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All Journal TELKOMNIKA (Telecommunication Computing Electronics and Control) Engineering Science Letter
Mohd Nazrin Muhammad
Universiti Teknikal Malaysia Melaka
Computer Science & IT Control & Systems Engineering Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology

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Voronoi diagram with fuzzy number and sensor data in an indoor navigation for emergency situation Nanna Suryana; Fandy Setyo Utomo; Mohd Fairuz Iskandar Othman; Mohd Nazrin Muhammad
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 18, No 4: August 2020
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v18i4.14905

Abstract

Finding shortest and safest path during emergency situation is critical. In this paper, an indoor navigation during an emergency time is investigated using the combination of Voronoi Diagram and fuzzy number. The challenge in indoor navigation is to analyses the network when the shortest path algorithm does not work as always expected. There are some existing methods to generate the network model. First, this paper will discuss the feasibility and accuracy of each method when it is implemented on building environment. Next, this paper will discuss selected algorithms that determine the selection of the best route during an emergency situation. The algorithm has to make sure that the selected route is the shortest and the safest route to the destination. During a disaster, there are many uncertainties to deal with in determining the shortest and safest route. Fuzzy logic can be hardly called for to deal with these uncertainties. Based on sensor data, this paper will also discuss how to solve shortest path problem using a fuzzy number.
"Where Am I": Characterization of Ultra-Wide Band Real Time Location System in Line of Sight Mahasan Mat Ali; Syamimi Shamsuddin; Mohd Nazrin Muhammad; Sayed Kushairi Sayed Nordin; Shariman Abdullah
Engineering Science Letter Vol. 4 No. 02 (2025): Engineering Science Letter
Publisher : The Indonesian Institute of Science and Technology Research

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.56741/IISTR.esl.00893

Abstract

Absolute position measurement is a necessity in an Autonomous Indoor Mobile Robot (AiMR) built as to compensate the systematic and non-systematic errors caused by the odometry. This paper is set out to characterize the range bias of DecaWave Trek 1000 in Line of Sight (LOS). DecaWave Trek 1000 is a commercially available Real Time Location System (RTLS) based on Ultra-Wide Band (UWB) technology. The main advantage of using such a system is it provide quick solution with best-in-class accuracy of up to +10 cm. The system also compliant with IEEE802.15.4-2011 standards and implemented based on CMOS technology. To validate its performance, four distinct environment scenarios were selected based on their spatial occupancies to represent both favourable and non-favourable operating conditions. A total of 120,000 positioning data were measured and recorded throughout this study. Firstly, the collected data were compared to the ground truth and subjected to statistical analysis to determine whether environment factors significantly influenced ranging errors. Then the range error the results confirm that while the system performs within its specified accuracy under favourable conditions, the non-favourable condition on the other hand shows a drop of 20% in ranging accuracy. Throughout this extensive characterization, a systematic error model and noise estimation were formulated, providing a critical foundation for integrating UWB RTLS measurements into advanced probabilistic localization framework. Looking forward, the developed characterization function, offers strong potential for fusion with filtering algorithm such as Bayesian filters to enhance indoor navigation reliability for an AiMR application.
Co-Authors Fandy Setyo Utomo Mahasan Mat Ali Mohd Fairuz Iskandar Othman Nanna Suryana Sayed Kushairi Sayed Nordin Shariman Abdullah Syamimi Shamsuddin