工程（中英文版） 2010年第10期4卷 98-100页

作者： Nor Hidayah Hisamuddin Shah Lim Hwee San mohd. zubir Mat Jafri School of Physics Universiti Sains Malaysia Penang 11800 Malaysia

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