fahad islam - Academia.edu (original) (raw)

Papers by fahad islam

2021 IEEE International Conference on Robotics and Automation (ICRA), 2021

In many applications, including logistics and manufacturing, robot manipulators operate in semi-s... more In many applications, including logistics and manufacturing, robot manipulators operate in semi-structured environments alongside humans or other robots. These environments are largely static, but they may contain some movable obstacles that the robot must avoid. Manipulation tasks in these applications are often highly repetitive, but require fast and reliable motion planning capabilities, often under strict time constraints. Existing preprocessing-based approaches are beneficial when the environments are highly-structured, but their performance degrades in the presence of movable obstacles, since these are not modelled a priori. We propose a novel preprocessing-based method called Alternative Paths Planner (APP) that provides provably fixed-time planning guarantees in semi-structured environments. APP plans a set of alternative paths offline such that, for any configuration of the movable obstacles, at least one of the paths from this set is collisionfree. During online execution, a collision-free path can be looked up efficiently within a few microseconds. We evaluate APP on a 7 DoF robot arm in semi-structured domains of varying complexity and demonstrate that APP is several orders of magnitude faster than state-of-the-art motion planners for each domain. We further validate this approach with real-time experiments on a robotic manipulator.

In the name of the Lord who is the wisest and kind. I would like to thank Professor Kari Smolande... more In the name of the Lord who is the wisest and kind. I would like to thank Professor Kari Smolander for providing valuable suggestions regarding the quality and technicality of the thesis and MSc. Tommi Kähkönen for providing me with all the required guidelines for improving the content. I am grateful for their prompt response and assistance even in their very busy schedule. I would also like to mention study secretary Suvi Tiainen to be supportive till her ability throughout the study process in Lappeenranta University of Technology. This thesis was one of the hardest report in my education life due to several circumstance changes in my personal life and it was part of the daily routine for my daughter who is nine months old to observe me spending hours out of the time I had for my home. I am also thankful to my beloved wife Rajshree Patel to be patient and motivate me in different time to continue with the paper. I also would like to thank all the fellow students who has helped me out with their knowledge and braced me in my tough time. It will be a huge list to mention all the people who has made it smoother for me to pursue with this degree and stay in Finland, however I cannot withdraw myself by not showing gratitude to some people who have made a big influence, therefore, I would like to thank

2016 IEEE/ACS 13th International Conference of Computer Systems and Applications (AICCSA), 2016

Online marketplaces are e-commerce websites where thousands of products are provided by multiple ... more Online marketplaces are e-commerce websites where thousands of products are provided by multiple third parties. There are dozens of these differently structured marketplaces that need to be visited by the end users to reach their targets. This searching process consumes a lot of time and effort; moreover it negatively affects the user experience. In this paper, extensive analysis and evaluation of the existing e-marketplaces are performed to improve the end-users experience through a Mobile App. The main goal of this study is to find a solution that is capable of integrating multiple heterogeneous hidden data sources and unify the received responses into one single, structured and homogeneous source. Furthermore, the user can easily choose the desired product or reformulate the query through the interface. The proposed Android Mobile App is based on the multi-level conceptual analysis and modeling discipline, in which, data are analyzed in a way that helps in discovering the main concepts of any unknown domain captured from the hidden web. These concepts discovered through information extraction are then structured into a tree-based interface for easy navigation and query reformulation. The application has been evaluated through substantial experiments and compared to other existing mobile applications. The results showed that analyzing the query results and re-structuring the output before displaying to the end-user in a conceptual multilevel mechanism are reasonably effective in terms of number of clicks, time taken and number of navigation screens. Based on the proposed intelligent application, the interface is minimized to only two navigation screens, and the time needed to browse products from multiple marketplaces is kept reasonable in order to reach the target product.

IEEE Access, 2020

Could we detect anomalies during the run-time of a program by learning from the analysis of its p... more Could we detect anomalies during the run-time of a program by learning from the analysis of its previous traces for normally completed executions? In this paper we create a featured data set from program traces at run time, either during its regular life, or during its testing phase. This data set represents execution traces of relevant variables including inputs, outputs, intermediate variables, and invariant checks. During a learning mining step, we start from exhaustive random training input sets and map program traces to a minimal set of conceptual patterns. We employ formal concept analysis to do this in an incremental way, and without losing dependencies between data set features. This set of patterns becomes a reference for checking the normality of future program executions as it captures invariant functional dependencies between the variables that need to be preserved during execution. During the learning step, we consider enough input classes corresponding to the different...

In many robotic manipulation scenarios, robots often have to perform highly-repetitive tasks in s... more In many robotic manipulation scenarios, robots often have to perform highly-repetitive tasks in structured environments e.g. sorting mail in a mailroom or pick and place objects on a conveyor belt. In this work we are interested in settings where the tasks are similar, yet not identical (e.g., due to uncertain orientation of objects) and motion planning needs to be extremely fast. Preprocessing-based approaches prove to be very beneficial in these settings. They analyze the configuration-space offline to generate some auxiliary information which can then be used in the query phase to speedup planning times. Typically, the tighter the requirement is on query times the larger the memory footprint will be. In particular, for high-dimensional spaces, providing real-time planning capabilities is extremely challenging. While there are planners that guarantee real-time performance by limiting the planning horizon, we are not aware of general-purpose planners capable of doing it for indefin...

Robotics: Science and Systems XVI, 2020

In warehousing and manufacturing environments, manipulation platforms are frequently deployed at ... more In warehousing and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts are moving, robots have limited time to pick them up. This brings the requirement for fast and reliable motion planners that could provide provable real-time planning guarantees, which the existing algorithms do not provide. Besides the planning efficiency, the success of manipulation tasks relies heavily on the accuracy of the perception system which often is noisy, especially if the target objects are perceived from a distance. For fast moving conveyor belts, the robot cannot wait for a perfect estimate before it starts execution. In order to be able to reach the object in time it must start moving early on (relying on the initial noisy estimates) and adjust its motion on-the-fly in response to the pose updates from perception. We propose an approach that meets these requirements by providing provable constant-time planning and replanning guarantees. We present it, give its analytical properties and show experimental analysis in simulation and on a real robot.

KYAMC Journal, 2020

Background: Low back pain (LBP) has been identified as one of the most frequent, disabling and co... more Background: Low back pain (LBP) has been identified as one of the most frequent, disabling and costly condition which create a significant clinical and socioeconomic burden on national economy. The Roland Morris Disability Questionnaire (RMDQ)is one of the most commonly used outcome measures in patients with LBP. Objectives: To develop a culturally adapted Bangla version of RMDQ and to test its reliability and validity in patients with low back pain. Materials and Methods: This observational study was carried out from September 2015 to August 2016. The US English RMDQ was translated into Bangla after established crosscultural adaptation procedures, recommended by Beaton et al. Reliability was assessed by using internal consistency (Cronbachs' alpha coefficient) and inter-rater reliability (the intra-class correlation coefficient - ICC). The Content validity was evaluated by three expert Physiatrists and construct validity was tested by association with the physical functioning (...

Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence, Jul 1, 2018

We consider the problem of planning a collisionfree path for a high-dimensional robot. Specifical... more We consider the problem of planning a collisionfree path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that try to speed up planning by incorporating experiences or demonstrations ahead of planning, we suggest to seek user guidance only when the planner identifies that it ceases to make significant progress towards the goal. Guidance is provided in the form of an intermediate configurationq, which is used to bias the planner to go throughq. We demonstrate our approach for the case where the planning algorithm is Multi-Heuristic A* (MHA*) and the robot is a 34-DOF humanoid. We show that our approach allows to compute highly-constrained paths with little domain knowledge. Without our approach, solving such problems requires carefullycrafted domain-dependent heuristics.

Indian Journal of Critical Care Medicine, 2020

Checking responsiveness is the mainstay in cardiopulmonary resuscitation (CPR). It is rare in the... more Checking responsiveness is the mainstay in cardiopulmonary resuscitation (CPR). It is rare in the clinical situation when the patient requires resuscitation despite the presence of wakefulness. We report a case in which the patient presented with flat arterial line and absence carotid pulse while he was awake. A thorough literature review will also be discussed.

Asia-Pacific Journal of Information Technology and Multimedia, 2013

Rapidly Exploring Random Trees (RRT) are regarded as one of the most efficient tools for planning... more Rapidly Exploring Random Trees (RRT) are regarded as one of the most efficient tools for planning feasible paths for mobile robots in complex obstacle cluttered environments. The recent development of its variant: RRT* is considered as a major breakthrough as it makes it possible to achieve optimality in paths planning. However, its limitations include the infinite time it takes to reach the optimal solution and a very slow rate of convergence. Just recently the authors have introduced RRT*-Smart which is a rapid convergence implementation of RRT* for improved efficient path planning both in terms of planning time as well as path cost. This paper presents a new scheme for RRT*-Smart that helps it to adapt to various types of environments by tuning its parameters during planning based on the information gathered online. The paper also includes detailed explanation of the algorithm's characteristics and statistical analysis of its behavior in different environment types including mazes, narrow passages and obstacle cluttered environments in comparison with RRT*. Navigation experiments using the real Pioneer 3-AT Mobile Robot provide a proof of the concept.

Journal of Economic Info, 2015

It is noticed that there are many running sugar mills in Pakistan which are facing problem of liq... more It is noticed that there are many running sugar mills in Pakistan which are facing problem of liquidity. They are not able to clear their legal liabilities. Banks are unwilling to give loans to the sugar mills because of unprecedented crisis. These crises create probability to default for firms and it is a vast concern to investors / creditors, borrowing firms, and governments. For smooth working of sugar sector, it is very important to know all factors which are creating unprecedented crisis for the sector because in recent times Punjab Government auctioned Chishtia-Sugar-Mills (Sargodha), Abdullah-Sugar-Mills (Okara), Abdullah-II Sugar-Mills (Sargodha), HaseebWaqas-Sugar-Mills (Nankana-Sahib) and Colony-Sugar-Mills (Khanewal) and stocks of these companies Shakar Ganj-I Sugar-Mills (Jhang), ShakarGanjâ€“II Sugar-Mills (Jhang), Hussain-Sugar-Mills (Faisalabad) and Brother- Sugar-Mills (Kasur) were taken in custody because dues of sugarcane farmers were unpaid. Therefore, sugar mill...

International Journal of Mechanical Engineering and Robotics Research, 2018

Electric wheelchairs are widely used by individuals with various forms of physical disabilities. ... more Electric wheelchairs are widely used by individuals with various forms of physical disabilities. Typically, these wheelchairs are controlled using a steering device (e.g., joysticks). However, for people with limited physical mobility, the incorporation of semi-autonomous navigation and control within electric wheelchairs can considerably improve their mobility and quality of life. In this paper, we present the development of a re-configurable framework and user interfaces for RISE wheelchair, which provide flexibility and customizability depending on the nature of the disability of the users. At the same time, effective navigation and obstacle avoidance capabilities are incorporated using Simultaneous Localization and Mapping (SLAM) that allow the RISE wheelchair to navigate in different environments. A goal estimation algorithm has also developed in order to travel from the current location to the destination with minimal guidance from the user. In this paper, the various aspects of the RISE wheelchair will be discussed, ranging from architectural development, simulation, and practical experimentation to evaluation of the functionality and feasibility of the various modules. 

Robotics and Autonomous Systems, 2019

h i g h l i g h t s • Humanoid motion planning is challenging due to search space complexity and ... more h i g h l i g h t s • Humanoid motion planning is challenging due to search space complexity and constraints. • A motion planning framework based on a greedy graph search algorithm is proposed. • Proposed framework uses multiple heuristics and motion primitives to guide the search. • Experimental results for planning challenging tasks are presented and justified.

Informatics in Medicine Unlocked, 2018

The increase in biomedical data has given rise to the need for developing data sampling technique... more The increase in biomedical data has given rise to the need for developing data sampling techniques. With the emergence of big data and the rise of popularity of data science, sampling or reduction techniques have been assistive to significantly hasten the data analytics process. Intuitively, without sampling techniques, it would be difficult to efficiently extract useful patterns from a large dataset. However, by using sampling techniques, data analysis can effectively be performed on huge datasets, to produce a relatively small portion of data, which extracts the most representative objects from the original dataset. However, to reach effective conclusions and predictions, the samples should preserve the data behavior. In this paper, we propose a unique data sampling technique which exploits the notion of formal concept analysis. Machine learning experiments are performed on the resulting sample to evaluate quality, and the performance of our method is compared with another sampling technique proposed in the literature. The results demonstrate the effectiveness and competitiveness of the proposed approach in terms of sample size and quality, as determined by accuracy and the F1-measure.

Computers in biology and medicine, Oct 29, 2017

Data analytics have become increasingly complicated as the amount of data has increased. One tech... more Data analytics have become increasingly complicated as the amount of data has increased. One technique that is used to enable data analytics in large datasets is data sampling, in which a portion of the data is selected to preserve the data characteristics for use in data analytics. In this paper, we introduce a novel data sampling technique that is rooted in formal concept analysis theory. This technique is used to create samples reliant on the data distribution across a set of binary patterns. The proposed sampling technique is applied in classifying the regions of breast cancer histology images as malignant or benign. The performance of our method is compared to other classical sampling methods. The results indicate that our method is efficient and generates an illustrative sample of small size. It is also competing with other sampling methods in terms of sample size and sample quality represented in classification accuracy and F1 measure.

2015 International Conference on Advances in Electrical Engineering (ICAEE), 2015

Aim of this paper is to propose a methodology of real-time hand detection based on skin color mod... more Aim of this paper is to propose a methodology of real-time hand detection based on skin color model and background subtraction under any complex background with extracting the depth information. With the use of stereo camera calibration and disparity mapping, the depth information of the hand is extracted. Reasonable selection of threshold of skin color model and combining with background difference segmentation, then a bitwise-and operation results hand's binary outline feature clearly. Combining this result with the distance information experiments show accurate detection and tracking of hand with depth measuring from the camera.

IEEE Access, 2017

This research focuses on detecting inconsistencies within text corpora. It is a very interesting ... more This research focuses on detecting inconsistencies within text corpora. It is a very interesting area with many applications. Most existing methods deal with this problem using complicated textual analysis which is known for not being accurate enough. We propose a new methodology that consists of two steps, the first one being a machine learning step that performs multilevel text categorization. The second one applies conceptual reasoning on the predicted categories in order to detect inconsistencies. This study has been validated on a set of Islamic advisory opinions (also known as fatwas). This domain is gaining a large interest with users continuously checking the authenticity and relevance of such content. The results show that our method is very accurate and can complement existing methods using linguistic analysis.

2016 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), 2016

Knowledge discovery from data is a challenging problem that has significant importance in many di... more Knowledge discovery from data is a challenging problem that has significant importance in many different fields such as biology, economics and social sciences. Real-world data is incomplete and ambiguous; moreover, its rapid increase in size complicates the analysis process. Therefore, data reduction techniques that consider data uncertainty are highly required. In this paper, our objective is to conceptually reduce uncertain data without losing information. Two reduction methods are proposed that are mainly rooted in formal concept analysis theory. The first method is targeting approximate data reduction; it uses the result of Baixeries et al. for detecting functional dependencies by transforming an instance of a database into an approximate formal context. The second method is based on fuzzy data reduction that employs the algorithm of Elloumi et al. in fuzzy data reduction using Lukasiewicz logic. These reduction methods have been compared to three other machine learning based reduction algorithms through a classification case study of breast cancer data. Classification accuracy, root mean square error and reduced data size have been reported to show that reduced training sets using our methods result in very accurate classifiers with minimal data size. Moreover, the reduced data has the advantage of decreasing communication time and memory space.

2016 IEEE International Conference on Robotics and Automation (ICRA), 2016

The benefits of bidirectional planning over the unidirectional version are well established for m... more The benefits of bidirectional planning over the unidirectional version are well established for motion planning in high-dimensional configuration spaces. While bidirectional approaches have been employed with great success in the context of sampling-based planners such as in RRT-Connect, they have not enjoyed popularity amongst search-based methods such as A*. The systematic nature of search-based algorithms, which often leads to consistent and high-quality paths, also enforces strict conditions for the connection of forward and backward searches. Admissible heuristics for the connection of forward and backward searches have been developed, but their computational complexity is a deterrent. In this work, we leverage recent advances in search with inadmissible heuristics to develop an algorithm called A*-Connect, much in the spirit of RRT-Connect. A*-Connect uses a fast approximation of the classic front-to-front heuristic from literature to lead the forward and backward searches towards each other, while retaining theoretical guarantees on completeness and bounded suboptimality. We validate A*-Connect on manipulation as well as navigation domains, comparing with popular samplingbased methods as well as state-of-the-art bidirectional search algorithms. Our results indicate that A*-Connect can provide several times speedup over unidirectional search while maintaining high solution quality.

Within an incomplete information framework, we develop a model of wage determination in a unioniz... more Within an incomplete information framework, we develop a model of wage determination in a unionized Cournot oligopoly. The assumption of incomplete information allows the possibility of strikes, which waste industry potential ressources, at equilibrium. Facing such deadweight loss, the government or the social planner may decide to adopt a policy, like a profit-sharing scheme. Under two different bargaining structures (firm-level vs industry-level), we investigate the effects of adopting profit-sharing on the wage outcome and the bargaining inefficiencies, like strikes. Our main results are as follows. If the base wage bargaining takes place at the industry-level, then the introduction of a profit-sharing scheme increases the bargaining inefficiencies. But if the base wage bargaining takes place at the firm-level and the number of firms in the industry is greater than two, then the introduction of a profit-sharing scheme reduces the bargaining inefficiencies.