Muhammad Kazim | Fedral Urdu University (original) (raw)

Papers by Muhammad Kazim

2015 IEEE/ACM 8th International Conference on Utility and Cloud Computing (UCC), 2015

Vehicular Ad Hoc Networks (VANET) are the largest real life application of ad-hoc networks where ... more Vehicular Ad Hoc Networks (VANET) are the largest real life application of ad-hoc networks where nodes are represented via fast moving vehicles. This paper introduces the future emerging technology, i.e., Vehicular Cloud Networking (VCN) where vehicles and adjacent infrastructure merge with traditional internet clouds to offer different applications ranging from low sized applications to very complex applications. VCN is composed of three types of clouds: Vehicular cloud, Infrastructure cloud and traditional Back-End (IT) cloud. We introduced these clouds via a three tier architecture along with their operations and characteristics. We have proposed use cases of each cloud tier that explain how it is practically created and utilised while taking the vehicular mobility in consideration. Moreover, it is critical to ensure security, privacy and trust of VCN network and its assets. Therefore, to describe the security of VCN, we have provided an in-depth analysis of different threats related to each tier of VCN. The threats related to vehicular cloud and infrastructure cloud are categorized according to their assets, i.e., vehicles, adjacent infrastructure, wireless communication, vehicular messages, and vehicular cloud threats. Similarly, the Back-End cloud threats are categorized into data and network threats. The possible implications of these threats and their effects on various components of VCN are also explained in detail.

IEEE Transactions on Green Communications and Networking, 2021

The reliance on Network-on-Chip (NoC) based Multiprocessor Systems-on-Chips (MPSoCs) is prolifera... more The reliance on Network-on-Chip (NoC) based Multiprocessor Systems-on-Chips (MPSoCs) is proliferating in modern embedded systems to satisfy the higher performance requirement of multimedia streaming applications. Task level coarse grained software pipeling also called re-timing when combined with Dynamic Voltage and Frequency Scaling (DVFS) has shown to be an effective approach in significantly reducing energy consumption of the multiprocessor systems at the expense of additional delay. In this paper we develop a novel energy-aware scheduler considering tasks with conditional constraints on Voltage Frequency Island (VFI) based heterogeneous NoC-MPSoCs deploying re-timing integrated with DVFS for real-time streaming applications. We propose a novel task level re-timing approach called R-CTG and integrate it with non linear programming based scheduling and voltage scaling approach referred to as ALI-EBAD. The R-CTG approach aims to minimize the latency Utilizing features such as video-streams transmitted via the Internet, these systems are able to monitor the healthcare needs for anyone. This is considered most beneficial to people with increases support needs such as elderly, inform or those with alternative abilities. The video and data streams are stored securely in the cloud but available for access by the right people when needed. An abstract IoT based healthcare system architecture is demonstrated in Fig. (1) [1], [2]. Remote Monitoring caused by re-timing without compromising on energy-efficiency. Compared to R-DAG, the state-of-the-art approach designed for traditional Directed Acyclic Graph (DAG) based task graphs, R-CTG significantly reduces the re-timing latency because it only re-times tasks that free up the wasted slack. To validate our claims we performed experiments on using 12 real benchmarks, the results demonstrate that ALI-EBAD out performs CA-TMES-Visualization GUI Search and CA-TMES-Quick task schedulers in terms of energyefficiency.

International Journal of Robust and Nonlinear Control, 2020

SummaryThe active disturbance rejection control (ADRC) scheme requires a high bandwidth in the ex... more SummaryThe active disturbance rejection control (ADRC) scheme requires a high bandwidth in the extended state observer (ESO), causing heavy noise pollution in the control system. This article develops an effective and simple adaptive ADRC scheme to realize high performance control when ESO bandwidth is limited. The adaptative law is generated by the state tracking error such that all the feedback loops and feedforward channels are activated for active disturbance rejection. An “attached” and “quantified” adaptation is developed to guarantee the easy usage of the proposed scheme. The uniformly ultimate boundedness of all the signals in the closed‐loop system is proved in the sense of Lyapunov theory. Finally, two simulation examples are given to demonstrate the results.

Computer Communications and Networks, 2015

Cloud computing has been widely adopted across the IT industry due to its scalable, cost-effectiv... more Cloud computing has been widely adopted across the IT industry due to its scalable, cost-effective, and efficient services. It has many applications in areas such as healthcare, mobile cloud computing (MCC), and vehicular ad hoc networks (VANET). Vehicular cloud networks (VCN) is another application of cloud computing which is a combination of cloud and VANET technologies. It is composed of three clouds named vehicular cloud, infrastructure cloud, and traditional IT cloud. In this chapter, the three clouds involved in VCN are presented using a three-tier architecture, and the security issues related to each tier are described in detail. After describing the detailed architecture of VANET, their components, and their important characteristics, this chapter presents the architecture of VCN. It is followed by the detailed analysis of the threats to which each tier-cloud of VCN is vulnerable.

2015 European Conference on Circuit Theory and Design (ECCTD), 2015

Capacitive body coupled communication (BCC) channel has been modeled as a two-port complex path i... more Capacitive body coupled communication (BCC) channel has been modeled as a two-port complex path impedance matrix [Z] which varies as a function of ten different body positions over the frequency range of 1 MHz to 60 MHz. A systematic numerical simulation methodology has been used to estimate [Z] parameters. The estimated complex path impedance [Z] is a symmetric matrix showing BCC channel is a reciprocal network of passive components for given coupler configuration, body positions and frequency range. The estimated complex path impedance has been utilized to determine either input impedance Zin or output impedance Zout to conjugately match to Zs at transmitter or Zl at receiver, respectively for maximum power transfer. It has been found that the resistive matching below 1000 Ω and inductive matching between 0.5 μH to 5 μH on any side of the two ports can meet the conjugate matching requirements for maximum power transfer for the given body positions and frequency range.

Reconstructive Review, 2015

Osteoarthritis (OA) of the knees and non specific lower back pain are one of the most common diso... more Osteoarthritis (OA) of the knees and non specific lower back pain are one of the most common disorders of population of Asia Pacific region. Knee OA has significant effect on the quality of life of patients, as they are not able to perform their daily activities with ease and gradually develop dependence on other family members. This leads to eventual disconnection from the social life and development of depression in patients. Incidence of knee OA is well documented in Asian countries with figures reaching up to 28% in the urban population of Pakistan. Incidence is found to be greater in patients of female gender and those with greater body mass index (BMI). Population of Pakistan has tendency to develop OA earlier than the European population mostly having isolated involvement of the knee joints only.Total Knee Arthroplasty (TKA) is a life changing procedure for such patients. Great improvements in quality of life and outcome measure scores have been observed in patients undergone...

Angewandte Chemie International Edition

My research for first 3 years of PhD was funded by the College of Engineering and Technology.

IEEE Transactions on Instrumentation and Measurement, 2019

Electric power distribution network holds a critical role in uninterruptable power supply for mod... more Electric power distribution network holds a critical role in uninterruptable power supply for modern societies. The distribution network comprising of complex of primary and secondary distribution lines is vulnerable to various short circuit (SC) faults caused by lightning strikes, storms, growing vegetation, animals, insulation breakdown and other environmental situations. Most SC faults result in breakdowns that need to be repaired in order to restore electric supply to consumers. Rapid and accurate fault localization method helps in accelerated system restoration process and thus reduces power outage time. In this paper, a new approach related to non-contact magnetic field (MF) based measurement system to localize SC faults on 11kV overhead distribution lines is presented. The method uses highly sensitive and energy-efficient magnetic sensors to detect variations in MF levels measured along the distribution lines. Fault localization algorithm is developed which identifies SC fault on main feeders and its sub-branches and then localize the fault by analyzing MF over window size of 20 cycles. The developed algorithm is implemented on complex distribution system and tested for different cases. Laboratory experiments were conducted to detect and localize SC faults in a multi branch configuration to validate the proposed method. Where, measurement uncertainty of less than 5% is observed for worst case scenario.

IEEE Access

The development of autonomous, fast, agile small Unmanned Aerial Vehicles (UAVs) brings up fundam... more The development of autonomous, fast, agile small Unmanned Aerial Vehicles (UAVs) brings up fundamental challenges in dynamic environments with fast and agile maneuvers, unreliable state estimation, imperfect sensing, coupling action, and perception in real-time under severe resource constraints. However, autonomous drone racing is a challenging research problem at the intersection of computer vision, planning, state estimation, and control. To bridge this, we propose an approach in the context of autonomous, perception-action aware vision-based drone racing in a photorealistic environment. Our approach integrates a deep convolutional neural network (CNN) with state-of-the-art path planning, state estimation, and control algorithms. The developed deep learning method is based on computer vision approaches to detecting the gates and estimating the flyable area. The planner and controller then use this information to generate a short, minimum-snap trajectory segment and send corresponding motor commands to reach the desired goal. A thorough evaluation of our proposed methodology has been carried out using the Gazebo and FlightGoggles (photorealistic sensor) environments. Extensive experiments demonstrate that the proposed approach outperforms state-of-the-art methods and flies the drone more consistently than many human pilots. Moreover, we demonstrated that our proposed system successfully guided the drone through tight race courses, reaching speeds up to 7m/s of the 2019 AlphaPilot Challenge.

A cost-effective concept of silicon-printed hybrid memory label for capacitive body coupled commu... more A cost-effective concept of silicon-printed hybrid memory label for capacitive body coupled communication (BCC) is discussed in this paperin the context of internet of things (IoT). The strength of ...

Electronics, 2021

Unmanned Aerial Vehicles (UAVs) are increasingly being used in many challenging and diversified a... more Unmanned Aerial Vehicles (UAVs) are increasingly being used in many challenging and diversified applications. These applications belong to the civilian and the military fields. To name a few; infrastructure inspection, traffic patrolling, remote sensing, mapping, surveillance, rescuing humans and animals, environment monitoring, and Intelligence, Surveillance, Target Acquisition, and Reconnaissance (ISTAR) operations. However, the use of UAVs in these applications needs a substantial level of autonomy. In other words, UAVs should have the ability to accomplish planned missions in unexpected situations without requiring human intervention. To ensure this level of autonomy, many artificial intelligence algorithms were designed. These algorithms targeted the guidance, navigation, and control (GNC) of UAVs. In this paper, we described the state of the art of one subset of these algorithms: the deep reinforcement learning (DRL) techniques. We made a detailed description of them, and we d...

IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017

This paper is concerned with the problem of stabilization and tracking for a class of underactuat... more This paper is concerned with the problem of stabilization and tracking for a class of underactuated systems subjected to external disturbances. Based on the mathematical model of a 4 degrees of freedom (4DOF) ball and plate system, a robust backstepping controller with disturbance rejection is developed. The proposed controller is capable of handling bounded uncertainties with unknown periodicity affecting the control. A comprehensive comparison between linear quadratic regulator (LQR) and the robust backstepping controller is provided, which affirms the superior performance of the proposed control design.

IEEE Systems Journal, 2021

Most applications for small unmanned aerial vehicles (sUAVs) have a critical need for appropriate... more Most applications for small unmanned aerial vehicles (sUAVs) have a critical need for appropriate position and attitude control in environments with extreme external dynamic disturbances such as wind gusts. Moreover, to maximize flight time, UAVs have to operate within strict constraints on payload and under computational efficiency. This article presents an optimized robust adaptive controller for a UAV in the presence of realistic wind gusts that are flying in an urban environment at an altitude lower than 400 ft. The position controller is based on two degree-of-freedom proportional–integral–derivative controller tuned with particle swarm optimization, while the attitude controll is based on a robust adaptive integral backstepping controller. By assuming the knowledge of the predetermined limits of the external and unstructured disruptions (for example, wind gusts) at low altitude, a guaranteed quality of transient and steady-state tracking performance were attained. The aerodynamics, wind gust model, and control modules are integrated into a six-degree-of-freedom UAV with a fully nonlinear robust adaptive controller. Optimal power is obtained for UAVs using the radial inflow model in the presence of wind gusts that are compared with the simplified model. Two case studies were performed systematically for two representative flight paths, namely, up-cruise-down and circular paths. The simulation results demonstrate the robustness and adaptive property of controllers against wind gusts. These results are useful for a variety of UAV applications, e.g. accurate trajectory tracking and autonomous waypoint navigation without loss of performance in the presence of wind disturbances under computational efficacy.

The Journal of Organic Chemistry, 2020

In this article, we present crystallographic and spectroscopic evidence of a tunable system where... more In this article, we present crystallographic and spectroscopic evidence of a tunable system wherein a HO···π interaction switches incrementally to a nonconventional OH···π hydrogen bonding (HB) interaction. More specifically, we report the synthesis of substituted forms of model system 1 to study the effects of aryl ring electronic density on the qualitative characteristics of OH···π hydrogen bonds therein. The OH stretch in experimental IR data, in agreement with DFT calculations, shows continuous red shifts as the adjacent ring becomes more electron-rich. For example, the OH stretch of an ¬amino-substituted analogue is red shifted by roughly 50 cm-1 compared to the same stretch in the CF3 analogue, indicating a significantly stronger HB interaction in the former. Moreover, DFT calculations (ωB97XD/6-311+G**) predict that increasing electronic density on the adjacent top ring reduces the aryl π-OH σ* energy gap with a concomitant enhancement of the OH n-π* energy gap. Consequently, a dominant π-σ* interaction in the amino substituted analogue locks the system in the in-form while a favorable n-π* interaction reverses the orientation of the oxygen bound hydrogen in its protonated form. Additionally, the 1H NMR data of various analogues reveal that stronger OH···π interactions in systems with electron rich aromatic rings slow exchange of the alcoholic proton, thereby revealing coupling with the geminal proton. Finally, X-ray crystallographic analyses of a spectrum of analogues clearly visualize the three distinct stages of "switch" - starting with exclusive HO···π, to partitioned HO···π/OH···π, finally to achieving exclusive OH···π forms. Furthermore, the crystal structure of the amino analogue reveals an interesting feature in which an extended hydrogen bonding network, involving two conventional (NH···O) and two nonconventional (OH···π) HBs, dimerizes and anchors the molecule in the unit cell.

The Journal of Organic Chemistry, 2020

In this note, we present a series of N-(8-fluoronaphthalen-1-yl)benzamide derivatives designed to... more In this note, we present a series of N-(8-fluoronaphthalen-1-yl)benzamide derivatives designed to maximize amide-NH•••F hydrogen bond interactions therein. A combination of IR and NMR spectroscopy indicates a linear correlation between the high energy shift in NH stretching frequency and the electron withdrawing nature of the substituent, consistent with the trend predicted by DFT calculations. Additionally, a limiting case of hydrogen bonding is observed when the benzamide derivatives are replaced with trifluoroacetamide, causing an additional red shift of 44 cm −1 in the NH stretching frequency. Most importantly, 1 H− 19 F coupling constants in this series are among the largest measured for amide-NH•••F interactions. X-ray crystallography reveals face-to-face alignment of naphthalene rings in these derivatives resulting in part from the NH•••F hydrogen bonds. This motif also dictates the formation of sheets composed of stacked naphthalene rings in the crystal structure as opposed to unfluorinated analogues wherein NH•••OC hydrogen-bonding interactions force benzamide and naphthalene rings to engage in T-shaped π−π interactions instead. Additionally, the NH proton in the trifluoroacetamide derivative engages in extended H-bond interactions in its crystal structure.

The Journal of Organic Chemistry, 2019

The Journal of Organic Chemistry, 2019

Single Crystal X-Ray Crystallography Crystal Structure of Compound 2 Figure S1: Compound 2; produ... more Single Crystal X-Ray Crystallography Crystal Structure of Compound 2 Figure S1: Compound 2; product of photo-oxygenation of p-QM 1 All reflection intensities were measured at 110(2) K using a SuperNova diffractometer (equipped with Atlas detector) with Cu Kα radiation (λ = 1.54178 Å) under the program CrysAlisPro (Version CrysAlisPro 1.171.39.29c, Rigaku OD, 2017). The same program was used to refine the cell dimensions and for data reduction. The structure was solved with the program SHELXS-2018/3 (Sheldrick, 2018) and was refined on F 2 with SHELXL-2018/3 (Sheldrick, 2018). Analytical numeric absorption correction using a multifaceted crystal model was applied using CrysAlisPro. The temperature of the data collection was controlled using the system Cryojet (manufactured by Oxford Instruments). The H atoms were placed at calculated positions using the instructions AFIX 13, AFIX 23 or AFIX 43 with isotropic displacement parameters having values 1.2 or 1.5 U eq of the attached C atoms. The structure is mostly ordered. In the asymmetric unit, one void may potentially include a mixture of very disordered (and partially occupied) solvent molecules (possibly DCM/MeCN). In the final refinement, its contribution has been removed using the SQUEEZE procedure in Platon (Spek, 2009). S4 Figure S2. Displacement ellipsoid plot (50% probability level) of the photooxygenated product 2 Sample Preparation Compound 2 was dissolved in 3 mL dichloromethane in a 3-dram vial and the solvent was evaporated slowly with the vial in slanted position. Small crystals of compound 2 were formed when all the solvent had evaporated. Crystallographic experimental details xs1924a Crystal data Chemical formula C 29 H 20 O 5 M r 448.45 Crystal system, space group Triclinic, P-1 Temperature (K) 110 a, b, c (Å) 8.0663 (5), 12.7882 (6), 13.3392 (11) , ,  (°) 102.324 (5), 103.153 (6), 102.371 (4) V (Å 3) 1258.07 (15) Z 2 Radiation type Cu K  (mm-1) 0.66 Crystal size (mm) 0.21 × 0.11 × 0.02 Data collection S5 Diffractometer SuperNova, Dual, Cu at zero, Atlas Absorption correction Analytical CrysAlis PRO 1.171.39.29c (Rigaku Oxford Diffraction, 2017) Analytical numeric absorption correction using a multifaceted crystal model based on expressions derived by R.C.

2015 IEEE/ACM 8th International Conference on Utility and Cloud Computing (UCC), 2015

Vehicular Ad Hoc Networks (VANET) are the largest real life application of ad-hoc networks where ... more Vehicular Ad Hoc Networks (VANET) are the largest real life application of ad-hoc networks where nodes are represented via fast moving vehicles. This paper introduces the future emerging technology, i.e., Vehicular Cloud Networking (VCN) where vehicles and adjacent infrastructure merge with traditional internet clouds to offer different applications ranging from low sized applications to very complex applications. VCN is composed of three types of clouds: Vehicular cloud, Infrastructure cloud and traditional Back-End (IT) cloud. We introduced these clouds via a three tier architecture along with their operations and characteristics. We have proposed use cases of each cloud tier that explain how it is practically created and utilised while taking the vehicular mobility in consideration. Moreover, it is critical to ensure security, privacy and trust of VCN network and its assets. Therefore, to describe the security of VCN, we have provided an in-depth analysis of different threats related to each tier of VCN. The threats related to vehicular cloud and infrastructure cloud are categorized according to their assets, i.e., vehicles, adjacent infrastructure, wireless communication, vehicular messages, and vehicular cloud threats. Similarly, the Back-End cloud threats are categorized into data and network threats. The possible implications of these threats and their effects on various components of VCN are also explained in detail.

IEEE Transactions on Green Communications and Networking, 2021

The reliance on Network-on-Chip (NoC) based Multiprocessor Systems-on-Chips (MPSoCs) is prolifera... more The reliance on Network-on-Chip (NoC) based Multiprocessor Systems-on-Chips (MPSoCs) is proliferating in modern embedded systems to satisfy the higher performance requirement of multimedia streaming applications. Task level coarse grained software pipeling also called re-timing when combined with Dynamic Voltage and Frequency Scaling (DVFS) has shown to be an effective approach in significantly reducing energy consumption of the multiprocessor systems at the expense of additional delay. In this paper we develop a novel energy-aware scheduler considering tasks with conditional constraints on Voltage Frequency Island (VFI) based heterogeneous NoC-MPSoCs deploying re-timing integrated with DVFS for real-time streaming applications. We propose a novel task level re-timing approach called R-CTG and integrate it with non linear programming based scheduling and voltage scaling approach referred to as ALI-EBAD. The R-CTG approach aims to minimize the latency Utilizing features such as video-streams transmitted via the Internet, these systems are able to monitor the healthcare needs for anyone. This is considered most beneficial to people with increases support needs such as elderly, inform or those with alternative abilities. The video and data streams are stored securely in the cloud but available for access by the right people when needed. An abstract IoT based healthcare system architecture is demonstrated in Fig. (1) [1], [2]. Remote Monitoring caused by re-timing without compromising on energy-efficiency. Compared to R-DAG, the state-of-the-art approach designed for traditional Directed Acyclic Graph (DAG) based task graphs, R-CTG significantly reduces the re-timing latency because it only re-times tasks that free up the wasted slack. To validate our claims we performed experiments on using 12 real benchmarks, the results demonstrate that ALI-EBAD out performs CA-TMES-Visualization GUI Search and CA-TMES-Quick task schedulers in terms of energyefficiency.

International Journal of Robust and Nonlinear Control, 2020

SummaryThe active disturbance rejection control (ADRC) scheme requires a high bandwidth in the ex... more SummaryThe active disturbance rejection control (ADRC) scheme requires a high bandwidth in the extended state observer (ESO), causing heavy noise pollution in the control system. This article develops an effective and simple adaptive ADRC scheme to realize high performance control when ESO bandwidth is limited. The adaptative law is generated by the state tracking error such that all the feedback loops and feedforward channels are activated for active disturbance rejection. An “attached” and “quantified” adaptation is developed to guarantee the easy usage of the proposed scheme. The uniformly ultimate boundedness of all the signals in the closed‐loop system is proved in the sense of Lyapunov theory. Finally, two simulation examples are given to demonstrate the results.

Computer Communications and Networks, 2015

Cloud computing has been widely adopted across the IT industry due to its scalable, cost-effectiv... more Cloud computing has been widely adopted across the IT industry due to its scalable, cost-effective, and efficient services. It has many applications in areas such as healthcare, mobile cloud computing (MCC), and vehicular ad hoc networks (VANET). Vehicular cloud networks (VCN) is another application of cloud computing which is a combination of cloud and VANET technologies. It is composed of three clouds named vehicular cloud, infrastructure cloud, and traditional IT cloud. In this chapter, the three clouds involved in VCN are presented using a three-tier architecture, and the security issues related to each tier are described in detail. After describing the detailed architecture of VANET, their components, and their important characteristics, this chapter presents the architecture of VCN. It is followed by the detailed analysis of the threats to which each tier-cloud of VCN is vulnerable.

2015 European Conference on Circuit Theory and Design (ECCTD), 2015

Capacitive body coupled communication (BCC) channel has been modeled as a two-port complex path i... more Capacitive body coupled communication (BCC) channel has been modeled as a two-port complex path impedance matrix [Z] which varies as a function of ten different body positions over the frequency range of 1 MHz to 60 MHz. A systematic numerical simulation methodology has been used to estimate [Z] parameters. The estimated complex path impedance [Z] is a symmetric matrix showing BCC channel is a reciprocal network of passive components for given coupler configuration, body positions and frequency range. The estimated complex path impedance has been utilized to determine either input impedance Zin or output impedance Zout to conjugately match to Zs at transmitter or Zl at receiver, respectively for maximum power transfer. It has been found that the resistive matching below 1000 Ω and inductive matching between 0.5 μH to 5 μH on any side of the two ports can meet the conjugate matching requirements for maximum power transfer for the given body positions and frequency range.

Reconstructive Review, 2015

Osteoarthritis (OA) of the knees and non specific lower back pain are one of the most common diso... more Osteoarthritis (OA) of the knees and non specific lower back pain are one of the most common disorders of population of Asia Pacific region. Knee OA has significant effect on the quality of life of patients, as they are not able to perform their daily activities with ease and gradually develop dependence on other family members. This leads to eventual disconnection from the social life and development of depression in patients. Incidence of knee OA is well documented in Asian countries with figures reaching up to 28% in the urban population of Pakistan. Incidence is found to be greater in patients of female gender and those with greater body mass index (BMI). Population of Pakistan has tendency to develop OA earlier than the European population mostly having isolated involvement of the knee joints only.Total Knee Arthroplasty (TKA) is a life changing procedure for such patients. Great improvements in quality of life and outcome measure scores have been observed in patients undergone...

Angewandte Chemie International Edition

My research for first 3 years of PhD was funded by the College of Engineering and Technology.

IEEE Transactions on Instrumentation and Measurement, 2019

Electric power distribution network holds a critical role in uninterruptable power supply for mod... more Electric power distribution network holds a critical role in uninterruptable power supply for modern societies. The distribution network comprising of complex of primary and secondary distribution lines is vulnerable to various short circuit (SC) faults caused by lightning strikes, storms, growing vegetation, animals, insulation breakdown and other environmental situations. Most SC faults result in breakdowns that need to be repaired in order to restore electric supply to consumers. Rapid and accurate fault localization method helps in accelerated system restoration process and thus reduces power outage time. In this paper, a new approach related to non-contact magnetic field (MF) based measurement system to localize SC faults on 11kV overhead distribution lines is presented. The method uses highly sensitive and energy-efficient magnetic sensors to detect variations in MF levels measured along the distribution lines. Fault localization algorithm is developed which identifies SC fault on main feeders and its sub-branches and then localize the fault by analyzing MF over window size of 20 cycles. The developed algorithm is implemented on complex distribution system and tested for different cases. Laboratory experiments were conducted to detect and localize SC faults in a multi branch configuration to validate the proposed method. Where, measurement uncertainty of less than 5% is observed for worst case scenario.

IEEE Access

The development of autonomous, fast, agile small Unmanned Aerial Vehicles (UAVs) brings up fundam... more The development of autonomous, fast, agile small Unmanned Aerial Vehicles (UAVs) brings up fundamental challenges in dynamic environments with fast and agile maneuvers, unreliable state estimation, imperfect sensing, coupling action, and perception in real-time under severe resource constraints. However, autonomous drone racing is a challenging research problem at the intersection of computer vision, planning, state estimation, and control. To bridge this, we propose an approach in the context of autonomous, perception-action aware vision-based drone racing in a photorealistic environment. Our approach integrates a deep convolutional neural network (CNN) with state-of-the-art path planning, state estimation, and control algorithms. The developed deep learning method is based on computer vision approaches to detecting the gates and estimating the flyable area. The planner and controller then use this information to generate a short, minimum-snap trajectory segment and send corresponding motor commands to reach the desired goal. A thorough evaluation of our proposed methodology has been carried out using the Gazebo and FlightGoggles (photorealistic sensor) environments. Extensive experiments demonstrate that the proposed approach outperforms state-of-the-art methods and flies the drone more consistently than many human pilots. Moreover, we demonstrated that our proposed system successfully guided the drone through tight race courses, reaching speeds up to 7m/s of the 2019 AlphaPilot Challenge.

A cost-effective concept of silicon-printed hybrid memory label for capacitive body coupled commu... more A cost-effective concept of silicon-printed hybrid memory label for capacitive body coupled communication (BCC) is discussed in this paperin the context of internet of things (IoT). The strength of ...

Electronics, 2021

Unmanned Aerial Vehicles (UAVs) are increasingly being used in many challenging and diversified a... more Unmanned Aerial Vehicles (UAVs) are increasingly being used in many challenging and diversified applications. These applications belong to the civilian and the military fields. To name a few; infrastructure inspection, traffic patrolling, remote sensing, mapping, surveillance, rescuing humans and animals, environment monitoring, and Intelligence, Surveillance, Target Acquisition, and Reconnaissance (ISTAR) operations. However, the use of UAVs in these applications needs a substantial level of autonomy. In other words, UAVs should have the ability to accomplish planned missions in unexpected situations without requiring human intervention. To ensure this level of autonomy, many artificial intelligence algorithms were designed. These algorithms targeted the guidance, navigation, and control (GNC) of UAVs. In this paper, we described the state of the art of one subset of these algorithms: the deep reinforcement learning (DRL) techniques. We made a detailed description of them, and we d...

IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017

This paper is concerned with the problem of stabilization and tracking for a class of underactuat... more This paper is concerned with the problem of stabilization and tracking for a class of underactuated systems subjected to external disturbances. Based on the mathematical model of a 4 degrees of freedom (4DOF) ball and plate system, a robust backstepping controller with disturbance rejection is developed. The proposed controller is capable of handling bounded uncertainties with unknown periodicity affecting the control. A comprehensive comparison between linear quadratic regulator (LQR) and the robust backstepping controller is provided, which affirms the superior performance of the proposed control design.

IEEE Systems Journal, 2021

Most applications for small unmanned aerial vehicles (sUAVs) have a critical need for appropriate... more Most applications for small unmanned aerial vehicles (sUAVs) have a critical need for appropriate position and attitude control in environments with extreme external dynamic disturbances such as wind gusts. Moreover, to maximize flight time, UAVs have to operate within strict constraints on payload and under computational efficiency. This article presents an optimized robust adaptive controller for a UAV in the presence of realistic wind gusts that are flying in an urban environment at an altitude lower than 400 ft. The position controller is based on two degree-of-freedom proportional–integral–derivative controller tuned with particle swarm optimization, while the attitude controll is based on a robust adaptive integral backstepping controller. By assuming the knowledge of the predetermined limits of the external and unstructured disruptions (for example, wind gusts) at low altitude, a guaranteed quality of transient and steady-state tracking performance were attained. The aerodynamics, wind gust model, and control modules are integrated into a six-degree-of-freedom UAV with a fully nonlinear robust adaptive controller. Optimal power is obtained for UAVs using the radial inflow model in the presence of wind gusts that are compared with the simplified model. Two case studies were performed systematically for two representative flight paths, namely, up-cruise-down and circular paths. The simulation results demonstrate the robustness and adaptive property of controllers against wind gusts. These results are useful for a variety of UAV applications, e.g. accurate trajectory tracking and autonomous waypoint navigation without loss of performance in the presence of wind disturbances under computational efficacy.

The Journal of Organic Chemistry, 2020

In this article, we present crystallographic and spectroscopic evidence of a tunable system where... more In this article, we present crystallographic and spectroscopic evidence of a tunable system wherein a HO···π interaction switches incrementally to a nonconventional OH···π hydrogen bonding (HB) interaction. More specifically, we report the synthesis of substituted forms of model system 1 to study the effects of aryl ring electronic density on the qualitative characteristics of OH···π hydrogen bonds therein. The OH stretch in experimental IR data, in agreement with DFT calculations, shows continuous red shifts as the adjacent ring becomes more electron-rich. For example, the OH stretch of an ¬amino-substituted analogue is red shifted by roughly 50 cm-1 compared to the same stretch in the CF3 analogue, indicating a significantly stronger HB interaction in the former. Moreover, DFT calculations (ωB97XD/6-311+G**) predict that increasing electronic density on the adjacent top ring reduces the aryl π-OH σ* energy gap with a concomitant enhancement of the OH n-π* energy gap. Consequently, a dominant π-σ* interaction in the amino substituted analogue locks the system in the in-form while a favorable n-π* interaction reverses the orientation of the oxygen bound hydrogen in its protonated form. Additionally, the 1H NMR data of various analogues reveal that stronger OH···π interactions in systems with electron rich aromatic rings slow exchange of the alcoholic proton, thereby revealing coupling with the geminal proton. Finally, X-ray crystallographic analyses of a spectrum of analogues clearly visualize the three distinct stages of "switch" - starting with exclusive HO···π, to partitioned HO···π/OH···π, finally to achieving exclusive OH···π forms. Furthermore, the crystal structure of the amino analogue reveals an interesting feature in which an extended hydrogen bonding network, involving two conventional (NH···O) and two nonconventional (OH···π) HBs, dimerizes and anchors the molecule in the unit cell.

The Journal of Organic Chemistry, 2020

In this note, we present a series of N-(8-fluoronaphthalen-1-yl)benzamide derivatives designed to... more In this note, we present a series of N-(8-fluoronaphthalen-1-yl)benzamide derivatives designed to maximize amide-NH•••F hydrogen bond interactions therein. A combination of IR and NMR spectroscopy indicates a linear correlation between the high energy shift in NH stretching frequency and the electron withdrawing nature of the substituent, consistent with the trend predicted by DFT calculations. Additionally, a limiting case of hydrogen bonding is observed when the benzamide derivatives are replaced with trifluoroacetamide, causing an additional red shift of 44 cm −1 in the NH stretching frequency. Most importantly, 1 H− 19 F coupling constants in this series are among the largest measured for amide-NH•••F interactions. X-ray crystallography reveals face-to-face alignment of naphthalene rings in these derivatives resulting in part from the NH•••F hydrogen bonds. This motif also dictates the formation of sheets composed of stacked naphthalene rings in the crystal structure as opposed to unfluorinated analogues wherein NH•••OC hydrogen-bonding interactions force benzamide and naphthalene rings to engage in T-shaped π−π interactions instead. Additionally, the NH proton in the trifluoroacetamide derivative engages in extended H-bond interactions in its crystal structure.

The Journal of Organic Chemistry, 2019

The Journal of Organic Chemistry, 2019

Single Crystal X-Ray Crystallography Crystal Structure of Compound 2 Figure S1: Compound 2; produ... more Single Crystal X-Ray Crystallography Crystal Structure of Compound 2 Figure S1: Compound 2; product of photo-oxygenation of p-QM 1 All reflection intensities were measured at 110(2) K using a SuperNova diffractometer (equipped with Atlas detector) with Cu Kα radiation (λ = 1.54178 Å) under the program CrysAlisPro (Version CrysAlisPro 1.171.39.29c, Rigaku OD, 2017). The same program was used to refine the cell dimensions and for data reduction. The structure was solved with the program SHELXS-2018/3 (Sheldrick, 2018) and was refined on F 2 with SHELXL-2018/3 (Sheldrick, 2018). Analytical numeric absorption correction using a multifaceted crystal model was applied using CrysAlisPro. The temperature of the data collection was controlled using the system Cryojet (manufactured by Oxford Instruments). The H atoms were placed at calculated positions using the instructions AFIX 13, AFIX 23 or AFIX 43 with isotropic displacement parameters having values 1.2 or 1.5 U eq of the attached C atoms. The structure is mostly ordered. In the asymmetric unit, one void may potentially include a mixture of very disordered (and partially occupied) solvent molecules (possibly DCM/MeCN). In the final refinement, its contribution has been removed using the SQUEEZE procedure in Platon (Spek, 2009). S4 Figure S2. Displacement ellipsoid plot (50% probability level) of the photooxygenated product 2 Sample Preparation Compound 2 was dissolved in 3 mL dichloromethane in a 3-dram vial and the solvent was evaporated slowly with the vial in slanted position. Small crystals of compound 2 were formed when all the solvent had evaporated. Crystallographic experimental details xs1924a Crystal data Chemical formula C 29 H 20 O 5 M r 448.45 Crystal system, space group Triclinic, P-1 Temperature (K) 110 a, b, c (Å) 8.0663 (5), 12.7882 (6), 13.3392 (11) , ,  (°) 102.324 (5), 103.153 (6), 102.371 (4) V (Å 3) 1258.07 (15) Z 2 Radiation type Cu K  (mm-1) 0.66 Crystal size (mm) 0.21 × 0.11 × 0.02 Data collection S5 Diffractometer SuperNova, Dual, Cu at zero, Atlas Absorption correction Analytical CrysAlis PRO 1.171.39.29c (Rigaku Oxford Diffraction, 2017) Analytical numeric absorption correction using a multifaceted crystal model based on expressions derived by R.C.