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H<SUB>∞</SUB> filtering Convergence and It’s Application to SLAM
Hamzah Ahmad,Toru Namerikawa 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
KF-SLAM(Kalman filter-SLAM) have been used as a popular solution by researchers in many SLAM ap-plication. Nevertheless, it short comings of a ssumption for Gaussian noise limited its efficiency and demand researcher to consider better filter and algorithm to achieve a promising result of estimation. In this paper, we proposed one of its family, the H∞ filter-based SLAM to determine its competency for SLAM problem. Unlike Kalm an filter, H∞ filterable to work in an unknown statistical noise behavior and thus more robust. It rely on a guess that the noise is in bounded energy and does not require a priori knowledge about the system. Therefore, we proposed the H∞ filter aso ther available technique to in fer the location for both robot and landmarks while simult aneously building the map. From the results of simulation, H∞ filter produces better outcome than the Kalman filter especially in the linear case estimation. As a result, H∞ filter may provide sanother available estimation methods with the capability to ensure and improve estimation for the robotic mapping problem especally in SLAM.
The Impact of Cross-correlation on Mobile Robot Localization
Hamzah Ahmad,Nur Aqilah Othman 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.5
This paper deals with the theoretical investigation of the importance of cross-correlation in mobile robot localization. Two different case studies were conducted to examine the effects of crosscorrelation terms on the estimation. The first case refers to a situation when a mobile robot moves and calculates its position relative to a landmark, while in the second case the mobile robot is independent of the landmark position. The preliminary results obtained have indicated that the updated state covariance of the mobile robot that is independent of the landmark position could decrease or increase compared to that of the mobile robot that depends on the landmark position. The results are then evaluated through simulation which is consistently agrees with the theoretical results.
Syahirah Ahmad Sayuti Nurul,Hamzah Hazilawati,Rosly Shaari Mohd,Farhan Hanif Reduan Mohd,Mohamed Mustapha Noordin,Md Esa Norhaizan 한국독성학회 2018 Toxicological Research Vol.34 No.2
The term Butterfly tea refers to decoction of Mariposa christia vespertilionis leaves which is widely consumed by cancer patients throughout Malaysia and has gained a huge popularity among Malaysians, not only cancer patients but also researchers to discover the real potential of this plant. Herein, the study is aimed at evaluating the possible toxicity in 28-day subacute oral toxicity of ethanolic extract M. christia vespertilionis in male Sprague Dawley rats. The 28-day subacute toxicity study was conducted to detect the no-observed adverse effect level (NOAEL). In this study, a total of 30 rats were divided into the control, 5% DMSO (vehicle), low dose (75 mg/kg), medium dose (125 mg/kg) and high dose (250 mg/kg) groups. The extract was administered daily from day 1 until day 28. At the end of the study, the animals were humanely sacrificed and assessed for the effect extract of Mariposa christia vespertilionis leaves on body weight and relative organ weights and haematological, biochemical and histopathological parameters. The haematological and serum biochemical parameters for the assessment of kidney and liver injuries were carried out. Results of haematological and serum biochemistry results showed no changes in the control and treated groups. In the histopathology, evaluation of kidney tissues in all treated groups showed no significant (p > 0.05) lesions. In contrast to kidney, liver tissues showed significant differences (p < 0.05) in lesions observed in low dose (430 mg), medium dose (700 mg) and high dose (1480 mg) groups with very mild, mild and mild to moderate lesion of hepatic necrosis, in the respective groups, and very mild hepatic degeneration and hepatitis were scored in all three groups.
Aneis Maasyirah Hamzah,Siti Koriah Zakaria,Siti Zuliana Salleh,Abdul Hafidz Yusoff,Arlina Ali,Mardawani Mohamad,Mohamad Najmi Masri,Sharizal Ahmad Sobri,Mustaffa Ali Azhar Taib,Faisal Budiman,Pao Ter 한양대학교 세라믹연구소 2021 Journal of Ceramic Processing Research Vol.22 No.2
In this work, the effect of various weight percentage of rice husk ash (RHA) in ceramic brick production was investigated interms of mineralogical, physical, chemical and morphological properties. The evaluation of the use of RHA as a raw materialfor ceramic products is tested to determine the linear shrinkage, volumetric shrinkage, water absorption, apparent density andbulk density. These physical results suggested that the addition of RHA can improve the physical properties of ceramic brick. Scanning electron microscopy images confirmed the increased of ceramic strength with the addition of RHA and firingtemperature. In addition, quantitative and qualitative chemical analysis supported the results obtained. Overall, the resultsdemonstrated the high potential of RHA in green technology for ceramic production.
Nurul, Syahirah Ahmad Sayuti,Hazilawati, Hamzah,Mohd, Rosly Shaari,Mohd, Farhan Hanif Reduan,Noordin, Mohamed Mustapha,Norhaizan, Md Esa Korean Society of ToxicologyKorea Environmental Mu 2018 Toxicological Research Vol.34 No.2
The term Butterfly tea refers to decoction of Mariposa christia vespertilionis leaves which is widely consumed by cancer patients throughout Malaysia and has gained a huge popularity among Malaysians, not only cancer patients but also researchers to discover the real potential of this plant. Herein, the study is aimed at evaluating the possible toxicity in 28-day subacute oral toxicity of ethanolic extract M. christia vespertilionis in male Sprague Dawley rats. The 28-day subacute toxicity study was conducted to detect the no-observed adverse effect level (NOAEL). In this study, a total of 30 rats were divided into the control, 5% DMSO (vehicle), low dose (75 mg/kg), medium dose (125 mg/kg) and high dose (250 mg/kg) groups. The extract was administered daily from day 1 until day 28. At the end of the study, the animals were humanely sacrificed and assessed for the effect extract of Mariposa christia vespertilionis leaves on body weight and relative organ weights and haematological, biochemical and histopathological parameters. The haematological and serum biochemical parameters for the assessment of kidney and liver injuries were carried out. Results of haematological and serum biochemistry results showed no changes in the control and treated groups. In the histopathology, evaluation of kidney tissues in all treated groups showed no significant (p > 0.05) lesions. In contrast to kidney, liver tissues showed significant differences (p < 0.05) in lesions observed in low dose (430 mg), medium dose (700 mg) and high dose (1480 mg) groups with very mild, mild and mild to moderate lesion of hepatic necrosis, in the respective groups, and very mild hepatic degeneration and hepatitis were scored in all three groups.
Hapeez, Mohammad Shukri,Hamzah, Ngah Ramzi,Hashim, Habibah,Abidin, Ahmad Farid The Korean Institute of Electrical Engineers 2014 Journal of Electrical Engineering & Technology Vol.9 No.1
This paper presents a simple, consistent and reliable technique to identify detected partial discharges (PD) using an acoustic ultrasonic method. A new reliable algorithm named 'Simple Partial Discharge Identifier' (SPDI) is proposed to perform identification process of the detected ultrasonic signals of PD. Experimental works based on recommended practices were setup and the ultrasonic signals of the PD were recorded. The PD data is then employed as the reference data. The SPDI developed has been tested against commonly used models in Neural Network (NN). Results from the SPDI algorithm shows more reliable results compared to NN models results. Comparison made on the mean square error (MSE) results shows SPDI produces the desired outcome with lower MSE in 97.17% of trials. Low error of SPDI indicates a high reliability to be applied in the identification of PD.
Asymmetric Reduction of 3-Ketoproline Ethyl Ester by Modified Borohydrides and Various Vegetables
Agustono Wibowo,Zurina Shaameri,Mohd Fazli Mohammat,Ahmad Sazali Hamzah 대한화학회 2017 대한화학회지 Vol.61 No.5
Reduction of (±)-3-ketoproline ethyl ester (1) by NaBH4 in the presence of CaCl2 and MgCl2 as the chelating agents gave selective products cis-3(R/S)-alcohols, while reduction by NaBH4 alone or chelated with NiCl2 and AlBr3 gave mixtures of cis- and trans-alcohols. The reduction of (±)-1 by various vegetables however, gave exclusively the cis-alcohol as the major and trans-alcohol as the minor. On the contrary, reduction of (±)-1 by carrot afforded a mixture of cis- and transalcohols, in which the trans-alcohol exists as the major product. In addition, we found that this biocatalyst selectively converted S-enantiomer of (±)-1 to the cis-alcohol, and R-enantiomer to a mixture of cis- and trans-alcohols with cis-alcohol as the major product. This fact prompted us to use various fresh plant tissues for stereoselective reduction of diverse types of pyrrolidinones, as its stereoselectivity towards racemic mixtures is higher compared to that using chemical reducing agents.
Asymmetric Reduction of 3-Ketoproline Ethyl Ester by Modified Borohydrides and Various Vegetables
Wibowo, Agustono,Shaameri, Zurina,Mohammat, Mohd Fazli,Hamzah, Ahmad Sazali Korean Chemical Society 2017 대한화학회지 Vol.61 No.5
Reduction of (${\pm}$)-3-ketoproline ethyl ester (1) by $NaBH_4$ in the presence of $CaCl_2$ and $MgCl_2$ as the chelating agents gave selective products cis-3(R/S)-alcohols, while reduction by $NaBH_4$ alone or chelated with $NiCl_2$ and $AlBr_3$ gave mixtures of cis- and trans-alcohols. The reduction of (${\pm}$)-1 by various vegetables however, gave exclusively the cis-alcohol as the major and trans-alcohol as the minor. On the contrary, reduction of (${\pm}$)-1 by carrot afforded a mixture of cis- and trans-alcohols, in which the trans-alcohol exists as the major product. In addition, we found that this biocatalyst selectively converted S-enantiomer of (${\pm}$)-1 to the cis-alcohol, and R-enantiomer to a mixture of cis- and trans-alcohols with cis-alcohol as the major product. This fact prompted us to use various fresh plant tissues for stereoselective reduction of diverse types of pyrrolidinones, as its stereoselectivity towards racemic mixtures is higher compared to that using chemical reducing agents.
Mohammad Shukri Hapeez,Ngah Ramzi Hamzah,Habibah Hashim,Ahmad Farid Abidin 대한전기학회 2014 Journal of Electrical Engineering & Technology Vol.9 No.1
This paper presents a simple, consistent and reliable technique to identify detected partial discharges (PD) using an acoustic ultrasonic method. A new reliable algorithm named ‘Simple Partial Discharge Identifier’ (SPDI) is proposed to perform identification process of the detected ultrasonic signals of PD. Experimental works based on recommended practices were setup and the ultrasonic signals of the PD were recorded. The PD data is then employed as the reference data. The SPDI developed has been tested against commonly used models in Neural Network (NN). Results from the SPDI algorithm shows more reliable results compared to NN models results. Comparison made on the mean square error (MSE) results shows SPDI produces the desired outcome with lower MSE in 97.17% of trials. Low error of SPDI indicates a high reliability to be applied in the identification of PD.