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Analysis of Indoor Robot Localization Using Ultrasonic Sensors
Naveed, Sairah,Ko, Nak Yong Korean Institute of Intelligent Systems 2014 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.14 No.1
This paper analyzes the Monte Carlo localization (MCL) method, which estimates the pose of an indoor mobile robot. A mobile robot must know where it is to navigate in an indoor environment. The MCL technique is one of the most influential and popular techniques for estimation of robot position and orientation using a particle filter. For the analysis, we perform experiments in an indoor environment with a differential drive robot and ultrasonic range sensor system. The analysis uses MATLAB for implementation of the MCL and investigates the effects of the control parameters on the MCL performance. The control parameters are the uncertainty of the motion model of the mobile robot and the noise level of the measurement model of the range sensor.
Naveed Shahzad Ali,Abdul Ghaffar,Asif Ali Qaiser,Muhammad Ahmad,Khurram 한국고분자학회 2021 폴리머 Vol.45 No.1
The recovery of solvents from the extracted oils using conventional thermal separation processes i.e. distillation or evaporation is often an energy-intensive process. To provide an energy-efficient alternative, an organic solvent nanofiltration thin-film composite membrane was prepared by depositing a thin layer of polyaniline (PANI), a selective layer, via interfacial polymerization on a crosslinked polyimide (XPI), a base ultrafiltration support membrane, to provide selective transport of constituents of a miscella. The membrane was characterized by microscopic, spectroscopic, and thermal analysis. The evaluation of the separation performance was carried out by a dead-end stirred cell using three vegetable oils. For sunflower, corn, and castor oil/n-hexane mixtures, the membrane resulted in a % rejection of 50, 56, and -44, respectively. A comparison of mass flux and rejection of corn and castor oils suggests that the PANI/XPI membranes showed a strong ion-exchange behavior significantly recognizing charge macromolecules due to the presence of charged emeraldine PANI.
Optimal Management of Lower Polar Calyceal Stone 15 to 20 mm
Naveed Haroon,Syed M Nazim,M Hammad Ather 대한비뇨의학회 2013 Investigative and Clinical Urology Vol.54 No.4
Purpose: To compare the stone clearance rate, efficiency quotient (EQ), and early complications of shock wave lithotripsy (SWL) and percutaneous nephrolithotomy (PCNL)for solitary lower-pole renal stones measuring 15 to 20 mm. Materials and Methods: This was a retrospective matched-pair analysis of 142 patients (78 in the SWL and 64 in the PCNL group). Preoperative imaging was done by use of noncontrast computed tomography (CT kidney, ureter, and bladder [KUB]), intravenous urogram, or plain X-ray and ultrasound KUB to assess the largest dimension of the stones. Only patients with radiopaque stones were included. The stone-free rates were assessed with plain X-ray and ultrasound at 4 weeks. Data were analyzed by use of SPSS ver. 19. Results: The patients’ demographic profiles (age, body mass index) and the stone sizes were comparable in the two groups. The mean stone size was 17.4±2.12 in the PCNL group compared with 17.67±2.04 in the SWL group (p=0.45). At 4 weeks, 83% of patients undergoing PCNL were stone-free compared with 51% in the SWL group (p<0.001). The EQ for the PCNL group was 76% compared with 44% for the SWL group (p<0.001). Ancillary procedures were required by 9% of patients in the PCNL group compared with 15% in the SWL group. The complication rate was 19% in both groups. The SWL complications were minor. Conclusions: Stone clearance from the lower pole of solitary stones sized 15 to 20 mm at the greatest diameter following SWL is poorer. These calculi can be better managed with percutaneous surgery owing to its higher efficacy and acceptably low morbidity.
MRT letter: Segmentation and texture‐based classification of breast mammogram images
Naveed, Nawazish,Jaffar, M. Arfan,Choi, Tae‐,Sun Wiley Subscription Services, Inc., A Wiley Company 2011 Microscopy research and technique Vol.74 No.11
<P><B>Abstract</B></P><P>Breast cancer is the most common cancer diagnosed among women. In this article, support vector machine is used to classify digital mammogram images into malignant and benign. Wiener filter is used to handle the possible quantum noise, which is more likely to occur in mammograms. Stack‐based connected component method is proposed for background removal, and the image is enhanced using retinax method. Seeded region growing algorithm is used to remove the pectoral muscle part of the mammogram. We have extracted 13 different multidomains' features for classification. Results show the superiority of the proposed algorithm in terms of sensitivity, specificity, and accuracy. We have used MIAS database of mammography for experimentation. Microsc. Res. Tech., 2011. © 2011 Wiley Periodicals, Inc.</P>
Naveed Ullah,박상준,이영중,정연욱,박소연 한국물리학회 2015 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.67 No.4
Quartz tuning forks (QTFs) are being more frequently adopted instead of micromachined cantilevers as force sensors in scanning probe microscopes due to their mechanical stability, high quality factors, and wide availability at low costs. Mass-produced QTFs are typically housed in vacuumsealed canisters, and this necessitates the removal of the vacuum canisters to make necessary modifications such as attaching a tip or an optical fiber. Commonly, the decrease in the quality factor after the removal of the canister is attributed to an increase in air damping with no further investigation of other possible causes. We carried out several experiments with QTFs before and after the canisters were removed. Despite a vacuum level below 10−5 Torr, all investigated QTFs exhibited decreased quality factors once the protective canisters had been removed. We present possible causes for this observation by analyzing optical microscope images. Also, complete mechanical and electrical characterizations of the QTFs are presented, taking advantage of the analogies that exist between mechanical and electrical systems.
( Naveed Aslam ),( Muhammad Abdullah ),( Muhammad Fiaz ),( Jalees Ahmad Bhatti ),( Zeeshan Muhammad Iqbal ),( Nasrullah Bangulzai ),( Chang Weon Choi ),( Ik Hwan Jo ) 한국동물자원과학회(구 한국축산학회) 2014 한국축산학회지 Vol.56 No.13
The production performance of multiparous lactating Sahiwal cows (n = 24) was evaluated according to both milking frequency and method. Selected animals were randomly divided into four groups containing six animals each under a completely randomized design. Cows in groups A & B were milked by the hand milking method three times per day, respectively. Similarly, cows in groups C & D were milked by the machine milking method two and three times per day, respectively. All animals were maintained under uniform feeding and management conditions. Dry matter intake was high in animal groups milked three times per day, and it remained unchanged between the hand and machine milking methods. Milk yield was higher (P < 0.05) in cows milked three times compared to those milked twice per day, and it did not differ between hand and machine milking methods. Milk fat percentage was higher (P < 0.05) in cows milked twice per day compared to those milked three times using both machine and hand milking methods. The percentage of total solids showed a similar pattern as the fat percentage. However, percentages of protein, lactose, and non-fat solids in milk were not significantly different(P > 0.05) among the treatment groups. Collectively, the results show that milking three times per day instead of twice at 8-hour intervals can enhance milk yield in Sahiwal cows using both hand and machine milking methods.
Statistical Evaluation of the Multi-Frequency GPS Ionospheric Scintillation Observation Data
Naveed Ahmed,Jiwon Seo 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
With the growing overdependence on the widely available Global Navigation Satellite System (GNSS) technology, the demand of the secure, reliable and accurate navigation especially for the aviation market has been a major concern of the satellite navigation engineers. The ionospheric scintillation is one of the most dangerous and sophisticated phenomena that not only compromises the accuracy of the receiver’s position, velocity and time (PVT) output but also the reliability of receiver’s performance in such critical situations. The maximum intensity scintillation occurs after every 11 years on average and, therefore, due to lack of available data, there are not enough practical studies to study this phenomenon. In this paper, we study the strong scintillation data collected during the last strong solar maximum event in 2013 at the Ascension Island. The frequency-to-frequency correlation is selected as an important metric to study the fading signals. The observations and the results discussed in the paper are the significant contributions toward the practical study of real ionospheric scintillation data and, hence, provide a strong ground for the future research.