Bukhari Ilias
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Bukhari Ilias
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Bukhari, Ilias
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Ilias, Bukhari
Ilias, B.
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Scopus Author ID
55362012800
Researcher ID
EZX-8508-2022

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Enhancement of ultrasonic sensor system for indoor mobile robot mapping and self-localization

2017 , Bukhari Ilias

This thesis is about enhancing the ability of ultrasonic sensor for accurate measurement of obstacles, which is important in indoor mobile robot mapping and self-localization application. Ultrasonic is preferred for indoor mobile robot mapping and selflocalization due to its wide detection area, does not depends on light, the ability to detect glass and shining wall, smaller in size, lightweight, use a very low memory, much cheaper than Laser Range Finder (LRF) or camera and lower power consumption. However, it can lead towards inaccurate measurement due to its characteristics. Being a specular type of sensor and not narrowly focused, this can causes wrong measurement of estimation after multiple obstacle reflection. Therefore, necessary accompanying algorithms should be developed to encounter this issue, which lead towards this research that consists of three objectives, based on theoretical and experimental work. The first is the development of an enhanced wall mapping technique named as the Nominal Wall Angle (NWA) filtering algorithm, using the combination of Sine and Cosine Law. The second is the development of real time 2D mapping based on the measurement distance between the centre of sensor bank and the wall. Homogeneous Transformation Matrix (HTM) is enhanced in this research as the wall mapping algorithm. The third objective is to evaluate the performance of mapping and selflocalization of basic wall shape and real indoor environment using K-Nearest Neighbour (KNN) classifier. To achieve these objectives, a ring of sixteen pieces 40 kHz ultrasonic sensor bank is developed. This sensor bank is mounted on a two-wheeled mobile robot platform to perform the scanning process. The robot platform was built using a differential drive system as it can handle issues of maneuvering in crowded and narrow spaces. Analysis for enhancing ultrasonic capability in obstacle measurement with ultrasonic sensor bank is carried out by fixing four set of basic walls shape of rectangular, triangular, curve and square and also in a real laboratory environment. Normality and Multivariate analysis of variance (MANOVA) test was performed to ensure that the data is valid. The algorithm has the combined implementation of several software platforms such as BASIC Stamp, BASIC Atom, Lab VIEW and MA TLAB. The combination of these algorithms, hardware and software results in an improvement in accuracy of mapping, increased from an average of 90% to 97%. Also at the same time, data dimension reduction of up to 75% can be achieved while maintaining localization performance rate beyond 90%. The developed algorithm has the capability to suppress phantom error for improving the accuracy of measurements during the scanning process.

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A Review on the Stingless Beehive Conditions and Parameters Monitoring using IoT and Machine Learning

2021-12-01 , Ali M.A.A.C. , Bukhari Ilias , Norasmadi Abdul Rahim , Shazmin Aniza Abdul Shukor , Abdul Hamid Adom , Saad M.A.H.

One of the stingless bee types named Heterotrigona Itama are widespread in the tropics and subtropics especially in Malaysia. Due to its excellent nutritional content, stingless bee honey has gained favour in recent years. According to some studies, stingless bee honey has been used to cure eye infections, open wounds, diabetes, hypertension, and a variety of other diseases. Additionally, this stingless bee is non-venomous and smaller in size than common bees. Nevertheless, beekeepers may encounter a number of obstacles that may result in colony failure and under-production. These problems can be attributed to a variety of factors such as surrounding temperature, surrounding humidity and predators. Numerous stingless bee colonies and other bee species lost in 2006 due to Colony Collapse Disorder as a result of this problem. Therefore, this article will review previous research on optimizing stingless beehive conditions via the use of the Internet of Things (IoT) and machine learning to minimise this issue. To begin, a review of existing research on the characteristics of stingless bees, particularly the Heterotrigona Itama species, has been conducted to understand the natural habitat of Heterotrigona Itama. Following that, the articles on colony division was reviewed in order to transition the colony from the conventional hive to the artificial hive which also reviewed its design from the past article to simplify the sensors installation, IoT monitoring system and honey harvesting. Then, the prior article on sensors and IoT deployment was examined to monitor and analysis the data online without disturbing the colony activity inside the beehives. Finally, the article on the application of machine learning with the beehive dataset was reviewed the most precise and accurate machine learning method to predict the existence of bee activity in the hives and the future condition of beehive.

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Development of Artificial Stingless Bee Hive Monitoring using IoT System on Developing Colony

2024-01-01 , Ali M.A.A.C. , Bukhari Ilias , Norasmadi Abdul Rahim , Shazmin Aniza Abdul Shukor , Abdul Hamid Adom , Saad M.A.H. , Hassan M.F.A.

The trend of stingless bees’ farm in Malaysia has increased recently as it has been proven that its honey gives various benefits to human beings. This trend requires beekeepers to do more frequent inspections of beehives. However, the current practice of opening the cover to inspect the colony and honey will disrupt colony activity. According to a recent study, these stingless bees can only survive between 22 and 38 degrees Celsius, and harsh weather conditions might lead to the collapse of bee colonies. In order to ensure a consistent honey production, the IoT monitoring system will be implemented on an artificial stingless beehive. The system is equipped with an embedded system that utilizes a NodeMCU ESP8266, temperature and humidity sensors, and load cell sensors. Next, honey compartment weight, temperature and humidity inside stingless beehive, and temperature and humidity outside stingless beehive will be uploaded to the Internet of Things (IoT) platforms, namely Thingspeak and Cayenne. The data is sent to Thingspeak via the REST API while to Cayenne by the MQTT API. All data from the artificial stingless bee hive indicating the occurrence of colony rising and has been uploaded to the IoT platform. By analysing the data that were recorded for 13 days, all of the input data such as the weight of the honey compartment, the temperature in the hive, and the humidity in the hive, display its respective characteristics. For the honey compart weight, it has been found that the stingless bee colony is rising as a result of the increasing honey and colony in the compartment weight. Regarding the hive temperature, it has been determined that the temperature inside the hive is stable around 26°C to 38°C in normal weather conditions. Whereas for humidity inside the hive, it is remained between 76.5% and 85.6% due to the moisture from the honey inside the compartment. Lastly, these results indicate that the colony living in the artificial hive of stingless bees is healthy and growing.

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A Deep Learning Approach for Face Detection and Recognition to Initiate Human-Robot Conversation

2024-06-04 , Abdul Halim Ismail , Mohammed Khaled Ahmed Al Ghaili , Mohamad Amir Hamzah Md Yusof , Saeed Akash Mastoi , Muhammad Hisyam Rosle , Bukhari Ilias , Muhamad Safwan Muhamad Azmi

Artificial Intelligence (AI) is currently booming at almost all field. The inauguration of OpenAI ChatGPT using Natural Language Processing (NLP) has played a vital role in exposing AI to the public. It is estimated about 1.8 billion users visit ChatGPT site in a month, with further planning of apps creation in iTunes Apple App Store and Android Google Playstore. Therefore, it is interesting and natural to implement such technology in robotic field. This paper presents the attempt to employ AI into the mobile robot system towards the main goals of conversational intelligence between human and robot. First, the robot head is designed and assembled, then a screen that functioned as the robot face is attached. Afterwards the detection and recognition system were developed giving the ability to the robot to recognize registered persons and the robot eye is able to track where the person is, in the camera Field-of-View (FOV). In addition, all these systems are developed on in-situ device i.e. NVIDIA® JetsonTM Nano. It is targeted that the proposed system is able to initiate a natural conversation between a robot and a human user.

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A study of embedded fuzzy logic to determine artificial stingless bee hive condition and honey volume

2024 , Bukhari Ilias , Norasmadi Abdul Rahim , Shazmin Aniza Abdul Shukor , Abdul Hamid Adom , Muhammad Ammar Asyraf Che Ali , Mohd Al-Haffiz Saad , Mohd Fauzi Abu Hassan

Stingless Bee is particularly nutrient-dense in his honey. Therefore, numerous beekeepers for the Stingless Bee have begun this agricultural enterprise, particularly in Malaysia. However, beekeepers encounter challenges when caring for an excessively large stingless bee colony. Due to the risk of causing colony disruption, the beekeeper cannot always access the hives to monitor honey volume and hive condition. Consequently, the purpose of this paper is to aid beekeepers and prevent disruption to bee colonies by determining the condition of the hive and the quantity of honey using an embedded fuzzy logic system. Artificial hives have been created in order to easily measure the weight of a hive of stingless bees and to divide the honey compartment from the brood compartment in order to calculate the honey volume. Since the stingless bee designs its colony with honey on top and larvae on the bottom, honey volume can be determined by weighing the honey compartment using load cell and internal humidity using dht22. DHT22 is used for measuring the internal temperature and humidity, as previous papers have stated that the hive condition can be determined using the internal temperature and humidity. Morever, FLDa (Fuzzy Logic Designer app) by MATLAB was subsequently utilised to construct membership function, rules, fuzzification, and defuzzification. Then, the same input, membership function, and rules that used in FLDa will be implemented on the Nodemcu ESP8266 using eFLL (Embedded Fuzzy Logic Library). A comparison between the crisp output from FLDa and the crisp output from eFLL was conducted to determine whether eFLL is suitable for use in the NodeMCU ESP8266. As a consequence, the standard deviationand averaged percentage error of differences for hive condition, which is 0.22 and 0.17%, isless than the honey volume, which is 0.49 and 0.66%, because hive condition has a strict correlation with temperature. The hive condition will be rated bad (0% when the temperature is cold or hot state), but it will be rated good (100% when the temperature is normal state). As for honey volume, the majority of results correspond to the percentage of honey compartment weight, unless the humidity is dry state, which will cause the value to be cut in half. Finally, the fuzzy logic system is effectively implemented into an embedded system, making it easier for the beekeeper to monitor the hive condition and honey volume without interfering with the activity of stingless bees.

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