Fathinul Syahir Ahmad Sa'ad
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Preferred name
Fathinul Syahir Ahmad Sa'ad
Official Name
Fathinul Syahir, Ahmad Sa'ad
Alternative Name
Ahmad Saad, Fathinul Syahir
Sa’ad, Fathinul Syahir Ahmad
Main Affiliation
Scopus Author ID
57205307496
Researcher ID
R-5360-2019

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  • Publication
    Holonomic Mobile Robot Planners: Performance Analysis
    ( 2022-01-01)
    Aljamali Y.S.
    ;
    Muhammad Juhairi Aziz Safar
    ;
    Khairul Salleh Basaruddin
    ;
    Yazid H.
    ;
    Basha S.N.
    ;
    Fathinul Syahir Ahmad Sa'ad
    ;
    Hassan M.K.A.
    Many algorithms have been proposed to tackle the path planning problem in mobile robots. Among the well-known and established algorithms are the Probabilistic Road Map (PRM) algorithm, A* algorithm, Genetic algorithm (GA), Rapidly-exploring random tree (RRT), and dual Rapidly-exploring random trees (RRT-connect). Hence, this paper will focus on the performance comparison between the aforementioned algorithms concerning computation time, path length, and fail and success rate for producing a path. For the sake of fair and conclusive results, simulation is conducted in two phases with four different environments, namely, free space environment, low cluttered environment, medium cluttered environment, and high cluttered environment. The results show that RRT-connect has a high success rate in producing a feasible path with the least computation time. Hence, RRTs-based sampling algorithms, in general, and RRT-connect, in specific, will be explored in-depth for possible optimization.
      1  32
  • Publication
    Performance analysis of multi-level thresholding for microaneurysm detection
    ( 2022-09-01)
    Choong K.H.
    ;
    Shafriza Nisha Basah
    ;
    Haniza Yazid
    ;
    Muhammad Juhairi Aziz Safar
    ;
    Fathinul Syahir Ahmad Sa'ad
    ;
    Lim Chee Chin
    Diabetic retinopathy (DR) – one of the diabetes complications – is the leading cause of blindness among the age group of 20–74 years old. Fortunately, 90% of these cases (blindness due to DR) could be prevented by early detection and treatment via manual and regular screening by qualified physicians. The screening of DR is tedious, which can be subjective, time-consuming, and sometimes prone to misclassification. In terms of accuracy and time, many automated screening systems based on image processing have been developed to improve diagnostic performance. However, the accuracy and consistency of the developed systems are largely unaddressed, where a manual screening process is still the most preferred option. The main contribution of this paper is to analyse the accuracy and consistency of microaneurysm (MA) detection via image processing by focusing on Otsu’s multi-thresholding as it has been shown to work very well in many applications. The analysis was based on Monte Carlo statistical analysis using synthetic retinal images of retinal images under variation of all stages of DR, retinal, and image parameters – intensity difference between MAs and blood vessels (BVs), MA size, and measurement noise. Then, the conditions – in terms of obtainable retinal and image parameters – that guarantee accurate and consistent MA detection via image processing were extracted. Finally, the validity of the conditions to guarantee accurate and consistent MA detection was verified using real retinal images. The results showed that MA detection via image processing is guaranteed to be accurate and consistent when the intensity difference between MAs and BVs is at least 50% and the sizes of MAs are from 5 to 20 pixels depending on measurement noise values. These conditions are very important as a guideline of MA detection for DR.
      5  37
  • Publication
    Segmentation of Diabetic Retinopathy Using Entropy-Based Thresholding - A Review
    ( 2022-01-01)
    Qaid M.S.A.
    ;
    Shafriza Nisha Basah
    ;
    Haniza Yazid
    ;
    Fathinul Syahir Ahmad Sa'ad
    Synthetic data by various algorithms that resemble actual data in terms of statistical features. Computer-aided medical applications have been extensively applied to model specific scenarios, such as medical imaging of retinal images for diabetic retinopathy (DR) detection. The available data and annotated medical data are typically rare and costly due to the difficulties of conducting medical screening and rely on highly trained doctors to review and diagnose. The modelling of retinal images for DR analysis is essential since it will provide a model to guide and test DR detection algorithms. This paper aims to model normal retina and non-proliferative diabetic retinopathy (NPDR) stages (mild, moderate, and severe) data models with the variation of dynamic models. The Digital Retinal Images for Vessel Extraction (DRIVE), The Standard Diabetic Retinopathy Database, Calibration Level 1 (DIARETDB1), and E-OPHTHA datasets are analyzed to obtain the specification of the human retina and DR lesions. In the data modelling phases, the model includes the bright and dark retinal lesions with the variation of dynamic parameters. 4100 synthetic images are used where 200 normal images and 3900 NPDR images to test the performance of DR detection algorithms over the full range of parameters.
      27  2
  • Publication
    Analysis on Clustering Based Method for Diabetic Retinopathy Using Color Information
    ( 2022-01-01)
    Selvam S.A
    ;
    Haniza Yazid
    ;
    Shafriza Nisha Basah
    ;
    Fathinul Syahir Ahmad Sa'ad
    ;
    Muhamad Khairul Ali Hassan
    Diabetic Retinopathy (DR) is an important global health concern and it can causes blindness. Early detection and treatment can prevent the patients from loss their vision. This study presents an approach of color image segmentation for automatic exudate detection. The color retinal images are converted into four different color spaces and preprocessed by applying Contrast Limited Adaptive Histogram Equalization (CLAHE). Fuzzy C-Means (FCM) and K-means clustering (KMC) algorithms are applied on the preprocessed image for the segmentation purpose. Then, optic disc is detected and eliminated by using Circular Hough Transform (CHT). Performance evaluation of developed algorithm is done using Structured Analysis of the Retina (STARE) dataset. The proposed algorithm achieved sensitivity of 93.4% for STARE datasets for LUV color space with KMC.
      30  1
  • Publication
    Development of aquaculture water quality real-time monitoring using multi-sensory system and internet of things
    ( 2021-12-01)
    Abu Hassan Abdullah
    ;
    Fathinul Syahir Ahmad Sa'ad
    ;
    Sukhairi Sudin
    ;
    Zahari Awang Ahmad
    ;
    Ahmad I.
    ;
    Norlida Abu Bakar
    ;
    Shafie Omar
    ;
    Sulaiman S.F.
    ;
    Mohd Hishamuddin Che Mat
    ;
    Nurul Afidah Umoruddin
    ;
    Johari B.H.
    Water quality is an important parameter for the health and growth of aquatic species in aquaculture farming system. The threshold values of the water main parameters should be monitored continuously. Contaminated aquaculture water will affect the health, growth and ability of animals to survive. In addition, it will also affect the harvesting yields based on the number and size of the animals. To overcome this problem, the main water parameters, namely temperature, pH, Dissolved Oxygen and Electrical Conductivity are monitored in real-time using a multi-sensory system and the internet of things. Data is acquired by a developed instrument and transmitted wirelessly via a GPRS/GSM module to a web server database. The data obtained are analyzed and monitored through the website and in real-time. Therefore, corrective action could be taken immediately for contaminated water, indicated by water parameters out of range. The system also provides an early signal to farmers based on a specific range of water quality parameters values. This will help farmers make adjustments to ensure appropriate water quality for the aquaculture system.
      7  40