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Unorthodox Approach to Classify EEG Signals for Upper Limb Prosthesis Application
Nasir Rashid,Fahad Mahmood,Javaid Iqbal 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
Brain computer interface (BCI) is targeted for decoding the EEG (Electroencephalogram) signals that the human brain generates which are beneficial for the paraplegic patients. These EEG signals are slow cortical potentials that are directly recorded from scalp thus cortical neuronal activity is explored via non-invasive electrodes. These EEG signals are then further utilized for performing various operations which the paraplegic patients are unable to perform. This research article presents a novel architecture of classification of four finger movements (thumb movement, index finger movement, middle and index finger combined movement and fist movement) of the right hand on the basis of EEG (Electroencephalogram) data of the movements. The presented architecture utilizes Guided filter for reduction of noise (artefacts) from EEG signals alpha and beta band (8-30 Hz). As this band contains the maximum information of movement in terms of motor imagery. Rank Transform is employed as feature extraction approach for further enhancement of processed EEG signals. Two stage Logistic Regression classifier is finally employed for classification of movements using processed EEG signals. The experimental results demonstrate the accuracy, robustness and computational complexity of the proposed approach and have significant improvement as compared with recent architectures for EEG classification.
Status of Exotic Flora in Kashmir Valley
Nasir Rashid Wani,Shah Murtaza Mushtaq 강원대학교 산림과학연구소 2012 Journal of Forest Science Vol.28 No.1
The Kashmir Himalaya, known for its indigenous and endemic flora, also provides home to a large number of exotic plants, which exhibit a wide taxonomical and distributional stretch. Although, some preliminary studies have been carried out in the region on some aspects of its exotic flora, the inventorization and documentation of its exotic have received a little or negligible attention. There is a lot of scope of these exotic plant species in Kashmir valley, but lack of authentic identification has been as a big hurdle in their scientific management. It is in this backdrop that the present floristic study was carried out to identify, inventorize, document and characterize the exotic plant species grown in the Valley. The present study has revealed that Kashmir Valley grows 317 exotic plant species, which belong to 209 genera in 85 families. Dicotyledons are the largest group, represented by 252 species in 163 genera and 67 families. Monocotyledons comprise 52 species in 37 genera and 13 families. Gymnosperms are the smallest group, with 13 species distributed in 9 genera and 5 families. Asteraceae is the largest family containing 33 exotic species.
Status of Exotic Flora in Kashmir Valley
Wani, Nasir Rashid,Mushtaq, Shah Murtaza Institute of Forest Science 2012 Journal of Forest Science Vol.28 No.1
The Kashmir Himalaya, known for its indigenous and endemic flora, also provides home to a large number of exotic plants, which exhibit a wide taxonomical and distributional stretch. Although, some preliminary studies have been carried out in the region on some aspects of its exotic flora, the inventorization and documentation of its exotic have received a little or negligible attention. There is a lot of scope of these exotic plant species in Kashmir valley, but lack of authentic identification has been as a big hurdle in their scientific management. It is in this backdrop that the present floristic study was carried out to identify, inventorize, document and characterize the exotic plant species grown in the Valley. The present study has revealed that Kashmir Valley grows 317 exotic plant species, which belong to 209 genera in 85 families. Dicotyledons are the largest group, represented by 252 species in 163 genera and 67 families. Monocotyledons comprise 52 species in 37 genera and 13 families. Gymnosperms are the smallest group, with 13 species distributed in 9 genera and 5 families. Asteraceae is the largest family containing 33 exotic species.
Acute oral toxicity and bioavailability of uranium and thorium in contaminated soil
Rashid Nur Shahidah Abdul,엄우용,Ijang Ibrahim,Khoo Kok Siong,SINGH BHUPENDRA KUMAR,Mahzan Nurul Syiffa,Fadzil Syazwani Mohd,Rodzi Nur Syamimi Diyana,Nasir Aina Shafinas Mohamad 한국원자력학회 2023 Nuclear Engineering and Technology Vol.55 No.4
A robust approach was conducted to determining the absolute oral bioavailable (fab) fractions of 238U and 232Th in rats exposed to contaminated soil along with their hematotoxicity and nephrotoxicity. The soil sample is the International Atomic Energy Agency-312 (IAEA-312) certified reference material, whereas blood, bones, and kidneys of in vivo female Sprague-Dawley (SD) rats estimate 238U- and 232Th-fab fractions post-exposure. We predict the bioavailable concentration (Cab) and fab values of 238U and 232Th after acute soil ingestion. The blood 238U (0.750%) and 232Th (0.028%) reach their maximum fab values after 48 h. The 238U (fab: 0.169–0.652%) accumulates mostly in the kidney, whereas the 232Th (fab: 0.004–0.021%) accumulates primarily in the bone. Additionally, 238U is more bioavailable than 232Th. Post 48 h acute ingestion demonstrates noticeable histopathological and hematological alterations, implying that intake of 238U in co-contaminated soil can lead to erythrocytes and proximal tubules damage, whereas, 232Th intake can harm erythrocytes. Our study provides new directions for future research into the health implications of acute oral exposures to 238U and 232Th in co-contaminated soils. The findings offer significant insight into the utilization of in vivo SD rat testing to estimate 238U and 232Th bioavailability and toxicity in exposure assessment.
Raabid Hussain,Asim Qureshi,Rasheeq A. Mughal,Raafay Ijaz,Nasir Rashid,Mohsin I. Tiwana,Javaid Iqbal 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In this paper, an efficient numerical scheme is associated with the scheming of the inverse kinematics for a four degrees of freedom redundant planar robotic manipulator. The manipulator under study is an RRPR redundant manipulator with joint angle constraints at each joint. Firstly, using the forward kinematics transformation matrix, a plot of the reachable workspace was obtained. This plot was used to determine equations for the possible end-effector positions. Then the analytic approach was used to determine equations for the inverse kinematic scheme. The inverse kinematics scheme initially sets the first joint angle as a constant at the current position in order to determine the inverse solution. However, if the solution calculated is not within the joint constraints then it uses numerical techniques to determine the least displacement new first joint parameter to determine the next possible solution. This results in a faster and more accurate convergence to the desired solution as compared to the traditional approaches.
Development of FPGA-based system for control of an Unmanned Ground Vehicle with 5-DOF Robotic Arm
Abdullah Afaq,Mohammad Ahmed,Ahmed Kamal,Umar Masood,Muhammad Shahzaib,Nasir Rashid,Mohsin Tiwana,Javaid Iqbal,Asadullah Awan 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This paper discusses the development of a customizable FPGA based system for implementing control algorithms on an Unmanned Ground Vehicle (UGV) and its 5 Degree of Freedom (DOF) manipulator. The compact RIO-9012 is used as a controller which is a reconfigurable embedded control and acquisition system using LabVIEW as the programming platform. The developed system enables the control of UGV and its manipulator using a remote joystick controller via Wi-Fi communication. Apart from Joystick, the system can also be controlled optionally using a keyboard. Accuracy of Joystick control has been enhanced by using point to point mapping technique. A user friendly GUI has been developed to view live video feedback obtained from the onboard cameras to control the UGV accordingly. Different features of UGV like path tracker (tracks its path on Google Maps), variable speed modes, battery indicator, camera switch and selector etc. are also managed in the GUI. The system has been developed so that, in future, it can easily be extended to a fully autonomous system.
Muhammad Ahsan Sami,Muhammad Umar Masood,Muhammad Waqar,Muhammad Mujtaba,Abrahim Ali Shah,Nasir Rashid,Mohsin I. Tiwana,Javaid Iqbal,Adnan Shujah 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper presents an application of a novel approach for detecting and tracking an object with a 2 DOF robotic manipulator which can be equipped with an array of electrically controlled actuators. The said approach utilizes the Image Based Visual Servoing (IBVS) technique. The developed system is able to determine the object pose in real time from features in the image. Object is detected using shaped based approach algorithms of image processing. The position and orientation of the world coordinates of the object being tracked are calculated from the coordinates of the object in image plane using camera’s intrinsic and extrinsic parameters. Experimental results demonstrate the effectiveness of this proposed approach.
Design and Development of a Semi-Autonomous Stair Climbing Robotic Platform For Rough Terrains
Muhammad Umar Masood,Muhammad Ahsan Sami,Haris Sohail,Muhammad Mujtaba,Muhammad Abubakar Siddique,Hashir Akram,Nasir Rashid,Mohsin I. Tiwana,Javaid Iqbal 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper presents the design of a stair climbing fixed flipper unmanned ground vehicle (UGV) for urban search and rescue purposes. Mobile flippers are being used in certain UGVs for enhanced mobility in rough terrains, however, the control algorithm of these platforms is complex. To add this enhanced mobility in the UGV and to reduce the intricacy of the control algorithm, anterior end of the tracks are lifted up which enables the UGV to pass over obstacles with relative ease. To prevent the rollover of UGV while moving on an inclined surface, an image processing algorithm was developed which halts the motion of UGV if the calculated slope exceeds the threshold value with a maximum error of about 8%. Furthermore, left and right track velocities along with the turn radius were also calculated.