Mohd Sani Mohamad Hashim, Dr.
http://dspace.unimap.edu.my:80/xmlui/handle/123456789/33146
This page provides access to scholarly publication by UniMAP Faculty members and researchers2024-03-28T21:37:24ZDevelopment of a webcam based lux meter
http://dspace.unimap.edu.my:80/xmlui/handle/123456789/34188
Development of a webcam based lux meter
Abdul Halim, Ismail; Muhamad Safwan, Muhamad Azmi; M. A, Hashim; Mohd Nasir, Ayob; Mohd Sani, Mohamad Hashim, Dr.; Hassrizal, Hassan Basri
The amount of light is an important issue in several scenarios ranging from scenic design, light pollution study, robots navigation, occupational health and safety, illumination engineering, agriculture, medical appliances and many more. It is typically determined by using an illumination meter. The meter, also known as lux meter is used to measure the density of light in an area which measured in lx unit. It is used in photometry as a measure of the intensity, as perceived by the human eye of light that hits or passes through a surface. As in normal meter, the lux value was obviously a displayed value, and hardly used for embedded application as well as for lighting monitoring considering its expensive price. This limits the lighting monitoring in certain critical field. Therefore, in this paper, we present our initial works on the development of a webcam based lux meter that is applicable and suitable for lighting monitoring as well as the ability to be used in embedded application. A series of controlled images are taken, and image processing is applied to the images. The results of image processing are statistically analyzed and a linear relationship between lux value and average grayscale has been obtained with satisfactory R2. The linear function is tested and the results are justified where the algorithm for low cost webcam-based digital lux meter has been successfully developed.
Proceeding of The Symposium on Computers and Informatics 2013 (ISCI 2013) at Langkawi, Malaysia on 7 April 2013 through 9 April 2013
2013-04-01T00:00:00ZTime-critical trajectory planning for a car-like robot in unknown environments
http://dspace.unimap.edu.my:80/xmlui/handle/123456789/34182
Time-critical trajectory planning for a car-like robot in unknown environments
Mohd Sani, Mohamad Hashim; Tien-Fu, Lu
This paper presents a trajectory planning and realtime control of a nonholonomic mobile robot in a static environment. The trajectory is generated based on a geometric approach for a nonholonomic mobile robot. The trajectory is time-critical which the mobile robot is expected to reach the final point at the specified travelling time. This approach may have a significant ramification on the task-based applications, which require the robot to pass through all the control points in a specified time such as a large area patrol and goods delivery. In order to have a remote control on the mobile robot, it was equipped with a wireless communication. The algorithm is then being tested in the static environment and the results from the experimental works are compared with the results from the simulation works. The mobile robot that was used in the experimental works was adapted from a car-like robot.
Proceeding of Business Engineering and Industrial Applications Colloquium 2013 (BEIAC 2013) at Langkawi, Malaysia on 7 April 2013 through 9 April 2013.
2013-04-01T00:00:00ZDynamic obstacle avoidance approach for car-like robots in dynamic environments
http://dspace.unimap.edu.my:80/xmlui/handle/123456789/26632
Dynamic obstacle avoidance approach for car-like robots in dynamic environments
Mohd. Sani, Mohamad Hashim; Tien-Fu, Lu; Hassrizal, Hassan Basri
In this paper, a new dynamic obstacle avoidance approach for nonholonomic mobile robots in dynamic environments is presented. In dynamic environments, the mobile robot is expected to encounter and safely avoid the obstacles along its way. This inevitably will delay the mobile robot in keeping to its original planned timeframe. To address this scenario, the proposed approach will ensure the mobile robot is able to gain the time lost during obstacle avoidance and reach the final point at the specified time. This approach is based on the dynamic trajectory planning scheme which utilized the replanning approach in order to avoid the obstacle. The performance of the proposed approach is tested through simulations in a simplified city-like dynamic environment.
Link to publisher's homepage at http://ieeexplore.ieee.org/
2012-12-03T00:00:00ZPerformance of a time-dependent motion planning approach for a car-like robot in static environments
http://dspace.unimap.edu.my:80/xmlui/handle/123456789/20586
Performance of a time-dependent motion planning approach for a car-like robot in static environments
Mohd. Sani, Mohamad Hashim; Tien-Fu, Lu
Trajectory planning and obstacle avoidance are very
important issues to obtain a smooth and collision-free navigation
for an autonomous mobile robot. In this paper, the performance
of a time-dependent motion planning approach for a car-like
robot is presented. The proposed approach can be divided into
two levels; offline and online planning. Offline planning
generates a collision-free trajectory with the consideration of
known obstacles at the early stage, while online planning deals
with unknown obstacles once the robot starting to move. The
generated trajectory is developed based on a geometric approach.
This paper mainly focuses on the offline planning which was
implemented and tested using a car-like robot in static
environments. The presented results demonstrate the
performance of the offline planning and the practicality and
effectiveness of the algorithm.
International Conference on Man Machine Systems (ICoMMS 2012) organized by School of Mechatronic Engineering, co-organized by The Institute of Engineer, Malaysia (IEM) and Society of Engineering Education Malaysia, 27th - 28th February 2012 at Bayview Beach Resort, Penang, Malaysia.
2012-02-27T00:00:00Z