Kamarulzaman Kamarudin

Kamarulzaman Kamarudin
University of Malaysia, Perlis | unimap · Centre of Excellence for Advanced Sensor Technology

Ph.D. (Mechatronics Engineering)

About

76
Publications
66,911
Reads
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738
Citations
Additional affiliations
December 2010 - March 2011
Callaghan Innovation
Position
  • Research Assistant/Software Engineer
Education
January 2012 - May 2016
University of Malaysia, Perlis
Field of study
  • Mechatronics Engineering
January 2007 - December 2010
University of Canterbury
Field of study
  • Mechatronics Engineering

Publications

Publications (76)
Article
Full-text available
Gas distribution mapping (GDM) learns models of the spatial distribution of gas concentrations across 2D/3D environments, among others, for the purpose of localizing gas sources. GDM requires run-time robot positioning in order to associate measurements with locations in a global coordinate frame. Most approaches assume that the robot has perfect k...
Conference Paper
Full-text available
Conference code: 98042, Export Date: 13 November 2013, Source: Scopus, Art. No.: 6530050, doi: 10.1109/CSPA.2013.6530050, Language of Original Document: English, Correspondence Address: Centre of Excellence for Advanced Sensor Technology (CEASTech), Universiti Malaysia Perlis, Arau, Perlis, Malaysia, References: Siegwart, R., Nourbakhsh, I.R., (200...
Article
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Characterization and calibration of gas sensor is a complex problem due to the dynamic behavior of gases and the limitations of current technology. This article reports a flexible, robust, and autonomous integrated system that is able to perform characterization on metal oxide-based gas sensors in dynamic environments. The system controls the conce...
Article
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This paper presents a performance analysis of two open-source, laser scanner-based Simultaneous Localization and Mapping (SLAM) techniques (i.e., Gmapping and Hector SLAM) using a Microsoft Kinect to replace the laser sensor. Furthermore, the paper proposes a new system integration approach whereby a Linux virtual machine is used to run the open so...
Article
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The incident of harmful gas leakage can cause severe damage to the environment and several casualties to human beings while the gas localization system plays a major role in mitigating those causalities. With the advances in artificial intelligence technology, deep learning is able to enhance the accuracy of the gas localization system to locate th...
Article
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Waterjet Technology has been used vastly in our world nowadays due to its advantages and it can be implemented in many industrial sectors or even in the medical sector and food industry sector. Nozzle is a component that has been utilized in waterjet which is employed in a wide range of engineering applications to control the rate of flow, velocity...
Conference Paper
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The aims of this review were twofold, namely 1) to analyze the main operational inefficiencies in food manufacturing and 2) to identify the main IIoT-related technologies with their potential operational improvement for the food manufacturing sector. An analytical literature review was performed using the main scientific literature databases as...
Article
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This paper deals with the dSPACE DS1104 based implementation of closed-loop motor drive system using asymmetric converter. The mathematical model of the drive has been simulated in the MATLAB/Simulink environment to analyze the performance of the drive system. The simulated results are then validated with the experimental investigation. For experim...
Chapter
This paper focuses on using customer analysis in the design and development of golf ball retriever that can be operated in the driving range. The identified problems with conventional method of retrieving the balls are the golf attendant is not able to collect the balls effectively, the number of balls collected is relatively low and the operator w...
Article
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The usage of harmful chemical gas and natural gas has been increasing rapidly which increase the risk of gas leakage incident to occur especially in the indoor environment. It is important to learn the gas dispersal behavior in order to mitigate the casualty caused by gas leakage. In addition, one of the factors that contribute to the dispersion of...
Article
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Nowadays, the quality of air in the environment has been impacted by the industry. It is important to make sure our ambient air especially in an indoor environment is clean from contaminating particles or harmful gases. Therefore, the air quality inside the indoor environment should be monitored regularly. One of the major problems, when a particul...
Article
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Global path planning techniques have been widely employed in solving path planning problems, however they have been found to be unsuitable for unknown environments. Contrarily, the traditional Q-learning method, which is a common reinforcement learning approach for local path planning, is unable to complete the task for multiple targets. To address...
Article
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Mobile olfaction is one of the applications of mobile robots. Metal oxide sensors (MOX) are mobile robots’ most popular gas sensors. However, the sensor has drawbacks, such as high-power consumption, high operating temperature, and long recovery time. This research compares a reduced graphene oxide (RGO) sensor with the traditionally used MOX in a...
Article
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The fruit industry has been known as one of the largest businesses in Malaysia, where most of the fruits pass through the peeling process well in advance before the final product as juice in a bottle or slices in a can. The current industrial fruit peeling techniques are passive and inefficient by cutting parts of the pulp of the fruit with peels l...
Article
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For decades, Metal oxide (MOX) gas sensors have been commercially available and used in various applications such as the Smart City, gas monitoring, and safety due to advantages such as high sensitivity, a high detection range, fast reaction time, and cost-effectiveness. However, several factors affect the sensing ability of MOX gas sensors. This a...
Chapter
Full-text available
The dynamic characteristic of gas dispersal in uncontrolled environment always leads to inaccurate gas source localization prediction from gas distribution map. Gas distribution map is a representation of the gas distribution over an environment which helps human to observe the concentration of harmful gases at a contaminated area. This paper propo...
Article
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There are variety of fruits around the world, different types of fruits contain different types of nutrients and vitamins which could benefits our health. In order to understand which fruit can provide specific type of nutrients, we need to identify the types of fruits. However, fruits grow in a different shape, colour and texture based on the coun...
Article
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There are times when people are required to spend time indoors, especially due to unhealthy outdoor air quality as well during a pandemic when lockdowns are imposed. However, spending time indoors can also at times be dangerous due to the release of harmful gasses if left unchecked. This has very much to do with many parameters, among which is the...
Conference Paper
This study was developed using Arduino Nano that act as main brain of this system. Together with the android application that was developed use to allowed user to unlock and lock their bicycle easily by tapping the green and red button inside the application. A high security should be applied because this bicycle lock can be hack or stolen by anyon...
Article
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Nowadays electric vehicle has increasingly gained much popularity indicated by growing global share market targeted at 30% by 2030 after recording 7.2million global stock in 2019. Compared to Internal Combustion Engine (ICE) counterpart, Battery Electric Vehicles (BEV) produce zero tailpipe emission which greatly reducing carbon footprints. Inducti...
Article
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Radio Frequency (RF) based indoor is challenging due to the multipath effect in indoor signal propagation such as reflection, absorption, diffraction due to obstacles, interference and moving objects within the environments. The multipath effect phenomenon will be worsened if Received Signal Strength (RSS) is used as the localization measurement pa...
Article
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A tin oxide (SnO2) and reduced graphene oxide (rGO) hybrid composite gas sensor for high-performance carbon dioxide (CO2) gas detection at room temperature was studied. Since it can be used independently from a heater, it emerges as a promising candidate for reducing the complexity of device circuitry, packaging size, and fabrication cost; furtherm...
Article
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Metal Oxide (MOX) semiconductor gas sensors have been widely used in monitoring targeted gases that are present in the environment. This type of gas sensor can also be utilized as a safety device to detect the source of gas leakage. Their uses in many applications are due to being user-friendly, lower in cost, high sensitivity and relatively quick...
Article
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Mobile robot carrying gas sensors have been widely used in mobile olfaction applications. One of the challenging tasks in this research field is Gas Distribution Mapping (GDM). GDM is a representation of how volatile organic compound is spatially dispersed within an environment. This paper addresses the effect of obstacles towards GDM for indoor en...
Article
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Three phase AC induction motor is the workhorse in industry where they count for 85% of the type of motor used. They are mostly used as prime movers for fan, pump, and centrifuge where conventionally, operated at fixed speed. Variable speed drives have proven to give better efficiency compared to mechanical control such as using valve or damper in...
Article
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This paper presents the development of gas sensor module consisting of metal oxide (MOX) gas sensors for indoor air contaminant measurement. The first phase of the studies involves the design of PCBs board for six different metal oxide (MOX) gas sensors particularly CCS803, MiCS5524, GM-402B, GM-502B, GM-702B and MiCS6814. Next, the main board cons...
Article
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This paper proposed a RF-based mapping-based indoor localization technique to locate their packages and items. The Received Signal Strength Indicator (RSSI) is commonly used in trilateration to allocate the packages or items location. However, several problems need to overcome to increase the accuracy of the RSSI signal propagation for the localiza...
Article
Full-text available
Gas Distribution Mapping (GDM) can be defined as visualization for the spatial distribution of gas concentration in an unknown indoor environment. Recently, incidents of gas leakage have increased gradually worldwide. This will significantly increase the casualty rate at the workplace. This paper focusses on the implementation of Kernel DM based SL...
Article
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Simultaneous localization and mapping (SLAM) is considered to be one of the primary tasks for autonomous robot navigation process. The first element required by the robot to start the navigation process is to create and assemble an accurate map of the surroundings or ground plane to envision its location. Mobile robots that use 1D or 2D sensors suc...
Article
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This document discusses the novel approach to localize human location based on the current zone via k-mean clustering. A pilot experimental analysis of k-mean clustering to group similar RSSI pattern is compared to user defined zones. The dataset collected has demonstrated the difficulties of deploying trilateration and fingerprinting methods in dy...
Article
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This work focuses on comparing gas source localization accuracy of three types of gas source localization methods which are the conventional method, weighted-averaging mean method and variance map from DM+V method. Gas source localization accuracy in this work means the distance error between the calculated source location and the actual source loc...
Article
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Mapping is one of the elemental application of the mobile robot. The map is created using the mobile robot by employing sensors such as camera, sonar and laser sensor. One of the most popular mapping methods is the Simultaneous Localization and Mapping (SLAM). SLAM allows the map to be created while localizing the robot location in the map at the s...
Article
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Human identification is a very important subject in computer field and has been researched widely. This paper proposes human identification system based on Kinect’s individual sensor as well as combination of all its available sensors. In the first part of the project, each sensor on the Kinect (i.e IR depth sensor, RGB camera and microphones) was...
Article
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Three phase induction motors are the workhorse of industry. Variable speed operation of the motor enables substantial energy savings through implementation of variable frequency drives. This project concerns on the design and implementation of three-phase voltage source inverter (VSI) for variable frequency drive. The focus was to generate variable...
Article
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Mobile robot has been one of the researches focuses in this era due to the demands in automation. Many industry players have been using mobile robot in their industrial plant for the purpose of reducing manual labour as well as ensuring more efficient and systematic process. The mobile robot for industrial usage is typically called as Automated Gui...
Conference Paper
Treated water is an improved water quality and very essential for aquaculture or for domestic usage at remote area. One of the process to treat water is by filtration. A solar powered water treatment device (SWAD) prototype was built to cater this demand. SWAD is basically a floating water filter which operates in a self-sustainable way on calm wat...
Article
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Ventilation systems are critically important components of many public buildings and workspaces. Proper ventilation is often crucial for preventing accidents, such as explosions in mines and avoiding health issues, for example, through long-term exposure to harmful respirable matter. Validation and maintenance of ventilation systems is thus of key...
Conference Paper
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The atmospheric hazards that may be present in confined space pose a serious threat to human while carrying special task in the respective location. Among the areas that are considered as confined space are utility tunnel, boiler, storage tank, sewage lines, utility holes and underground electrical fault. This study is concerned with hospital's enc...
Article
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Gas source localization is an ability which has yet to be successfully implemented in synthetic systems although it is widely exhibited by various organisms. Although single robot implementation has been explored, it is still prone to single point failures and is limited in sporadic gas dispersion conditions. Swarm intelligence based algorithms suc...
Article
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This work is concerned with the localization of gas source in dynamic indoor environment using a single mobile robot system. Algorithms such as Braitenberg, Zig-Zag and the combination of the two were implemented on the mobile robot as gas plume searching and tracing behaviours. To calculate the gas source location, a weighted arithmetic mean strat...
Conference Paper
Full-text available
Metal oxide gas sensors have been widely used in robotics application to perform remote and mobile gas sensing. However, previous researches have indicated that this type of sensor technology is cross-sensitive to environmental temperature and humidity. This paper therefore investigates the effects of these two factors towards gas distribution mapp...
Conference Paper
The unpredictable nature of gas dispersion is a well-known issue in mobile olfaction. As roboticists tend to depend on simulations and try to recreate environmental conditions in such simulations, an accurate representation of the gas plume is needed. Current model based simulations may not be able to capture the time-varying and unpredictable natu...
Conference Paper
Malodour from the poultry farms could cause air pollution and therefore potentially dangerous to humans’ and animals’ health. This issue also poses sustainability risk to the poultry industries due to objections from local community. The aim of this paper is to develop and calibrate a cost effective and efficient electronic nose for poultry farm ai...
Conference Paper
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Device-Free Localization (DFL) is an effective human localizing system that exploits changes in radio signals strength of radio network. DFL is playing a critical role in many applications such as elderly care, intrusion detection, smart home, etc. DFL is ideal for monitoring the elderly activities without causing any physical discomfort with the w...
Conference Paper
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IoT technology has improved the quality of life as well as provides intelligence and comforts to the user. A Wireless Sensor Networks (WSN) technology is one of the powerful technologies that enable IoT objects to communicate with each other. Device-Free Localization (DFL) system exploits changes in radio signals across different environments aims...
Article
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The challenges in deploying robust wireless sensor networks (WSNs) in agricultural environments are limited power supply and variability of wireless propagation channel that restrict performance. Proposed protocols do not meet the challenges for realistic simulation and evaluation of WSN for agricultural applications. The design of LEACH protocol i...
Article
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Mobile olfaction and odour source localisation has become a noticeable research field in recent years. Current developments in mobile robots and the dynamic nature of environments that the robot performs its tasks have increased robot's computation requirements. Behaviour based robot has been lauded to be robust and cost effective to counter the ea...
Article
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The lack of information on ground truth gas dispersion and experiment verification information has impeded the development of mobile olfaction systems, especially for real-world conditions. In this paper, an integrated testbed for mobile gas sensing experiments is presented. The integrated 3 m [1] 6 m testbed was built to provide real-time ground t...
Article
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The development of Bioacoustics device has been on the rise due to their apparent benefit as it has been proved to solve many problems such as recognizing animal vocalization and estimating the population of an animal in the forest. However, the commercial bioacoustics device always known as an expensive and complicated system in recent market. Thi...
Article
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Both laser scanner and Kinect has been widely used in robotic application for simultaneous localization and mapping (SLAM). However, each sensor has its own limitations. For example, Kinect does not have a wide range field of view and laser scanner could not detect obstacles beyond its scanning plane. The paper proposes a method to combine the data...