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Faisal Aftab,Javaid Iqbal,Amjid Iqbal,Arshad Mahmood,Qaiser Raza 한국물리학회 2016 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.69 No.4
CdS thin films with different Cu concentrations were grown on glass substrates at room temperature by using the resistive thermal evaporation technique. The effect of Cu doping on the structural, optical and vibrational properties of CdS thin films was investigated. The structural, optical and vibrational analysis was completed using an X-ray diffractrometer and a Raman and a UV-VIS-NIR spectrophotometer. X-ray diffraction data revealed that incorporation of Cu ions improved the crystalline structure but did not change the cubic phase of the CdS thin film with a preferential orientation along the (111) direction. Various optical parameters, like the refractive index, extinction co-efficient, absorption co-efficient, urbach tail energy Ee and optical band gap, were determined by using transmission data at different copper concentrations. The Raman peaks appearing at 299 cm−1 and 592 cm−1 for CdS were attributed to the 1LO and 2LO phonons of cubic CdS, and a shift towards low wavenumber region was observed with increasing Cu concentration.
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.
Use of abdominal compression device in colonoscopy: a systematic review and meta-analysis
Yousaf Zafar,Ahmed Mustafa Rashid,Syed Sarmad Javaid,Ahmed Kamal Siddiqi,Adnan Zafar,Arsalan Zafar Iqbal,Jagpal Singh Klair,Rajesh Krishnamoorthi 대한소화기내시경학회 2023 Clinical Endoscopy Vol.56 No.4
Background/Aims: Colonoscopy for screening is associated with unpleasant experiences for patients, and abdominal compression devices have been developed to minimize these problems. However, there is a paucity of data supporting the therapeutic benefits of this strategy. This study examined the effects of using an abdominal compression device during colonoscopy on the cecal intubation time (CIT), abdominal compression, patient comfort, and postural changes. Methods: We searched PubMed and Scopus (from inception to November 2021) for randomized controlled trials that assessed the effects of an abdominal compression device during colonoscopy on CIT, abdominal compression, patient comfort, and postural change. A random-effects meta-analysis was performed. Weighted mean differences (WMDs) and Mantel-Haenszel odds ratios (ORs) were calculated. Results: Our pooled analysis of seven randomized controlled trials revealed that abdominal compression devices significantly reduced CIT (WMD, –0.76 [–1.49 to –0.03] minutes; p=0.04), abdominal compression (OR, 0.52; 95% confidence interval [CI], 0.28–0.94; p=0.03), and postural changes (OR, 0.46; 95% CI, 0.27–0.78; p=0.004) during colonoscopy. However, our results did not show a significant change in patient comfort (WMD, –0.48; 95% CI, –1.05 to 0.08; p=0.09) when using an abdominal compression device. Conclusions: Our findings demonstrate that employing an abdominal compression device may reduce CIT, abdominal compression, and postural change but have no impact on patient comfort.
3-D Shape Recovery from Image Focus Using no-reference sharpness metric based on inherent sharpness
Fahad Mahmood,Muhammad Tariq Mahmood,Javaid Iqbal 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
Recovering an accurate depth map from its corresponding 2-D images using shape from focus architecture is a convoluted issue in computer vision and signal processing society. This paper contributes a new robust focus measure for 3-D shape recovery based on discrete wavelet transform and inherent sharpness approach. This novel focus measure technique utilizes no-reference sharpness metric based on inherent sharpness approach. The no-reference sharpness metric estimates a perceptual sharpness score based on the coefficients of discrete wavelet transform. To obtain the data of high frequency elements in an image the perceptual sharpness metric utilizes diagonal coefficients and approximated sub-signal of wavelet decomposition. The efficiency of the proposed scheme is evaluated by comparing it with state of art shape from focus approaches by conducting experiments on real and synthetic image sequences. Two global statistical metrics are utilized for performance evaluation by conducting experiments on real world images and synthetic image sequences. The evaluation is estimated on the basis of monotonicity and unimodality of the focus measure curve. The experimented results are then discussed in various forms to support the proposed scheme.
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.
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.
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.