Bushra Habib - Academia.edu (original) (raw)
Uploads
Papers by Bushra Habib
IEEE Robotics and Automation Letters, 2021
In this work, we study a sampling based motion planner able to deal with a kinodynamic problem. W... more In this work, we study a sampling based motion planner able to deal with a kinodynamic problem. We want to move a robot from an initial state to a final one, along the minimum cost trajectory in an environment with obstacles. In particular, we study the effect of using extremal controls as the inputs for two sampling-based algorithms, namely, the Stable Sparse Rapidly Exploring Random Tree (SST), and the asymptotically optimal planner SST*, in terms of the speed at which such methods converge and the resulting cost of a given stable trajectory. To exemplify our analysis and demonstrate the usefulness of the present study, we elaborate on the case of finding time optimal trajectories among obstacles for a differential drive robot (DDR) considering second-order dynamics. To further show the generality of the approach, we also present an experimental study comparing the use of extremal controls against the use of the entire range of controls, for other four systems. We found that utilizing extremal controls improves the convergence of the addressed algorithms.
Pakistan Journal of Neurological Sciences, 2013
A six years old male child presented with tremor, ataxia, speech apraxia, supranuclear gaze palsy... more A six years old male child presented with tremor, ataxia, speech apraxia, supranuclear gaze palsy and hepatosplenomegaly. There was no history of seizures and psycho-cognitive abnormalities. The clinical and bone marrow findings were consistent with Gaucher's disease type 3.
Thermal Science, 2021
In this framework, the boundary-layer mass and heat flow in a liquid film over an unsteady stretc... more In this framework, the boundary-layer mass and heat flow in a liquid film over an unsteady stretching cylinder are discussed under the influence of a magnetic field. By means of the similarity transformations the highly non-linear governing system of PDE is converted to ODE. We use the built-in function bvp4c in MATLAB to solve this system of ODE. The impact of distinctive parameters on velocity and temperature profile in the existence of an external magnetic field is depicted via graphs and deep analysis is also presented.
IEEE Robotics and Automation Letters, 2021
In this work, we study a sampling based motion planner able to deal with a kinodynamic problem. W... more In this work, we study a sampling based motion planner able to deal with a kinodynamic problem. We want to move a robot from an initial state to a final one, along the minimum cost trajectory in an environment with obstacles. In particular, we study the effect of using extremal controls as the inputs for two sampling-based algorithms, namely, the Stable Sparse Rapidly Exploring Random Tree (SST), and the asymptotically optimal planner SST*, in terms of the speed at which such methods converge and the resulting cost of a given stable trajectory. To exemplify our analysis and demonstrate the usefulness of the present study, we elaborate on the case of finding time optimal trajectories among obstacles for a differential drive robot (DDR) considering second-order dynamics. To further show the generality of the approach, we also present an experimental study comparing the use of extremal controls against the use of the entire range of controls, for other four systems. We found that utilizing extremal controls improves the convergence of the addressed algorithms.
Pakistan Journal of Neurological Sciences, 2013
A six years old male child presented with tremor, ataxia, speech apraxia, supranuclear gaze palsy... more A six years old male child presented with tremor, ataxia, speech apraxia, supranuclear gaze palsy and hepatosplenomegaly. There was no history of seizures and psycho-cognitive abnormalities. The clinical and bone marrow findings were consistent with Gaucher's disease type 3.
Thermal Science, 2021
In this framework, the boundary-layer mass and heat flow in a liquid film over an unsteady stretc... more In this framework, the boundary-layer mass and heat flow in a liquid film over an unsteady stretching cylinder are discussed under the influence of a magnetic field. By means of the similarity transformations the highly non-linear governing system of PDE is converted to ODE. We use the built-in function bvp4c in MATLAB to solve this system of ODE. The impact of distinctive parameters on velocity and temperature profile in the existence of an external magnetic field is depicted via graphs and deep analysis is also presented.