Kamarulzaman Kamarudin
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Preferred name
Kamarulzaman Kamarudin
Official Name
Kamarudin, Kamarulzaman
Alternative Name
Kamarudin, K.
Kamaruddin, Kamarulzaman
Main Affiliation
Scopus Author ID
55193266400
Researcher ID
DVV-8479-2022

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Improved mobile robot based gas distribution mapping through propagated distance transform for structured indoor environment

2020-05-18 , Visvanathan R. , Kamarulzaman Kamarudin , Syed Muhammad Mamduh Syed Zakaria , Toyoura M. , Ali Yeon A.S. , Ammar Zakaria , Latifah Munirah Kamarudin , Mao X. , Shazmin Aniza Abdul Shukor

Mobile robot carrying gas sensors have been widely used in mobile olfaction applications. One of the challenging tasks in this research field is Gas Distribution Mapping (GDM). GDM is a representation of how volatile organic compound is spatially dispersed within an environment. This paper addresses the effect of obstacles towards GDM for indoor environment. This work proposes a solution by improvising the Kernel DM + V technique using propagated distance transform (DT) as the weighing function. Since DT computations are CPU heavy, parallel computing, using Compute Unified Device Architecture (CUDA) available in Graphics Processing Unit (GPU), is used to accelerate the DT computation. The proposed solution is compared with the Kernel DM + V algorithm, presenting that the proposed method drastically improves the quality of GDM under various kernel sizes. The study is also further extended towards the effect of obstacles on gas source localization task. The outcome of this work proves that the proposed method shows better accuracy for GDM estimation and gas source localization if obstacle information is considered.

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Correction Model for Metal Oxide Sensor Drift Caused by Ambient Temperature and Humidity

2022-05-01 , Abdulnasser Nabil Abdullah , Kamarulzaman Kamarudin , Latifah Munirah Kamarudin , Abdul Hamid Adom , Syed Muhammad Mamduh Syed Zakaria , Zaffry Hadi Mohd Juffry , Bennetts V.H.

For decades, Metal oxide (MOX) gas sensors have been commercially available and used in various applications such as the Smart City, gas monitoring, and safety due to advantages such as high sensitivity, a high detection range, fast reaction time, and cost-effectiveness. However, several factors affect the sensing ability of MOX gas sensors. This article presents the results of a study on the cross-sensitivity of MOX gas sensors toward ambient temperature and humidity. A gas sensor array consisting of temperature and humidity sensors and four different MOX gas sensors (MiCS-5524, GM-402B, GM-502B, and MiCS-6814) was developed. The sensors were subjected to various relative gas concentrations, temperatures (from 16◦C to 30◦C), and humidity levels (from 75% to 45%), representing a typical indoor environment. The results proved that the gas sensor responses were significantly affected by the temperature and humidity. The increased temperature and humidity levels led to a decreased response for all sensors, except for MiCS-6814, which showed the opposite response. Hence, this work proposed regression models for each sensor, which can correct the gas sensor response drift caused by the ambient temperature and humidity variations. The models were validated, and the standard deviations of the corrected sensor response were found to be 1.66 kΩ, 13.17 kΩ, 29.67 kΩ, and 0.12 kΩ, respectively. These values are much smaller compared to the raw sensor response (i.e., 18.22, 24.33 kΩ, 95.18 kΩ, and 2.99 kΩ), indicating that the model provided a more stable output and minimised the drift. Overall, the results also proved that the models can be used for MOX gas sensors employed in the training process, as well as for other sets of gas sensors.

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Application of Deep Neural Network for Gas Source Localization in an Indoor Environment

2023-01-01 , Juffry Z.H.M. , Kamarulzaman Kamarudin , Abdul Hamid Adom , Miskon M.F. , Latifah Munirah Kamarudin , Ammar Zakaria , Syed Muhammad Mamduh Syed Zakaria , Abdullah A.N.

Nowadays, the quality of air in the environment has been impacted by the industry. It is important to make sure our ambient air especially in an indoor environment is clean from contaminating particles or harmful gases. Therefore, the air quality inside the indoor environment should be monitored regularly. One of the major problems, when a particular environment has been contaminated by harmful gases, is finding the source of the emission. If the indoor environment has been contaminated by a harmful source it should be instantly localized and eliminated to prevent severe casualties. In this paper, we propose the utilization of synthetic data generated by the Computational Fluid Dynamic (CFD) approach to train the Deep Neural Network (DNN) model called CFD-DNN to perform gas source localization in an indoor environment. The model is capable to locate the contaminated source within a small area of an indoor environment. A total of 361 datasets with different locations of contaminated source release have been obtained using the CFD approach. The obtained dataset was divided into training and testing datasets. The training dataset was used for the model training process while the testing dataset is fed into the model to test model reliability to predict the gas source location. The Euclidian distance equation was used to measure the distance error between the actual and predicted location of the source. The result shows that the model is capable to locate the gas source within a minimum and maximum error of 0.03m to 0.46m respectively.

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2D LiDAR Based Reinforcement Learning for Multi-Target Path Planning in Unknown Environment

2023-01-01 , Abdalmanan N. , Kamarulzaman Kamarudin , Muhammad Aizat Abu Bakar , Mohd Hafiz Fazalul Rahiman , Ammar Zakaria , Syed Muhammad Mamduh Syed Zakaria , Latifah Munirah Kamarudin

Global path planning techniques have been widely employed in solving path planning problems, however they have been found to be unsuitable for unknown environments. Contrarily, the traditional Q-learning method, which is a common reinforcement learning approach for local path planning, is unable to complete the task for multiple targets. To address these limitations, this paper proposes a modified Q-learning method, called Vector Field Histogram based Q-learning (VFH-QL) utilized the VFH information in state space representation and reward function, based on a 2D LiDAR sensor. We compared the performance of our proposed method with the classical Q-learning method (CQL) through training experiments that were conducted in a simulated environment with a size of 400 square pixels, representing a 20-meter square map. The environment contained static obstacles and a single mobile robot. Two experiments were conducted: experiment A involved path planning for a single target, while experiment B involved path planning for multiple targets. The results of experiment A showed that VFH-QL method had 87.06% less training time and 99.98% better obstacle avoidance compared to CQL. In experiment B, VFH-QL method was found to have an average training time that was 95.69% less than that of the CQL method and 83.99% better path quality. The VFH-QL method was then evaluated using a benchmark dataset. The results indicated that the VFH-QL exhibited superior path quality, with efficiency of 94.89% and improvements of 96.91% and 96.69% over CQL and SARSA in the task of path planning for multiple targets in unknown environments.

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