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All Journal International Journal of Electrical and Computer Engineering Indonesian Journal of Educational Research and Technology (IJERT)
Muhammad Suhaimi Sulong
Universiti Tun Hussein Onn Malaysia
Chemical Engineering, Chemistry & Bioengineering Computer Science & IT Education Electrical & Electronics Engineering Engineering Materials Science & Nanotechnology Other

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Efficient robotic path planning algorithm based on artificial potential field Elia Nadira Sabudin; Rosli Omar; Sanjoy Kumar Debnath; Muhammad Suhaimi Sulong
International Journal of Electrical and Computer Engineering (IJECE) Vol 11, No 6: December 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v11i6.pp4840-4849

Abstract

Path planning is crucial for a robot to be able to reach a target point safely to accomplish a given mission. In path planning, three essential criteria have to be considered namely path length, computational complexity and completeness. Among established path planning methods are voronoi diagram (VD), cell decomposition (CD), probability roadmap (PRM), visibility graph (VG) and potential field (PF). The above-mentioned methods could not fulfill all three criteria simultaneously which limits their application in optimal and real-time path planning. This paper proposes a path PF-based planning algorithm called dynamic artificial PF (DAPF). The proposed algorithm is capable of eliminating the local minima that frequently occurs in the conventional PF while fulfilling the criterion of path planning. DAPF also integrates path pruning to shorten the planned path. In order to evaluate its performance, DAPF has been simulated and compared with VG in terms of path length and computational complexity. It is found that DAPF is consistent in generating paths with low computation time in obstacle-rich environments compared to VG. The paths produced also are nearly optimal with respect to VG.
Frequency based signal processing technique for pulse modulation ground penetrating radar system Che Ku Nor Azie Hailma Che Ku Melor; Ariffuddin Joret; Maryanti Razali; Asmarashid Ponniran; Muhammad Suhaimi Sulong; Rosli Omar
International Journal of Electrical and Computer Engineering (IJECE) Vol 11, No 5: October 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v11i5.pp4104-4112

Abstract

This paper discusses the method of processing the pulse modulation (PM) ground penetrating radar (GPR) system to detect an embedded object underground. The proposed technique is using frequency domain operation which can be classified based on two parameters which are magnitude and phase. The process of detecting the position and depth of iron objects in dry sandy soil is easier to identify using the techniques and parameters that have been introduced. The selection of the Dipole antenna as a sensor device to detect iron objects has been designed in a frequency range of 70 MHz to 80 MHz. Based on the simulation, the proposed technique seems to be able to detect underground iron objects. By using the magnitude value, the underground iron object that can be detected as displayed in GPR radargram is in the depth range from 0 mm until 1000 mm. Meanwhile, by using the phase value, the embedded underground iron object detected is in the range of depth between 900 mm and 1000 mm. Therefore, based on this promising result, the proposed technique and parameters are considered to be used in
Lecturer Perspective on Informal Learning Activities Nor Atikah Md. Jizat; Muhammad Suhaimi Sulong
Indonesian Journal of Educational Research and Technology Vol 1, No 1 (2021): IJERT: March 2021
Publisher : Universitas Pendidikan Indonesia (UPI)

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (449.02 KB) | DOI: 10.17509/ijert.v1i1.32660

Abstract

The purpose of this study is to understand the influence of formal and informal learning in class. This study also intends to find an informal learning method that applied to a higher education institute. The method that applied in this study is to obtain insight into various learning processes through semi-structured interviews with several practitioners such as lecturer. After the interview is over, these interviews are transcribed and analysed with the theory-based template which has been drafted before but with an open mind emerging theme. Results show that the frequency of informal learning activities mentioned the most is searching through electronic media and the internet followed by sharing material and resources and collaborating in such discussion. This suggests that lecturers observe students formal and informal activities that students performed consciously and unconsciously. This study gives impacts and is aware of the importance to support and evoke informal learning activities within and after formal learning. The application of Informal Learning can enhance positive work ethics, communication skills, teamwork, and decision making. In addition, the informal learning model contribution is that it could establish mentorship and social events and also improve workplace relationship.
Embedded iron object detection using asynchronous full wave envelope detector technique in ground penetrating radar system Maryanti Razali; Ariffuddin Joret; Muhammad Suhaimi Sulong; Mohammad Faiz Liew Abdullah; Elfarizanis Baharudin; Che Ku Nor Azie Hailma Che Ku Melor; Nur Izzati Zulkefli; Noor Azwan Shairi
International Journal of Electrical and Computer Engineering (IJECE) Vol 12, No 6: December 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v12i6.pp6187-6195

Abstract

The use of a ground penetrating radar (GPR) system that operates at low frequencies allows the detection of embedded objects underground from the earth’s surface deeper than high frequency. However, the output signal generated from the system using pulse modulation (PM) technique and high-frequency carrier, has many high ripple signals consequently resulting in a blurry image. Nevertheless, this ripple signal can be minimized by reprocessing the signal using an envelope detector method. In this study, an envelope detection technique called ArJED© asynchronous full-wave (AFW) was used in the GPR system and was tested at a frequency range from 0.06 to 0.08 GHz. A dipole antenna has been used as an embedded object detection sensor of the GPR system. The detection system of embedded objects involves four depths starting with 2 cm depth, 5 cm, 7 cm, and 20 cm. A comparison of embedded object images before and after the application of the envelope detection technique was done and proved that the proposed envelope detection technique has produced a clearer radargram image of the GPR system.
Co-Authors Ariffuddin Joret Asmarashid Ponniran Che Ku Nor Azie Hailma Che Ku Melor Elfarizanis Baharudin Elia Nadira Sabudin Maryanti Razali Mohammad Faiz Liew Abdullah Noor Azwan Shairi Nor Atikah Md. Jizat Nur Izzati Zulkefli Rosli Omar Sanjoy Kumar Debnath