Hassrizal Hassan Basri
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Preferred name
Hassrizal Hassan Basri
Official Name
Hassan Basri, Hassrizal
Alternative Name
Basri, H. Hassan
Hassrizal, H. B.
Basri, Hassrizal Hassan
Basri, Hassrizal Hasan
Basri, H. H.
Main Affiliation
Scopus Author ID
55639350700
Researcher ID
ACS-6103-2022

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Analysis of WiFi Spatio-Temporal Data for Organic Fingerprinting-based Indoor Positioning System

2022-01-01 , Abdul Halim Ismail , Amirah Husna Mohd Hajazi , Muhamad Safwan Muhamad Azmi , Mohd Sani Mohamad Hashim , Mohd Nasir Ayob , Hassrizal Hassan Basri

The mobile robot navigation is the next huge topic after positioning utilizing fingerprinting-based Wireless Positioning System (WPS). Many of recent works does not discuss this topic yet since many open problems in positioning topic are not yet solved, for instance the issues on multi-devices heterogeneity, instability of WiFi signals, granularity problems in grid-based indoor environment and many others. However, we anticipate that both positioning and navigation works must run in parallel so that the succession are guaranteed. This paper describes the analysis of spatio-temporal data of the signal obtained from the WiFi Access Point. Initial results suggest that the difference between transmitter heights have an effect on the spatio-temporal data while the handover of maximum signal strengths is inherent when three WiFi APs are used.

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A Device-to-Device (D2D) Communication between Mobile Robots using Wireless Communication Protocol in Dynamic Environments

2024-03-11 , Sarhan M.A.H. , Hashim M.S.M. , Abdul Halim Ismail , Mohd Nasir Ayob , Hassrizal Hassan Basri , Muhamad Safwan Muhamad Azmi , Othman S.M. , Kanafiah S.N.A.M. , Muhamad Khairul Ali Hassan

Mobile robots must have the ability to guarantee safety for operation in a dynamic environment and close to other moving objects. There are many research had been conducted to make the robot safer by utilizing sensors and big data technology to make the mobile robot able to navigate autonomously and intelligently. One of the key elements in autonomous robots is communication between robots. In this paper, device-to-device (D2D) technology has been used to develop communication between robots. To establish the algorithm for D2D communications, radio frequency (RF) used as communication protocols that can perform D2D communication in real-time applications. The performance of D2D communication was then be assessed in terms of distance and latency. RF transceiver module has been mounted on the robot with Arduino to allow communication between mobile robot to other mobile robots in order to transfer data from robot's sensors to the other mobile robots. By utilizing the gathered information and data, the robot can assess its surroundings and predict the movement of other robots to avoid collisions between robots. The results show that the RF transceiver module is capable to send and receive data between two robots with latency up to 4.865s. It is envisaged that the proposed module can be very useful for developing D2D communication between robots to operate in dynamic environments.

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Publication

Design and Simulation of a Customize Three-axis Gimbal Structure using Finite Element Analysis Method

2023-03-01 , Kamaruzzaman M.A. , Hassrizal Hassan Basri , Mohd Nasir Ayob

This paper presents a Finite Element Analysis (FEA) on a customized three-axis gimbal design application. Examples of applications of the gimbals such as drones, camera stabilizers, and spacecraft. The SolidWorks software checked the gimbal’s FEA characteristics with no existing load or normal conditions. Using the FEA method, a static simulation analysis where the material of this assembly design uses Polylactic Acid (PLA), used mainly by 3D printer machines. The force is given to the gimbal structure and obtains the results of the maximum value of stress in MPa, displacement in mm, and strain. Thus, based on the results obtained from SolidWorks, the structure will not fail. The maximum stress value between parts is 2.31 MPa for the support part and 3.09 MPa for the assembly model when the yield stress value of the PLA material properties is at 70 MPa. The new design structure for the gimbal hardware focuses on academic purposes based on PLA material and is easy to build using a 3D printer. In the summary, the customized three-axis gimbal design using SolidWorks will not fracture when the design is in normal condition which has a total force of 6.87 N, which is equal to 0.70 kg at 3.09 MPa where the weight of the base, O-ring, and servo motors at the U-shape part. In addition, the design can hold up to 230.87 N, which is equal to 23.54 kg at 69.90 MPa of the stress value before it will fail at 70 MPa.

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Robot Face and Its Integration to the Mobile Robot for Wireless Signal Collection in the Fingerprinting-Based Indoor Positioning System

2021-12-01 , Sarhan M.A.H. , Abdul Halim Ismail , Mohd Nasir Ayob , Hashim M.S.M. , Muhamad Safwan Muhamad Azmi , Hassrizal Hassan Basri , Siti Marhainis Othman , Muhammad Juhairi Aziz Safar

The wireless data collection for instance the Received Signal Strength (RSS) of the Wireless Fidelity (Wi-Fi) remained unfavourable in the Indoor Positioning System utilizing the signal fingerprinting approach. This is because the enormous sampling time and routines works making it tedious human labour. To alleviate this issue, we propose to use a robot for wireless data collection. The robot, named 'ICSiBOT' is a service robot with multiple purpose such as assisting human in daily lives, guest or hospitality robot and man others. This paper mainly describes the ICSiBOT robot face with speech recognition technology and the integration of the robot face to the motion controller. The experimental was conducted to see the correlation between the synthesized instructions from the speech in terms of distance need to be travelled i.e., the location for wireless signal collection and translate them into actual distance travelled. The results showed that the robot is able to travel to the specific distance as instructed to the robot face.

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Publication

Design and Simulation of a Customize Three-axis Gimbal Structure using Finite Element Analysis Method

2023-03-01 , Kamaruzzaman M.A. , Hassrizal Hassan Basri , Mohd Nasir Ayob

This paper presents a Finite Element Analysis (FEA) on a customized three-axis gimbal design application. Examples of applications of the gimbals such as drones, camera stabilizers, and spacecraft. The SolidWorks software checked the gimbal’s FEA characteristics with no existing load or normal conditions. Using the FEA method, a static simulation analysis where the material of this assembly design uses Polylactic Acid (PLA), used mainly by 3D printer machines. The force is given to the gimbal structure and obtains the results of the maximum value of stress in MPa, displacement in mm, and strain. Thus, based on the results obtained from SolidWorks, the structure will not fail. The maximum stress value between parts is 2.31 MPa for the support part and 3.09 MPa for the assembly model when the yield stress value of the PLA material properties is at 70 MPa. The new design structure for the gimbal hardware focuses on academic purposes based on PLA material and is easy to build using a 3D printer. In the summary, the customized three-axis gimbal design using SolidWorks will not fracture when the design is in normal condition which has a total force of 6.87 N, which is equal to 0.70 kg at 3.09 MPa where the weight of the base, O-ring, and servo motors at the U-shape part. In addition, the design can hold up to 230.87 N, which is equal to 23.54 kg at 69.90 MPa of the stress value before it will fail at 70 MPa.

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Publication

Integrating Vision System to a Pick and Place Cartesian Robot

2021-12-01 , Tan K.S. , Mohd Nasir Ayob , Hassrizal Hassan Basri , Abdul Halim Ismail , Muhamad Safwan Muhamad Azmi , Mohd Sani Mohamad Hashim , Siti Marhainis Othman , Shahriman Abu Bakar , Low Y.H.

Vision aided pick and place cartesian robot is a combination of machine vision system and robotic system. They communicate with each other simultaneously to perform object sorting. In this project, machine vision algorithm for object sorting to solve the problem in failure sorting due to imperfection of images edges and different types of colours is proposed. The image is acquired by a camera and followed by image calibration. Pre-processing of image is performed through these methods, which are HSI colour space transformation, Gaussian filter for image filtering, Otsu's method for image binarization, and Canny edge detection. LabVIEW edge-based geometric matching is selected for template matching. After the vision application analysed the image, electrical signal will send to robotic arm for object sorting if the acquired image is matched with template image. The proposed machine vision algorithm has yielded an accurate template matching score from 800 to 1000 under different disturbances and conditions. This machine vision algorithm provides more customizable parameters for each methods yet improves the accuracy of template matching.

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Application of decaying boundary layer and switching function method thorough error feedback for sliding mode control on spacecraft's attitude

2017-07-18 , Hassrizal Hassan Basri , Rossiter J.

Effective operation of small spacecraft implies processors with low cost, energy efficiency and low computational burdens while retaining accurate output tracking. This paper presents the extension of work in [1] on eliminating the chattering for Sliding Mode Control (SMC) using a decaying boundary layer design which is able to achieve these small spacecraft operation needs. The extension is applied on a spacecraft's attitude control, while orbiting the earth with angular velocity, ω0. In SMC, chattering is a main drawback as it can cause wear and tear to moving mechanical parts. Earlier work on a decaying boundary layer design was capable of reducing the chattering phenomena for a limited time only and hence this paper proposes a novel decaying boundary layer and switching function to improve the earlier version. The proposed technique is shown to reduce chattering permanently and also retain control output accuracy.

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Publication

Analysis of WiFi Spatio-Temporal Data for Organic Fingerprinting-based Indoor Positioning System

2022-01-01 , Abdul Halim Ismail , Hajazi A.H.M. , Muhamad Safwan Muhamad Azmi , Mohd Sani Mohamad Hashim , Mohd Nasir Ayob , Hassrizal Hassan Basri

The mobile robot navigation is the next huge topic after positioning utilizing fingerprinting-based Wireless Positioning System (WPS). Many of recent works does not discuss this topic yet since many open problems in positioning topic are not yet solved, for instance the issues on multi-devices heterogeneity, instability of WiFi signals, granularity problems in grid-based indoor environment and many others. However, we anticipate that both positioning and navigation works must run in parallel so that the succession are guaranteed. This paper describes the analysis of spatio-temporal data of the signal obtained from the WiFi Access Point. Initial results suggest that the difference between transmitter heights have an effect on the spatio-temporal data while the handover of maximum signal strengths is inherent when three WiFi APs are used.

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