Irfan Hussain

Khalifa University of Science and Technology

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Lakmal Seneviratne

Khalifa University of Science and Technology

Domenico Prattichizzo

University of Siena

Dongming Gan

Purdue University West Lafayette

Taimur Hassan

Abu Dhabi University

Lyes Saad Saoud

Khalifa University of Science and Technology

Gionata Salvietti

University of Siena

Mohammad I. Awad

Khalifa University of Science and Technology

Monica Malvezzi

University of Siena

Shaoming He

Beijing Institute of Technology

Waseem Akram

Khalifa University of Science and Technology

Cooperative Institutions

Khalifa University of Science and Technology

University of Siena

Beijing Institute of Technology

Italian Institute of Technology

National University of Sciences and Technology

Jeonbuk National University

University of Central Punjab

Technology Innovation Institute

Institute of Electrical and Electronics Engineers

COMSATS University Islamabad

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Aerial Swarm Search for GNSS-Denied Maritime Surveillance

IEEE Transactions on Aerospace and Electronic Systems (2024)

Siyuan Yang Defu Lin Shaoming He Irfan Hussain Lakmal Seneviratne

The purpose of this paper is to introduce an unmanned aerial swarm control strategy that has been developed specifically for the MBZIRC 2024 competition inspection task, which requires the UAV swarm to search within a Global Navigation Satellite System (GNSS)-denied ocean space. The proposed approach utilizes control barrier functions (CBF) to encode the constraints and control each unmanned aerial vehicle (UAV) using an optimization-based method. We first establish the UAV model by taking energy consumption and the need for charging into consideration, which are then encoded using CBF. Following this, we propose a CBF that ensures each UAV maintains a certain distance from two selected UAVs or beacons on the coast, enabling the swarm to maintain a certain formation using localization algorithms by measuring relative distances. Finally, we present a CBF that integrates Lloyd's algorithm and variable density to enable the swarm to exhibit searching behavior. In numerical simulation with 14 searching UAVs and 3 beacon UAVs, the proposed algorithm shows great scalability and can successfully search the entire task area within 5 minutes, capable of handling all the constraints, i.e., localization distance, collision avoidance, energy consumption, and task performance, in the considered problem. In our physical experiment with 3 searching UAVs and 3 beacons, the proposed algorithm can accomplish the searching mission within 30 seconds.

Secondary surveillance radar

10.1109/taes.2024.3362764

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Recurrent 3-D Multi-Level Visual Transformer For Joint Classification of Heterogeneous 2-d AND 3-D Radiographic Data

2022 IEEE International Conference on Image Processing (ICIP) (2024)

Muhammad Owais Muhammad Zubair Taimur Hassan Divya Velayudhan Irfan Hussain

10.1109/icip51287.2024.10647131

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Design and experimental evaluation of a sensorized parallel gripper with optical mirroring mechanism

Mechatronics (2023)

Omar Faris Huda Alyammahi Bhivraj Suthar Rajkumar Muthusamy Umer Hameed Shah

Mirroring

Work space

Slippage

Machine Vision

10.1016/j.mechatronics.2023.102955

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Citations (7)

Voltage Stability and Power Sharing Control of Distributed Generation Units in DC Microgrids

Energies (2023)

Kafeel Ahmed Irfan Hussain Mehdi Seyedmahmoudian Alex Stojcevski Saad Mekhilef

Advancements in power conversion efficiency and the growing prevalence of DC loads worldwide have underscored the importance of DC microgrids in modern energy systems. Addressing the challenges of power-sharing and voltage stability in these DC microgrids has been a prominent research focus. Sliding mode control (SMC) has demonstrated remarkable performance in various power electronic converter applications. This paper proposes the integration of universal droop control (UDC) with SMC to facilitate distributed energy resource interfacing and power-sharing control in DC microgrids. Compared to traditional Proportional-Integral (PI) control, the proposed control approach exhibits superior dynamic response characteristics. The UDC is strategically incorporated prior to the SMC and establishes limits on voltage variation and maximum power drawn from the DC–DC converters within the microgrid. A dynamic model of the DC–DC converter is developed as the initial stage, focusing on voltage regulation at the DC link through nonlinear control laws tailored for Distributed Generation (DG)-based converters. The UDC ensures voltage stability in the DC microgrid by imposing predetermined power constraints on the DGs. Comparative evaluations, involving different load scenarios, have been conducted to assess the performance of the proposed UDC-based SMC control in comparison to the PI control-based system. The results demonstrate the superior efficiency of the UDC-based SMC control in handling dynamic load changes. Furthermore, a practical test of the proposed controller has been conducted using a hardware prototype of a DC microgrid.

Microgrid

10.3390/en16207038

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Citations (7)

TempoNet: Empowering Long-Term Knee Joint Angle Prediction with Dynamic Temporal Attention in Exoskeleton Control

Lyes Saad Saoud Irfan Hussain

In the realm of exoskeleton control, achieving precise control poses challenges due to the mechanical delay of exoskeletons. To address this, incorporating future gait trajectories as feed-forward input has been proposed. However, existing deep learning models for gait prediction mainly focus on short-term predictions, leaving the long-term performance of these models relatively unexplored. In this study, we present TempoNet, a novel model specifically designed for precise knee joint angle prediction. By harnessing dynamic temporal attention within the Transformer-based architecture, TempoNet surpasses existing models in forecasting knee joint angles over extended time horizons. Notably, our model achieves a remarkable reduction of 10% to 185% in Mean Absolute Error (MAE) for 100 ms ahead forecasting compared to other transformer-based models, demonstrating its effective-ness. Furthermore, TempoNet exhibits further reliability and superiority over the baseline Transformer model, outperforming it by 14% in MAE for the 200 ms prediction horizon. These findings highlight the efficacy of TempoNet in accurately predicting knee joint angles and emphasize the importance of incorporating dynamic temporal attention. TempoNet's capa-bility to enhance knee joint angle prediction accuracy opens up possibilities for precise control, improved rehabilitation outcomes, advanced sports performance analysis, and deeper insights into biomechanical research. Code implementation for the TempoNet model can be found in the GitHub repository: https://github.com/LyesSaadSaoud/TempoNet.

Predictive modelling

10.1109/humanoids57100.2023.10375196

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Citations (3)

Design of a haptic cane for walking stability and rehabilitation

Muhammad Raheel Afzal Irfan Hussain Yasir Jan Jungwon Yoon

Rehabilitation is suggested to be achieved by natural walk, and it may require assistive devices. Assistance provided should motivate the patient to use his own muscle strength rather than be dependent upon the device. Therefore, the devices should only provide minimum support required for the safety, stability, confidence building and guidance. These can be achieved with light touch cue provided at the patient's hands. The proposed haptic cane design has an active haptic handle that can give light touch cue depending upon the body orientation sensed through smartphone. The active haptic handle can be manipulated by a Pantograph mechanism. The Pantograph and arm support's positions and orientation are adjustable. The handle and arm support are mounted on the cane having a single wheel, coupled with motor, shaft encoder and an active brake, for achieving a controlled movement. The proposed design will be able to provide rehabilitation and postural stability for the patients.

Pantograph

10.1109/iccas.2013.6704114

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Citations (14)

Secondary Tuberculosis of Breast: Case Report

ISRN Surgery (2011)

Imtiaz Wani Ali M. Lone R Malik Khursheed Alam Wani Rauf A. Wani

Tuberculosis of breast is a rare disease which is difficult to differentiate from carcinoma of breast. The involvement of breast can be primary or secondary to some focus in body. A case of secondary tuberculosis of right breast in a 21-year-old female from Kashmir, India, is being reported. Presentation was as a painless discharging sinus of right breast. A tubercular foci of rib was the affecting source of disease. No other evidence of tuberculosis was present in the body. Resection of involved rib segment, along with the discharging sinus, was performed. The patient had antitubercular therapy for 9 months, with no recurrence seen in followup.

Presentation (obstetrics)

Right breast

Breast carcinoma

Sinus (botany)

Primary tuberculosis

10.5402/2011/529368

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Citations (27)

HapticFormers: Utilizing Transformers for Avocado Maturity Grading through Vision-based Tactile Assessment

Authorea (Authorea) (2024)

Israa Fahmy Irfan Hussain Naoufel Werghi Taimur Hassan lakmal seneviratne

Detecting maturity of fruits and vegetables, especially avocados, is a critical task in modern agriculture and supply chain management. Moreover, the accurate assessment of maturity can improve the harvesting time and ensure consistent quality for consumers through the supply chain process. A key approach to achieving this is the non-destructive estimation of produce quality. Vision-Based Tactile Sensing (VBTS) technologies, which mimic human tactile perception, offer a novel approach to address this challenge. This paper focuses on the use of two notable VBTS technologies, GelSight and Facebook's DIGIT sensor. Using these technologies, we developed two novel datasets that assess the avocado maturity using the transformer models, marking a novel contribution in this area. We adapted several transformer architectures to the task, conducting experiments on both image classification and regression to estimate avocado firmness. Among the variants tested, the PoolFormer displayed notable results with accuracy of 92% in detecting avocado maturity level when used with tactile data. The datasets and code used in this study will be shared at this URL. Index terms-Vision-based tactile sensors (VBTS), Vision Transformer (ViT), self-attention block, maturity classification.

Grading (engineering)

10.22541/au.170708993.32664812/v1

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Unified Synergistic Deep Learning Framework for Multimodal 2-D and 3-D Radiographic Data Analysis: Model Development and Validation

IEEE Access (2024)

Muhammad Owais Muhammad Zubair Lakmal Seneviratne Naoufel Werghi Irfan Hussain

10.1109/access.2024.3487575

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Design and prototyping soft–rigid tendon-driven modular grippers using interpenetrating phase composites materials

The International Journal of Robotics Research (2020)

Irfan Hussain Oraib Al‐Ketan Federico Renda Monica Malvezzi Domenico Prattichizzo

Advances in soft robotics and material science have enabled rapid progress in soft grippers. The ability to 3D print materials with softer, more elastic materials properties is a recent development and a key enabling technology for the rapid development of soft robots. However, obtaining the desired mechanical properties (e.g., stiffness) of the soft joints and information about the parameters to select in 3D printers is often not straightforward. In this article, we propose the use of interpenetrating phase composites (IPCs) materials with mathematically generated topologies based on triply periodic minimal surfaces for the development of soft grippers with desired mechanical properties. The flexible joints of the gripper can be realized through two or more phases that are topologically interconnected such that each phase represents a standalone cellular structure. As a case study, we present the design and development of a two-finger soft gripper as an example to demonstrate the application scenario of our approach. The flexible parts with desired stiffness values are realized by using IPCs materials in which the reinforcement distribution can be regulated on the basis of mathematical models. We characterized the properties of the material through a set of quantitative experiments on IPCs material specimens, and then we realized qualitative grasping tests with the gripper and a set of objects with different shapes and sizes. We showed that by properly regulating the properties of IPCs material it is possible to design modular grippers with the same structure, but different closure motions. Grippers can be customized for different tasks by easily assembling and disassembling fingers.

Grippers

Soft Robotics

10.1177/0278364920907697

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Citations (66)