Hazry Desa
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Hazry Desa
Official Name
Desa, Hazry
Alternative Name
Desa, H.
Hazry, Desa
Desa, Hazy
Hazry, D.
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Scopus Author ID
16642497100

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  • Publication
    X-means clustering for wireless sensor networks
    ( 2020-09-01)
    Radwan A.
    ;
    Kamarudin N.
    ;
    Solihin M.I.
    ;
    Leong H.
    ;
    Rizon M.
    ;
    Hazry Desa
    ;
    Muhammad Azizi Azizan
    K-means clustering algorithms of wireless sensor networks are potential solutions that prolong the network lifetime. However, limitations hamper these algorithms, where they depend on a deterministic K-value and random centroids to cluster their networks. But, a bad choice of the K-value and centroid locations leads to unbalanced clusters, thus unbalanced energy consumption. This paper proposes X-means algorithm as a new clustering technique that overcomes K-means limitations; clusters constructed using tentative centroids called parents in an initial phase. After that, parent centroids split into a range of positions called children, and children compete in a recursive process to construct clusters. Results show that X-means outperformed the traditional K-means algorithm and optimized the energy consumption.
      3
  • Publication
    Effects of variable arm length on uav control systems
    ( 2020-01-01)
    Rizon M.
    ;
    Ang C.K.
    ;
    Solihin M.I.
    ;
    Zuradzman Mohamad Razlan
    ;
    Hazry Desa
    ;
    Shahriman Abu Bakar
    ;
    Wan Khairunizam Wan Ahmad
    ;
    Zunaidi I.
    Quadrotor is a type of unmanned aerial vehicle that has been widely used in many applications, such as, policing, surveillance, aerial photography and agriculture. Conventionally, the control of quadrotor flight direction is accomplished by varying speeds of motors or manipulating torques. In this paper, a novel mechanism is proposed. The mechanism uses stepper motors to control the arm length for changing flight directions, while maintaining motors' speed at constant. A mathematical model has been created. The analysis results have shown that varying arm length can effectively control the moment of bending of quadrotors. Increasing the length of arms can result in the increase of the moment of bending without changing speed of motors, thus saving energies. Experimental results have shown that the new mechanism is able to carry more payloads which the motor speed can be utilized fully at 100% while the flight direction is been controlled by changing of the arm length compared to conventional flight control mechanisms.
      4  23