Ksm Sahari

• PhD
• Professor at Universiti Tenaga Nasional

Autonomous radiation mapping refers to the use of autonomous robots to perform radiation mapping to measure and analyse the levels of radiation intensity of a target area. The primary purpose of the radiation mapping is to uncover the dose distribution across the target area and identify the presence of any hotspots. In this paper, the findings of...

In this paper, we present a radiation detector module that can be seamlessly integrated with Robot Operating System (ROS) to enable robots to perform radiation measurements in hazardous environments. The module is designed with a detector PCB and connectors that are compatible with an Arduino shield. The Arduino firmware is programmed with a counte...

The sensor coverage problem aims to maximize the coverage of a target area with a fixed or minimum number of sensors. However, the sampling point coverage for radiation mapping has yet to be specified or adequately established. When dealing with unknown radiation fields, it is critical that the placements of sampling points will ensure that all hot...

In nuclear and radiation-related industries, it is crucial to ensure that the radiation dose exposure to the radiation worker is maintained below the permissible dose limit. A radiation map is a useful tool for visualizing the radiation distribution across the work area and for coordinating activities involving the hotspots (high radiation areas)....

State-of-charge (SOC) is a crucial battery quantity that needs constant monitoring to ensure cell longevity and safe operation. However, SOC is not an observable quantity and cannot be practically measured outside of laboratory environments. Hence, machine learning (ML) has been employed to map correlated observable signals such as voltage, current...

This paper studies emotion detection using deep learning on the prevalent usage of face masks in the Covid-19 pandemic. Internet repository data Karolinska Directed Emotional Faces (KDEF) [1] was used as a base database, in which it was segmented into different portions of the face, such as forehead patch, eye patch, and skin patch to be representi...

Visual inspection of electrical utility assets is crucial in ensuring the continuous operation of a system or plant. With the advent of digital imagery using mobile devices, it has become easy to collect a vast amount of asset pictures from sites. To further enhance inspection efficiency, we propose RetinaNet, a deep learning-based object detection...

Accurate state of charge (SOC) estimation of lithium-ion (Li-ion) batteries is crucial in prolonging cell lifespan and ensuring its safe operation for electric vehicle applications. In this article, we propose the deep learning-based transformer model trained with self-supervised learning (SSL) for end-to-end SOC estimation without the requirements...

Geiger Mueller tube is a longstanding device to detect gamma ray in it range and it still preferred in many radiation detection devices due to robustness in rough environment. The high voltage supply to support Geiger Mueller activation needs a transformer at in order to operate. This paper will discuss the effectiveness of the transformer to get s...

Detector dataset in digital data is required to simulate and evaluate a particle filter (PF) algorithm. The PF is used to estimate the position and intensity of unknown hotspots within a region of interest (ROI) from sparse sampling points around the ROI. The dataset will emulate GM measured data at these sampling points. GM radiation detection mod...

This article presents a collision avoidance system for multiple robots based on the current autonomous car collision avoidance system. The purpose of the system is to improve the current autonomous car collision avoidance system by including data input of other vehicles’ velocity and positioning via vehicle-to-vehicle communication into the current...

This work aims to contribute to the domain of new modification in electromagnetism-like (EM) algorithm, which will be referred to in this work as pendulum-like with attraction-repulsion mechanism algorithm (PA). PA algorithm has been constructed with the purpose of solving inverse kinematics (IK) problem. The proposed new algorithm mimics the conce...

Radiation mapping is the process of measuring radiation intensity level at distributed sampling points in a predefined region of interest (ROI). This procedure is crucial in any radiological related emergency to locate contamination hotspot(s) or in routine inspections in any radiation facilities. When workers knowingly enter a high radiation zone...

In this paper, a complete description of the design process for a four-legged locomotion robot or also known as quadrupedal robot will be presented. The quadrupedal robot is purposely designed as the Messenger Robot 2 (MR2) to participate in Robocon 2019. To overcome the challenges in Robocon 2019, each leg of the quadrupedal robot is designed with...

According to the World Health Organization (WHO), over 1.3 million deaths occur worldwide each year due to traffic accidents alone. This figure elevates traffic mishaps to be the eight leading cause of death. According to another study the United States National Highway Traffic Safety Administration (NHTSA), the major cause of road deaths and injur...

span lang="EN-GB">There are numerous robotic hand designs but the five-fingered robotic hand design is the most dexterous robotic hand design due to its similar appearance and motions with the human hands. The fingers' motions are commonly driven by geared motors or other types of emerging technologies. However, the motions are yet to be driven dir...

Replacing a light bulb is a common household task to be done regularly. Existing bulb changer products on the market, however, can be difficult for the elderly and weak people to use. In this paper, a bulb changer device is designed and developed to help ease people at home doing their household tasks. The device incorporates some of the existing i...

Periodical maintenance and inspection of the power plant system and its subsystem are deemed necessary to avoid shortage and unplanned shutdown. Boiler is one of the main modules in thermal power plant. The boiler operates under high thermo and mechanical loading that leads to failures caused by degradation, creep, corrosion, and others. One of the...

Part of the Human-Robot-Interaction (HRI) series, this work focuses on the effective integration between the ROS (Robot Operating System) and Android frameworks, to facilitate efficient interaction between the ROS-ready robots and humans (through their hand-held devices and wearables) Acknowledgement: This is a pre-print of an article published...

In this article, we present a review on the recent advancement in flexible deformable object modeling for dexterous manipulation in robotic system. Flexible deformable object is one of the most research topics in computer graphic, computer vision, and robotic literature. The deformable models are known as the construction of object with material pa...

This work considers the problem of garment handling by a general household robot that focuses on the task of classification and pose estimation of a hanging garment in unfolding procedure. Classification and pose estimation of deformable objects such as garment are considered a challenging problem in autonomous robotic manipulation because these ob...

Despite the proven advantages of sampling-based motion planning algorithms, their inability to handle online navigation tasks and providing low-cost solutions make them less efficient in practice. In this paper, a novel sampling-based algorithm is proposed which is able to plan in an unknown environment and provides solutions with lower cost in ter...

The performance of robot arm motion generated via neural network are presented in this paper. The robot arm motion for obstacle avoidance simultaneously optimizing three functions; minimum distance, minimum time and minimum energy are generated. Four different initial and goal position had been chosen to test and analyze the performance of generate...

The high-voltage transmission line had been used primarily for power distribution from power plant or power station to the end users. However, the transmission line is highly prone to damage due to exposure to various thermal–mechanical loadings and material degradation. Therefore, periodical inspection on transmission line after prolonged service...

This research investigates how the heat from car exhaust pipe line can be recovered as power using passive Thermo electric generator (TEG) using heat pipes. In this research the heat pipes are place on the cold side of TEG to remove the rising temperature and hot side of TEG is placed on the circumference of exhaust pipe line of car engine. The hea...

There are numerous robotic hand designs but the five-fingered robotic hand design is the most dexterous robotic hand design due to its similar appearance and motions with the human hands. The five-fingered robotic hands are commonly controlled or governed through a master-slave system that can be accomplished by using simple preset motions or other...

One of the challenging tasks for general household robot of doing household work is to manipulate deformable objects such as garments. The improper folding procedure by the robot will cause the failures such as generating wrinkles, cause the garment to misalign and the following folding process will possibly fail. Moreover, given different types an...

Series of catastrophic oods that we have witnessed over the last decade in Malaysia have necessitated the adoption of reliable early warning system. Ultimate concern during any event of natural or manmade disaster would be information dissemination to lessen the disaster impact on lives and property. The Bertam Valley incident in the wee hours of 2...

The structural elements of dams are prone to defects and potential failures despite continuous upgrade on design, variety of construction materials used, daily operation and maintenance efforts of dams to improve the safety of the dams, the possibility of unforeseen events of dam failures is still possible. Dams in Malaysia are observed to integrat...

In general, inspection routine at power plant industry can be significantly improved by implementing integrated inspection system of which offer various advantages in term of ease of use, reliability, safety, cost and efficiency. Our research center have developed few inspection robots namely MK-01 and LS-01 to inspect boiler header inner surface c...

Power plant inspection is a regular activity for repair and maintenance purposes. Boiler headers serve as to tie multiple steam mains to one boiler or multiple boilers to one or more steam mains. The challenge to do inspection inside boiler headers is they come with different configuration of inspection entry. A special ‘Platform Deployment Arm’ (P...

Ultrasonic Sensors have long been used for pipeline inspection. The combination of Ultrasonic and eddy current sensors provide great resolution and accuracy for crack and corrosion detection. In this study the authors have integrated multiple Ultrasonic sensors with relative software filtering techniques to develop a low cost, low maintenance syste...

The research focuses on the development of a robust home service robot that is capable of doing multiple types of household chores. This work considers the problem of garment perception and folding procedure by a home service robot, focusing on the task of recognizing a piece of spread-out garment on a flat platform. The robotic platform setup is a...

heat energy transfer to power energy

Currently, the methods of actuating robotic-based prosthetic limbs are moving away from bulky actuators to more fluid materials such as artificial muscles. The main disadvantages of these artificial muscles are their high cost of manufacturing, low-force generation, cumbersome and complex controls. A recent discovery into using super coiled polymer...

This paper describes the development of nylon-based artificial muscles that is intended to be used in prosthetic limb for young amputees. Prosthetic limbs are very expensive and this situation is further compounded for young amputees who are very quickly out-grow their prosthesis. The proposed artificial muscles are made of nylon fishing strings fr...

Rao-Blackwellized Particle Filter (RBPF) is used in this paper to solve the Simultaneous Localization and Mapping (SLAM) problem. RBPF algorithm uses particle filter where each particle carries an individual map of the environment. With the usage of Robot Operating System (ROS), GMapping package was used as a basis for map generation and SLAM. To i...

A robot must have a good understanding of the environment for autonomous navigation. Mobile robot using fixed laser range scanner can only detect obstacle on a plane level. This may cause important obstacles not to be appropriately detected. This will cause the map generated to be inaccurate and collision may actually occur during autonomous naviga...

Hydraulic Transient is one of the most destructive effects in oil and gas pipelines. Currently existing pigs are one of the main sources for this phenomena due to their physical characteristics and function. In this study, by implementation of a new design to the system of pigs, which utilizes the free spaces surrounding the robot, the effect of hy...

Faulty control surface actuator in a small Unmanned Aerial Vehicles (sUAV) could be overcome with a few techniques. Redundant actuators, analytical redundancy or combination of both are normally used as fault accommodation techniques. In this paper, the accommodation technique of faulty elevator actuator is presented. This technique uses a standby...

The degrading performance of actuators in small unmanned aerial Vehicle (UAV) is often left unnoticed because it is masked by autopilot control. The faulty actuator will only be detected when the actuator has been severely damaged. If it occurs during flight, the UAV will be lost, same goes with the valuable data on the board. Usually, a pre-flight...

In a Robot Operating System (ROS) application, robot software is often distributed across multiple networked components, forming the ROS network, where every component acts as server and/or a client, and publishing and/or receiving robot data simultaneously. For indoor robots, a local ROS network, through a Wi-Fi hotspot, is sufficient. But for out...

Concerns over food security in recent years have led to increased interest in agriculture automation, researchers around the world are looking for new and innovative ways to automate agriculture and improve its efficiency. Some researchers attempt to automate existing agriculture machinery, while others attempt to introduce robotics into agricultur...

This study has been carried out to analyze the dispositional source of satisfaction through the juxtaposition of Quality Function Deployment (QFD) and Service Quality (ServQual) in the service industry. ServQual is one of the famous tools to measure the customer satisfaction. The customer satisfaction is measure through five dimensions, which are r...

Word “Aand” in the Title should be corrected to “and”, and since the first author’s name was missing, the authors’ name should be replaced to: Fevi Syaifoelida1*, Khairul Salleh Mohamed Sahari1, Hasril Hasini1, A.M Megat Hamdan2, and A.Z Syahmi1

Learning from demonstration plays an important role in enabling robot to acquire new behaviors from human teachers. Within learning from demonstration, robots learn new tasks by recognizing a set of preprogrammed behaviors or skills as building blocks for new, potentially more complex tasks. One important aspect in this approach is the recognition...

With the development of the autonomous driving technology, the autonomous vehicle has become one of the key issues for supporting our daily life and economical activities. One of the challenging research areas in autonomous vehicle is the development of an intelligent motion planner, which is able to guide the vehicle in dynamic changing environmen...

Flooding is the utmost major natural hazard in Malaysia in terms of populations affected, frequency, area extent, flood duration and social economic damage. The recent flood devastation towards the end of 2014 witnessed almost 250,000 people being displaced from eight states in Peninsular Malaysia. The affected victims required evacuation within a...

Dams, however significant their contributions are to the society, are not immune to failures and diminishing lifespan not unlike other structural elements in our infrastructure. Despite continuing efforts on design, construction, operation, and maintenance of dams to improve the safety of the dams, the possibility of unforeseen events of dam failur...

In recent years, due to the increasing price of energy, and also a high portion of the energy used by conventional air conditioning systems in tropical countries, solar desiccant cooling systems have been identified as energy-efficient cooling systems. The significant impact of the dehumidification process on the performance of a solar cooling syst...

Sensor-based motion planning is one the most challenging tasks in robotics where various approaches and algorithms have been proposed to achieve different planning goals. However, these approaches only focus on one single objective, i.e. path optimality, path safety, efficiency or trajectory smoothness. In this paper, a novel parametric algorithm i...

Utilizing Halbach magnet array, magnetic flux can be built up on the strong side of the array while the flux cancelled on the other weak side. Inherently, rotor of rotary motor has infinite rotational length with respect to its rotation while mover of the linear motor has finite length with respect to mover's translation. This study starts with a b...

Accurate Wind speed forecasting has a vital role in efficient utilization of wind farms. Wind forecasting could be performed for long or short time horizons. Given the volatile nature of wind and its dependent on many geographical parameters, it is difficult for traditional methods to provide a reliable forecast of wind speed time series. In this s...

Accurate wind speed forecasting has a vital role in efficient utilization of wind farms. Wind forecasting could be performed for long or short time horizons. Given the volatile nature of wind and its dependent on many geographical parameters, it is difficult for traditional methods to provide a reliable forecast of wind speed time series. In this s...

Usage of robotic technology in power industry applications is gaining a lot of interest. Current method of using borescope for inspection by Tenaga Nasional Berhad, the main electricity utility company in Malaysia has several limitations. The usage and development of inspection robot should be expanded to overcome the limitations. Thus, this paper...

The periodical inspection of boiler header and tube is considered important to avoid power plant shutdown due to failures caused by degradation, creep, corrosion, thermo-mechanical loading and others. The boiler header inspection robots developed by our research center, namely “MK-02” and “LS-01”, are only able to inspect the boiler header but unab...

Robotic technology has become more interested field to safely interact with the human. Therefore, there is a need to continuously improve the mathematical models and flexibility of robot arm when subjected to a collision force in order to reduce environmental impact, but maintain very high stiffness otherwise. To implement these requirements, adjus...

Different types of off road vehicles are widely used in agriculture, oil industry, mining and military operations but none of them can effectively operate over the swamp peat terrain because of its low bearing capacity of 7kN/m2. Segmented rubber tracked vehicle and intelligent air-cushion system tracked vehicle were developed in Malaysia for swamp...

This research covers an endeavor by the author on the usage of automated vision and navigation framework; the research is conducted by utilizing a Kinect sensor requiring minimal effort framework for exploration purposes in the zone of robot route. For this framework, GMapping (a highly efficient Rao-Blackwellized particle filer to learn grid maps...

Gas Tungsten Arc Welding GTAW process is a multi-input and output process in which the resultant joint strength is governed by both independent and combination of process parameters. The identification of suitable combination parameter is crucial to get desired quality of welded joint and hence, there is need for optimization of GTAW process to ach...

The Coanda effect has been introduced into lift generation designs. In this paper, a logarithmic spiral surface is introduced as a curvature shape to evaluate the development of jet flow along the Coanda curvature. Moreover, 2D computational fluid dynamics numerical simulation is adopted to measure velocity profile, jet width growth, maximum veloci...

Unmanned Aerial Vehicles used by military are generally designed with very high reliability and have multiple redundancy of software and hardware equipment because they are intended to operate in hostile environment. But, relatively low cost UAVs used commercially are not equipped with such systems. Usually, micro UAVs weight less than 2kg are equi...

Path planning in unknown environments is one of the most challenging research areas in robotics. In this class of path planning, the robot acquires the information from its sensory system. Sampling-based path planning is one of the famous approaches with low memory and computational requirements that has been studied by many researchers during the...

In this paper, we proposed a new learning strategy for probabilistic roadmap (PRM) algorithm. The proposed strategy is based on reducing the dispersion of the generated set of samples. We defined a forbidden range around each selected sample and ignore this region in further sampling. The resulted planner called LD-PRM is an effective multi-query s...

In this study, a heuristic model for robotics integrated production (RIP) is developed for determining economic production quantity (EPQ) based on triple risk-return characteristics of maintenance, safety, and training. Total risk-return index (TRRI) is then proposed to compare the optimal production quantity of a traditional MCM with robotics inte...

Simultaneous localization and mapping (SLAM) is an important system for making fully autonomous robot navigation system. A robot must have a good understanding of the environment for navigation. Mobile robot using fixed laser range finder can only detect obstacle on a particular plane level. This may lead to missing of important obstacles that are...

System redundancy in aircraft is very important as it ensures faulty components would not jeopardize the safety of crew and passengers. High priority system such as flight control computers, instruments system and controller for control surface mechanism have double or triple redundancy to maintain the aircraft safety. While full scale aircraft has...

The used of the non-renewable energy systems for agriculture irrigation has brought up lots of disadvantages to the environment as well as the public. Environmental friendly, lesser cost and sustainable development are the factors that have not been achieved by the current systems. In order to encounter this problem a stirling engine system, which...

This paper presents the design of a passive mark for mobile robot navigation purposes. The mobile robot used is a Pioneer P3AT. This P3AT will be able to navigate through the environment by itself by interpreting the mark using image processing. The passive marks are used to navigate the robot and are designed to be easily detected by a USB camera...

This article introduced an improved spatio - temporal deep network based on information filter method for learning sufficient representation. The proposed method aims to improve feature learning capability while modeling spatial and temporal dependencies. Experiments on pattern recognition are conducted to validate the effectiveness of the proposed...