Mohd Nasir Ayob
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Preferred name
Mohd Nasir Ayob
Official Name
Mohd Nasir , Ayob
Alternative Name
Nasir Ayob, M.
Ayob, M. N.
Ayob, M. Nasir
Main Affiliation
Scopus Author ID
36661988000
Researcher ID
HTN-4210-2023

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  • Publication
    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.
      1
  • Publication
    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.
      1
  • Publication
    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.
      58  8
  • Publication
    Does the Height Matter? A Case for Wi-Fi based Wireless Positioning System
    ( 2023-01-01)
    Abdul Halim Ismail
    ;
    Sunang G.A.
    ;
    Muhamad Safwan Muhamad Azmi
    ;
    Mohd Nasir Ayob
    ;
    Mohd Sani Mohamad Hashim
    ;
    Hassrizal Hassan Basri
    ;
    Widyasmoro W.
    ;
    Ismail M.M.
    Wireless Positioning System (WPS) is an emerging field rises with the aim to minimize the development and algorithm cost as well as applicable in many applications. The methods are rather straightforward compared to the use of conventional on-board sensing elements that often require fusion of several sensors as well as complex algorithms. Wireless Fidelity (Wi-Fi) is the choice of elements in WPS due to wide availability as well as use of existing infrastructure. One interesting factor to consider in obtaining higher positioning accuracy is to assess the Wi-Fi height level. Many previous studies proposed optimization of the Wi-Fi antenna heights, but our direction is towards experimental works to observe if the antenna heights does matter or is it a totally insignificant parameter. Three different analyses were conducted on the data, which are statistical, two-layer average and quotient calculations. The results are validated for our experiments heights from 0.5 to 2.0 meter.
      1  44
  • Publication
    Effect of loading protocol on the mechanical properties of 316L stainless steel
    ( 2021-10-25)
    Heng S.H.
    ;
    Azmi M.S.M.
    ;
    Mohd Afendi Rojan
    ;
    Mohd Sani Mohamad Hashim
    ;
    Mohd Nasir Ayob
    ;
    Abdul Halim Ismail
    ;
    Muhamad Saifuldin Abdul Manan
    ;
    Abdullah S.
    Two types of loading protocol, i.e., monotonic loading and cyclic loading, were compared to investigate the effect on the mechanical properties of 316L stainless steel. The specimen used is a dog-bone specimen in accordance with ASTM E8 and ASTM E606 standard. For cyclic loading, the multiple-step method is used to obtain the hysteresis loop of the material. A total of 13 strain amplitude conditions had been carried out, ranging from 0.05%-0.65%. The stress-strain curve shows that the cyclic stress-strain curve is higher than the monotonic stress-strain curve due to the cyclic hardening behaviour in the 316L stainless steel. The cyclic hardening behaviour increases the ultimate tensile stress of the material. However, when the material gains its strength through cyclic hardening, the ductility in the material will decrease.
      1  29
  • 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.
      2
  • Publication
    Algorithm development for Vehicle-To-Vehicle (V2V) communication
    ( 2023-01-01)
    Radman M.A.Y.
    ;
    Mohd Nasir Ayob
    ;
    Hasim M.S.M.
    ;
    Abdul Halim Ismail
    ;
    Muhamad Safwan Muhamad Azmi
    ;
    Hassrizal Hassan Basri
    This paper presents the development of an algorithm for Vehicle-to-Vehicle (V2V) communication, a crucial technology in Intelligent Transportation Systems (ITS) that holds significant potential for enhancing road safety and traffic efficiency. One of the most common types of vehicle collisions occurs at intersections, particularly those without traffic lights. This study focuses on creating a V2V algorithm designed to prevent collisions in such scenarios. The findings were presented through visual simulations that depict various scenarios involving vehicles approaching an intersection. The algorithm follows a two-step process: Firstly, it utilizes Dedicated Short-Range Communication Systems (DSRCS) to accurately estimate the distance between vehicles. Leveraging this distance information, the algorithm dynamically adjusts the speed of each vehicle. The algorithm's performance is assessed using Convolutional Neural Networks (CNN), which enables a comprehensive evaluation of its reliability and efficiency in V2V communication. The algorithm demonstrates notable enhancements in the reliability and efficiency of V2V communication. This paper serves as a validation of the feasibility of developing more advanced V2V communication algorithm and potentially making significant contributions to the advancement of ITS.
      2  48
  • Publication
    An IoT Agricultural System for Harumanis Farm
    ( 2021-12-01)
    Ismail F.A.
    ;
    Muhamad Khairul Ali Hassan
    ;
    Fathinul Syahir Ahmad Sa'ad
    ;
    Haniza Yazid
    ;
    Muhammad Juhairi Aziz Safar
    ;
    Khairul Salleh Basaruddin
    ;
    Abdul Halim Ismail
    ;
    Mohd Nasir Ayob
    Internet of Things (IoT) is a revolutionary technology that represents the future of communication and computing. The field of IoT implementation is vast and can be applied in every field. This project is about to develop an IoT system for Harumanis Farm as agriculture is becoming an essential growing sector throughout the world due to the increasing population. The major challenge in the Harumanis sector is to improve the productivity and quality of Harumanis without continuous manual monitoring. IoT improves crop management, cost-effectiveness, crop monitoring and also improves the quality and quantity of the crop. This IoT system completes with several sensors to monitor the Harumanis farm, such as temperature and humidity sensor, pH level sensor, soil moisture sensor, also nitrogen, phosphorous, and potassium (NPK) sensor. The system is a simple IoT architecture where sensors collect information and send it over the Wi-Fi network to the mobile applications.
      1  39
  • Publication
    Optimization of controller design for magnetic levitation system by PSO, GSA and PSOGSA
    ( 2022-01-01)
    Siti Marhainis Othman
    ;
    Zuo W.W.
    ;
    Russhabiahtul Adawiyah Rustam
    ;
    Rahmat M.F.
    ;
    Mohd Saifizi Saidon
    ;
    Hassrizal Hasan Basri
    ;
    Abdul Halim Ismail
    ;
    Mohd Nasir Ayob
    The purpose of this paper is to design a PID controller by using PSO, GSA, and PSOGSA control techniques for MLS. A conventional PID control technique (tuned by Ziegler Nichols Method, ZN) is used to control the stability of the MLS. However, PID-ZN has the limitation usually produces a high value of overshoot. Therefore, to achieve optimal performance, PSO, GSA, and PSOGSA are adopted for tuning the PID controller. Also, the arrangement between PID-PSO, PID-GSA, and PID-PSOGSA are compared to find the best control technique for the MLS. The result of this paper shows PID-PSOGSA has the best performance compared to PID-PSO, PID-GSA, and PID-ZN in terms of percentage overshoot, settling time, rise time, and sum square of error.
      4  25
  • Publication
    Position Tracking Performance with Fine Tune Ziegler-Nichols PID Controller for Electro-Hydraulic Actuator in Aerospace Vehicle Model
    ( 2021-12-01)
    Devendiranath K.
    ;
    Siti Marhainis Othman
    ;
    Sunar N.
    ;
    Hassrizal Hassan Basri
    ;
    Abdul Halim Ismail
    ;
    Mohd Nasir Ayob
    ;
    Azmi M.S.M.
    ;
    Mohd Sani Mohamad Hashim
    Electro-Hydraulic Actuator (EHA) system is a third order non-linear system which is highly suffer from system uncertainties such as Coulomb friction, viscous friction and pump leakage coefficient which makes this system more complicated for the designing of the controller. The Proportional-Integral-Derivative (PID) controller has proposed in this paper to control EHA system and main problem in its application is to tune the parameter to its optimum value. Two different methods are used to tune the PID controller which are trial and error and Ziegler-Nichols method. MATLAB Simulink is used to simulate the system. In order to determine the performance of EHA system for the position tracking. 3 different of external disturbance such as 0N, 5000N and 10000N has been injected into the system. Simulation results show that the Ziegler-Nichols fine tuning method provides the better tracking performance when compared to the trial and error method for every specific disturbance setting. The Ziegler Nichols method provides better disturbance rejection as the performances indexes such as percentage overshoot, settling time and steady state error are not affected by the varying of disturbance.
      2  50