An exploration task can be performed by a team of mobile robots more efficiently than human count... more An exploration task can be performed by a team of mobile robots more efficiently than human counterparts. They can access and give live updates for hard-to-reach areas such as a disaster site or a sewer. However, they face some issues hindering them from optimal path planning due to the symmetrical shape of the environments. Multiple robots are expected to explore more areas in less time while solving robot localization and collision-avoidance issues. When deploying a multi-robot system, it is ensured that the hardware parts do not collide with each other or the surroundings, especially in symmetric environments. Two types of methods are used for collision avoidance: centralized and decentralized. The decentralized approach has mainly been used in recent times, as it is computationally less expensive. This article aims to conduct a systematic literature review of different collision-avoidance strategies and analyze the performance of innovative collision-avoidance techniques. Differ...
Journal of theoretical and applied information technology, 2016
There are many causes of deformation in an image and one of which during its acquisition to a dig... more There are many causes of deformation in an image and one of which during its acquisition to a digital image. The deformation takes different forms or causes different effects on the acquired image comparing with the original image including poor resolution, shear, noise, variation in the intensity and etc. A paper scanned by a scanner is a good example of possible deformation in images. Consequently, paper texture identification or fingerprinting is one of the research fields of pattern recognition that exposed to the deformation problem. Applications such as documents authentication deemed to be constrained by the deformation problem. Subsequently, one of the well-known methods in images texture extraction is the Locale Binary Pattern (LBP) method. However, the LBP method show a number of drawbacks in paper images texture extraction and two of which are neglecting some texture information of the images and incompetent to some images deformation due to its local view. In this paper ...
Excessive amounts of image spam cause many problems to e-mail users. Since image spam is difficul... more Excessive amounts of image spam cause many problems to e-mail users. Since image spam is difficult to detect using conventional text-based spam approach, various image processing techniques have been proposed. In this paper, we present an ensemble method using frequent itemset mining (FIM) for filtering image spam. Despite the fact that FIM techniques are well established in data mining, it is not commonly used in the ensemble method. In order to obtain a good filtering performance, a SIFT descriptor is used since it is widely known as effective image descriptors. K-mean clustering is applied to the SIFT keypoints which produce a visual codebook. The bag-of-word (BOW) feature vectors for each image is generated using a hard bag-of-features (HBOF) approach. FIM descriptors are obtained from the frequent itemsets of the BOW feature vectors. We combine BOW, FIM with another three different feature selections, namely Information Gain (IG), Symmetrical Uncertainty (SU) and Chi Square (CS...
Automatic License Plate Recognition (ALPR) has wide range of commercial applications such as find... more Automatic License Plate Recognition (ALPR) has wide range of commercial applications such as finding stolen cars, controlling access to car parks and gathering traffic flow statistics. Existing Libyan License Plate Recognition (LLPR) methods are not presented promising results due to their inefficient features for the extracted characters and numbers. In this work, an improved LLPR method is presented. The method is composed of five stages: pre-processing, license plate extraction, character and numbers segmentation, feature extraction and license plate recognition. In the pre-processing, undesired data, such as background noises are removed. Then, the license plate is extracted using few mathematical morphologies, Connected Component Analysis (CCA) and Region of Interest (ROI) extraction. After that, characters and numbers from the image regions of the license plate are extracted. A combination of geometrical features and Gabor features are considered to represent each of the chara...
Indonesian Journal of Electrical Engineering and Computer Science, 2020
With the substantial expansion of image information, image processing and computer vision have si... more With the substantial expansion of image information, image processing and computer vision have significant roles in several applications, including image classification, image segmentation, pattern recognition, and image retrieval. An important feature that has been applied in many image applications is texture. Texture is the characteristic of a set of pixels that form an image. Therefore, analyzing texture has a significant impact on segmenting an image or detecting important portions of an image. This paper provides a review on LBP and its modifications. The aim of this review is to show the current trends for using, modifying and adapting LBP in the domain of image processing.
International Journal of Engineering & Technology, 2018
Jawi and Roman scripts are represented Malay language. In the past, Jawi writings are widely used... more Jawi and Roman scripts are represented Malay language. In the past, Jawi writings are widely used by the Malay community and foreigners; and it can be seen in the old documents. Old documents face the risk of background damage. In order to preserve this valuable information, there are significant needs to automated Jawi materials. Based on previous literature, POS-tags are known as the first phase in the automated text analysis; and the development of language technologies can barely initiate without this phase. We highlight the existing POS-tags approaches; and suggest the development of Malay Jawi POS-tags using extended ME-based approach on NUWT Corpus. Results have shown that the proposed model yielded a higher accuracy in comparison to the state-of-the-art model. Â
In this era of digitization, most hardcopy documents are being transformed into digital formats. ... more In this era of digitization, most hardcopy documents are being transformed into digital formats. In the process of transformation, large quantities of documents are stored and preserved through electronic scanning. These documents are available from various sources such as ancient documentation, old legal records, medical reports, music scores, palm leaf, and reports on security-related issues. In particular, ancient and historical documents are hard to read due to their degradation in terms of low contrast and existence of corrupted artefacts. In recent times, degraded document binarization has been studied widely and several approaches were developed to deal with issues and challenges in document binarization. In this paper, a comprehensive review is conducted on the issues and challenges faced during the image binarization process, followed by insights on various methods used for image binarization. This paper also discusses the advanced methods used for the enhancement of degrad...
Jawi script is a script that has the Arabic influence. In the past, these writings are widely use... more Jawi script is a script that has the Arabic influence. In the past, these writings are widely used by the Malay community as well as foreigners who have diplomatic relations, business, missionary and such. At that time, the Malay language is the lingua franca of this region. So there are many Malay heritages such as manuscripts, religious books, letters, documents and other agreements in the Jawi script. There are significant needs to do the transliteration of the Jawi text on the materials to Malay Roman. Thus, research on machine transliteration will help the effort. Many researches in machine transliteration in the world for high-level language have been done; such as English, European, and Asia languages such as Chinese, Japanese, Korean and Arabic. However the research in the context of the Malay language is still lacking, especially those involving the Romanized transliteration of Jawi. Jawi writing is quite different from the Urdu and Arabic although they share the same chara...
Journal of Theoretical and Applied Information Technology
Robot Path Planning (RPP) in dynamic environments is a search problem based on the examination of... more Robot Path Planning (RPP) in dynamic environments is a search problem based on the examination of collision-free paths in the presence of dynamic and static obstacles. Many techniques have been developed to solve this problem. Trapping in a local minima and maintaining a Real-Time performance are known as the two most important challenges that these techniques face to solve such problem. This study presents a comprehensive survey of the various techniques that have been proposed in this domain. As part of this survey, we include a classification of the approaches and identify their methods.
This paper proposes a method based on the Multi-Swarm Particle Swarm Optimization (PSO) with Loca... more This paper proposes a method based on the Multi-Swarm Particle Swarm Optimization (PSO) with Local Search on the multi-robot search system to find a given target in a Complex environment that contains static obstacles. This method by applying Multi-Swarm with Multi-Best particles on the multi-robot system can overcome the premature convergence problem, which is one of the main problems of Basic PSO. As the time progress the global searching of the algorithm decrease and therefore the robots tend to get group together in the small-explored region that called Premature Convergence and cannot reach the target. By combining the Local Search method with Multi-Swarm, We can guarantee the global convergence of this proposed algorithm and the robots can reach the target. The Experimental results obtained in a simulated environment show that biological and sociological inspiration could be useful to meet the challenges of robotic applications that can be described as optimization problems.
An exploration task can be performed by a team of mobile robots more efficiently than human count... more An exploration task can be performed by a team of mobile robots more efficiently than human counterparts. They can access and give live updates for hard-to-reach areas such as a disaster site or a sewer. However, they face some issues hindering them from optimal path planning due to the symmetrical shape of the environments. Multiple robots are expected to explore more areas in less time while solving robot localization and collision-avoidance issues. When deploying a multi-robot system, it is ensured that the hardware parts do not collide with each other or the surroundings, especially in symmetric environments. Two types of methods are used for collision avoidance: centralized and decentralized. The decentralized approach has mainly been used in recent times, as it is computationally less expensive. This article aims to conduct a systematic literature review of different collision-avoidance strategies and analyze the performance of innovative collision-avoidance techniques. Differ...
Journal of theoretical and applied information technology, 2016
There are many causes of deformation in an image and one of which during its acquisition to a dig... more There are many causes of deformation in an image and one of which during its acquisition to a digital image. The deformation takes different forms or causes different effects on the acquired image comparing with the original image including poor resolution, shear, noise, variation in the intensity and etc. A paper scanned by a scanner is a good example of possible deformation in images. Consequently, paper texture identification or fingerprinting is one of the research fields of pattern recognition that exposed to the deformation problem. Applications such as documents authentication deemed to be constrained by the deformation problem. Subsequently, one of the well-known methods in images texture extraction is the Locale Binary Pattern (LBP) method. However, the LBP method show a number of drawbacks in paper images texture extraction and two of which are neglecting some texture information of the images and incompetent to some images deformation due to its local view. In this paper ...
Excessive amounts of image spam cause many problems to e-mail users. Since image spam is difficul... more Excessive amounts of image spam cause many problems to e-mail users. Since image spam is difficult to detect using conventional text-based spam approach, various image processing techniques have been proposed. In this paper, we present an ensemble method using frequent itemset mining (FIM) for filtering image spam. Despite the fact that FIM techniques are well established in data mining, it is not commonly used in the ensemble method. In order to obtain a good filtering performance, a SIFT descriptor is used since it is widely known as effective image descriptors. K-mean clustering is applied to the SIFT keypoints which produce a visual codebook. The bag-of-word (BOW) feature vectors for each image is generated using a hard bag-of-features (HBOF) approach. FIM descriptors are obtained from the frequent itemsets of the BOW feature vectors. We combine BOW, FIM with another three different feature selections, namely Information Gain (IG), Symmetrical Uncertainty (SU) and Chi Square (CS...
Automatic License Plate Recognition (ALPR) has wide range of commercial applications such as find... more Automatic License Plate Recognition (ALPR) has wide range of commercial applications such as finding stolen cars, controlling access to car parks and gathering traffic flow statistics. Existing Libyan License Plate Recognition (LLPR) methods are not presented promising results due to their inefficient features for the extracted characters and numbers. In this work, an improved LLPR method is presented. The method is composed of five stages: pre-processing, license plate extraction, character and numbers segmentation, feature extraction and license plate recognition. In the pre-processing, undesired data, such as background noises are removed. Then, the license plate is extracted using few mathematical morphologies, Connected Component Analysis (CCA) and Region of Interest (ROI) extraction. After that, characters and numbers from the image regions of the license plate are extracted. A combination of geometrical features and Gabor features are considered to represent each of the chara...
Indonesian Journal of Electrical Engineering and Computer Science, 2020
With the substantial expansion of image information, image processing and computer vision have si... more With the substantial expansion of image information, image processing and computer vision have significant roles in several applications, including image classification, image segmentation, pattern recognition, and image retrieval. An important feature that has been applied in many image applications is texture. Texture is the characteristic of a set of pixels that form an image. Therefore, analyzing texture has a significant impact on segmenting an image or detecting important portions of an image. This paper provides a review on LBP and its modifications. The aim of this review is to show the current trends for using, modifying and adapting LBP in the domain of image processing.
International Journal of Engineering & Technology, 2018
Jawi and Roman scripts are represented Malay language. In the past, Jawi writings are widely used... more Jawi and Roman scripts are represented Malay language. In the past, Jawi writings are widely used by the Malay community and foreigners; and it can be seen in the old documents. Old documents face the risk of background damage. In order to preserve this valuable information, there are significant needs to automated Jawi materials. Based on previous literature, POS-tags are known as the first phase in the automated text analysis; and the development of language technologies can barely initiate without this phase. We highlight the existing POS-tags approaches; and suggest the development of Malay Jawi POS-tags using extended ME-based approach on NUWT Corpus. Results have shown that the proposed model yielded a higher accuracy in comparison to the state-of-the-art model. Â
In this era of digitization, most hardcopy documents are being transformed into digital formats. ... more In this era of digitization, most hardcopy documents are being transformed into digital formats. In the process of transformation, large quantities of documents are stored and preserved through electronic scanning. These documents are available from various sources such as ancient documentation, old legal records, medical reports, music scores, palm leaf, and reports on security-related issues. In particular, ancient and historical documents are hard to read due to their degradation in terms of low contrast and existence of corrupted artefacts. In recent times, degraded document binarization has been studied widely and several approaches were developed to deal with issues and challenges in document binarization. In this paper, a comprehensive review is conducted on the issues and challenges faced during the image binarization process, followed by insights on various methods used for image binarization. This paper also discusses the advanced methods used for the enhancement of degrad...
Jawi script is a script that has the Arabic influence. In the past, these writings are widely use... more Jawi script is a script that has the Arabic influence. In the past, these writings are widely used by the Malay community as well as foreigners who have diplomatic relations, business, missionary and such. At that time, the Malay language is the lingua franca of this region. So there are many Malay heritages such as manuscripts, religious books, letters, documents and other agreements in the Jawi script. There are significant needs to do the transliteration of the Jawi text on the materials to Malay Roman. Thus, research on machine transliteration will help the effort. Many researches in machine transliteration in the world for high-level language have been done; such as English, European, and Asia languages such as Chinese, Japanese, Korean and Arabic. However the research in the context of the Malay language is still lacking, especially those involving the Romanized transliteration of Jawi. Jawi writing is quite different from the Urdu and Arabic although they share the same chara...
Journal of Theoretical and Applied Information Technology
Robot Path Planning (RPP) in dynamic environments is a search problem based on the examination of... more Robot Path Planning (RPP) in dynamic environments is a search problem based on the examination of collision-free paths in the presence of dynamic and static obstacles. Many techniques have been developed to solve this problem. Trapping in a local minima and maintaining a Real-Time performance are known as the two most important challenges that these techniques face to solve such problem. This study presents a comprehensive survey of the various techniques that have been proposed in this domain. As part of this survey, we include a classification of the approaches and identify their methods.
This paper proposes a method based on the Multi-Swarm Particle Swarm Optimization (PSO) with Loca... more This paper proposes a method based on the Multi-Swarm Particle Swarm Optimization (PSO) with Local Search on the multi-robot search system to find a given target in a Complex environment that contains static obstacles. This method by applying Multi-Swarm with Multi-Best particles on the multi-robot system can overcome the premature convergence problem, which is one of the main problems of Basic PSO. As the time progress the global searching of the algorithm decrease and therefore the robots tend to get group together in the small-explored region that called Premature Convergence and cannot reach the target. By combining the Local Search method with Multi-Swarm, We can guarantee the global convergence of this proposed algorithm and the robots can reach the target. The Experimental results obtained in a simulated environment show that biological and sociological inspiration could be useful to meet the challenges of robotic applications that can be described as optimization problems.
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Papers by Mohammad Faidzul Nasrudin