All Outputs (33)

Enquiry-based learning pedagogy – Design, development and delivery of a reproducible robotics framework (2024)
Presentation / Conference Contribution
Walker, A., Diaz, K. R. V., McKie, D., & Iqbal, J. (2024, February). Enquiry-based learning pedagogy – Design, development and delivery of a reproducible robotics framework. Presented at Ninth International Congress on Information and Communication Technology (ICICT 2024), London

Hardware-inspired enquiry-based learning (EBL) is an emerging pedagogy to develop transferable engineering skills in students. This paper is aimed at unleashing the potential of this pedagogy via the multidisciplinary domain of robotics to learn the... Read More about Enquiry-based learning pedagogy – Design, development and delivery of a reproducible robotics framework.

Meta-Heuristic Optimization of Sliding Mode Control—Application to Quadrotor-Based Inspection of Solar Panels (2024)
Presentation / Conference Contribution
Rezoug, A., Bouderbala, F.-Z., Baizid, K., & Iqbal, J. (2022, December). Meta-Heuristic Optimization of Sliding Mode Control—Application to Quadrotor-Based Inspection of Solar Panels. Presented at 1st International Conference on Advanced Renewable Energy Systems (ICARES 2022), Tipaza, Algeria

In this paper, inspection of solar energy system is addressed using a quadrotor unmanned aerial vehicle (UAV) system. The accurate positioning of the system on the solar panel requires a robust controller to precisely address the fault while ensuring... Read More about Meta-Heuristic Optimization of Sliding Mode Control—Application to Quadrotor-Based Inspection of Solar Panels.

A Nonlinear Model Predictive Controller for Trajectory Planning of Skid-Steer Mobile Robots in Agricultural Environments (2023)
Presentation / Conference Contribution
Aro, K., Urvina, R., Deniz, N. N., Menendez, O., Iqbal, J., & Prado, A. (2023, September). A Nonlinear Model Predictive Controller for Trajectory Planning of Skid-Steer Mobile Robots in Agricultural Environments. Presented at 2023 IEEE Conference on AgriFood Electronics (CAFE), Torino, Italy

This research presents an integrated trajectory planning strategy with a motion control approach using a Nonlinear Model Predictive Control (NMPC) framework for Skid-Steer Mobile Robots (SSMRs) in agricultural scenarios. In a single architecture, the... Read More about A Nonlinear Model Predictive Controller for Trajectory Planning of Skid-Steer Mobile Robots in Agricultural Environments.

Design and Adaptive Compliance Control of a Wearable Walk Assist Device (2023)
Presentation / Conference Contribution
Shah, S. H., Alam, M. S., Arsalan, M., Ul Haq, I., Khan, S. G., & Iqbal, J. (2023, March). Design and Adaptive Compliance Control of a Wearable Walk Assist Device. Presented at 2023 International Conference on Robotics and Automation in Industry (ICRAI), Peshawar, Pakistan

The ability to walk independently is a predominant feature that human beings are bestowed with by nature. People with moving disabilities face many challenges in day-to-day activities and they have to rely on others to perform their day-to-day activi... Read More about Design and Adaptive Compliance Control of a Wearable Walk Assist Device.

Terminal sliding mode control of an anthropomorphic manipulator with friction based observer (2021)
Presentation / Conference Contribution
Ali, K., Mehmood, A., & Iqbal, J. (2021, October). Terminal sliding mode control of an anthropomorphic manipulator with friction based observer. Presented at 2021 International Conference on Robotics and Automation in Industry (ICRAI), Rawalpindi, Pakistan

The role of modern control techniques has been instrumental in today’s robotic applications because of their increasing requirements for reliability, accuracy, productivity and repeatability. Robotic manipulators are highly non-linear systems with co... Read More about Terminal sliding mode control of an anthropomorphic manipulator with friction based observer.

Finite-Time Attitude Control of Uncertain Quadrotor Aircraft via Continuous Terminal Sliding-Mode-Based Active Anti-Disturbance Approach (2021)
Presentation / Conference Contribution
Mechali, O., Iqbal, J., Mechali, A., Xie, X., & Xu, L. (2021, August). Finite-Time Attitude Control of Uncertain Quadrotor Aircraft via Continuous Terminal Sliding-Mode-Based Active Anti-Disturbance Approach. Presented at 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021, Takamatsu, Japan

This research addresses the problem of robust attitude control for a quadrotor operating in an environment polluted with lumped disturbances. A new continuous terminal sliding mode-based active anti-disturbance control (CTSMBAADC) is proposed by inno... Read More about Finite-Time Attitude Control of Uncertain Quadrotor Aircraft via Continuous Terminal Sliding-Mode-Based Active Anti-Disturbance Approach.

Distributed Leader-Follower Formation Control of Quadrotors Swarm Subjected to Disturbances (2021)
Presentation / Conference Contribution
Mechali, O., Iqbal, J., Wang, J., Xie, X., & Xu, L. (2021, August). Distributed Leader-Follower Formation Control of Quadrotors Swarm Subjected to Disturbances. Presented at 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021, Takamatsu, Japan

This paper proposes a novel control scheme for a group of quadrotors aircrafts that form a leader-follower configuration and are subjected to nonlinear behavior with lumped disturbances. For each aircraft, a distributed formation control law is desig... Read More about Distributed Leader-Follower Formation Control of Quadrotors Swarm Subjected to Disturbances.

Comparative review of pipelines monitoring and leakage detection techniques (2020)
Presentation / Conference Contribution
Aljuaid, K. G., Albuoderman, M. A., Alahmadi, E. A., & Iqbal, J. (2020, October). Comparative review of pipelines monitoring and leakage detection techniques. Presented at 2nd International Conference on Computer and Information Sciences (ICCIS), Sakaka, Saudi Arabia

The oil and gas industry owns expensive and widely-spread assets. Any fault in this complex transportation network may result in accidents and/or huge losses thereby triggering various environmental and economic issues. Thus, real-time monitoring and... Read More about Comparative review of pipelines monitoring and leakage detection techniques.

Modeling and Robust Control of Twin Rotor MIMO System (2019)
Presentation / Conference Contribution
Shah, S. H., Khan, S. G., Iqbal, J., & Alharthi, M. (2019, October). Modeling and Robust Control of Twin Rotor MIMO System. Presented at 2019 International Conference on Robotics and Automation in Industry (ICRAI)

Recently, unmanned aerial vehicles (UAVs) have witnessed immense popularity in various fields, ranging from surveillance, rescue, and fire fighting to other more sophisticated military and commercial applications. However, due to their highly nonline... Read More about Modeling and Robust Control of Twin Rotor MIMO System.

Control of flexible joint robotic manipulator: Design and prototyping (2018)
Presentation / Conference Contribution
Alam, W., Ali, N., Wahaj Aziz, H. M., & Iqbal, J. (2018, February). Control of flexible joint robotic manipulator: Design and prototyping. Presented at International Conference on Electrical Engineering (ICEE), Lahore, Pakistan

Robots are now an integral part of automation sector, thus indicating the importance of the associated control strategies. In contrast with conventional rigid manipulators, flexible arms offer several benefits in terms of light weight and power effic... Read More about Control of flexible joint robotic manipulator: Design and prototyping.

Taxi model of unmanned aerial vehicle: Formulation and simulation (2018)
Presentation / Conference Contribution
Wasim, M., Ullah, M., & Iqbal, J. (2018, April). Taxi model of unmanned aerial vehicle: Formulation and simulation. Presented at 1st International Conference on Power, Energy and Smart Grid (ICPESG), Mirpur Azad Kashmir, Pakistan

Unmanned Aerial Vehicles cannot work efficiently without a control system. Before any form of control is applied to it, modeling of the system is necessary. This work focuses on the development of a Taxi model of UAV. The reformulated model has been... Read More about Taxi model of unmanned aerial vehicle: Formulation and simulation.

Design and analysis of 300MW solar configuration and its comparison with Quaid-e-Azam solar park (2018)
Presentation / Conference Contribution
Akram, I., Awais, M., Bashir, A., Khan, R. A. J., & Iqbal, J. (2018, February). Design and analysis of 300MW solar configuration and its comparison with Quaid-e-Azam solar park. Presented at 2018 International Conference on Engineering and Emerging Technologies (ICEET) 2018

Pakistan's recent energy crisis demands efficient utilization of renewable energy resources. The country, being richest with respect to solar potential, is experiencing a remarkable progress in power generation from Photovoltaic sources. Quaid-e-Azam... Read More about Design and analysis of 300MW solar configuration and its comparison with Quaid-e-Azam solar park.

Super twisting control algorithm for blood glucose regulation in type 1 diabetes patients (2018)
Presentation / Conference Contribution
Alam, W., Ali, N., Ahmad, S., & Iqbal, J. (2018, January). Super twisting control algorithm for blood glucose regulation in type 1 diabetes patients. Presented at 15th International Bhurban Conference on Applied Sciences and Technology (IBCAST), Islamabad, Pakistan

This is an increasing belief that consequences due to hyperglycemia can be mitigated using a close loop control system. This paper investigates a robust non-linear control approach based on sliding mode control (SMC) algorithm for type 1 diabetes pat... Read More about Super twisting control algorithm for blood glucose regulation in type 1 diabetes patients.

Model order reduction of dynamical systems: An approach to investigate real and complex poles (2018)
Presentation / Conference Contribution
Bukhari, M., Ullah, M., Ali, M., & Iqbal, J. (2017, December). Model order reduction of dynamical systems: An approach to investigate real and complex poles. Presented at 13th International Conference on Emerging Technologies (ICET), Islamabad, Pakistan

The process of model order reduction facilitates analysis and realization of complex systems while marinating the essential properties of the system and input/output behavior. This research proposes a novel method for model order reduction. The novel... Read More about Model order reduction of dynamical systems: An approach to investigate real and complex poles.

Towards autonomous cleaning of photovoltaic modules: Design and realization of a robotic cleaner (2018)
Presentation / Conference Contribution
Hassan, M. U., Nawaz, M. I., & Iqbal, J. (2017, November). Towards autonomous cleaning of photovoltaic modules: Design and realization of a robotic cleaner. Presented at 1st International Conference on Latest Trends in Electrical Engineering and Computing Technologies (INTELLECT), Karachi, Pakistan

Solar panels typically consist of photovoltaic (PV) cells covered by a protective glass coating, which generate electricity when subjected to radiations. However, the capability of electricity generation is constrained due to layer of dust on PV modu... Read More about Towards autonomous cleaning of photovoltaic modules: Design and realization of a robotic cleaner.

Feature extraction of garments based on Gaussian mixture for autonomous robotic manipulation (2018)
Presentation / Conference Contribution
Rasheed, T., Khan, A. A., & Iqbal, J. (2017, November). Feature extraction of garments based on Gaussian mixture for autonomous robotic manipulation. Presented at 1st International Conference on Latest Trends in Electrical Engineering and Computing Technologies (INTELLECT), Karachi, Pakistan

Recent advancements in the domain of robotics have offered support to humans in their everyday activities with the aim of offloading workers from performing repetitive tasks. The present work highlights one such task in garment industry where the rob... Read More about Feature extraction of garments based on Gaussian mixture for autonomous robotic manipulation.

LizBOT design and prototyping of a wireless controlled wall climbing surveillance robot (2017)
Presentation / Conference Contribution
Ali, N., Zafar, U., Ahmad, S., Iqbal, J., & Khan, Z. H. (2017, April). LizBOT design and prototyping of a wireless controlled wall climbing surveillance robot. Presented at International Conference on Communication Technologies, ComTech 2017, Rawalpindi, Pakistan

LizBOT is an indigenously developed innovative surveillance robot that can climb on a wall and other high rise buildings where the human intervention is either cumbersome or not possible. To keep the robot stuck with the wall, a suction force is requ... Read More about LizBOT design and prototyping of a wireless controlled wall climbing surveillance robot.

Stereovision-based real-time obstacle detection scheme for Unmanned Ground Vehicle with steering wheel drive mechanism (2017)
Presentation / Conference Contribution
Khan, M., Hassan, S., Ahmed, S. I., & Iqbal, J. (2017, March). Stereovision-based real-time obstacle detection scheme for Unmanned Ground Vehicle with steering wheel drive mechanism. Presented at 2017 International Conference on Communication, Computing and Digital Systems (C-CODE), Islamabad, Pakistan

This paper highlights the importance of an autonomous navigation scheme for an Unmanned Ground Vehicle (UGV) operating under a complex operational scenario that requires obstacle detection. The proposed scheme is based on the construction and investi... Read More about Stereovision-based real-time obstacle detection scheme for Unmanned Ground Vehicle with steering wheel drive mechanism.

MPC and H-Infinity Based Feedback Control of Non-Linear Robotic Manipulator (2017)
Presentation / Conference Contribution
Ullah, M. I., Ajwad, S. A., Irfan, M., & Iqbal, J. (2016, December). MPC and H-Infinity Based Feedback Control of Non-Linear Robotic Manipulator. Presented at FIT 2016 - 14th International Conference on Frontiers of Information Technology, Islamabad, Pakistan

Pressing demands of accuracy, repeatability, reliability and productivity in today's robotic applications has highlighted significance of modern control techniques. This research proposes two non-linear design techniques, Model Predictive Control (MP... Read More about MPC and H-Infinity Based Feedback Control of Non-Linear Robotic Manipulator.

Towards autonomy in agriculture: Design and prototyping of a robotic vehicle with seed selector (2016)
Presentation / Conference Contribution
Hassan, M. U., Ullah, M., & Iqbal, J. (2016, November). Towards autonomy in agriculture: Design and prototyping of a robotic vehicle with seed selector. Presented at 2016 2nd International Conference on Robotics and Artificial Intelligence, ICRAI 2016, Rawalpindi, Pakistan

Traditional method of seeding by farmers demands laborious work and is now becoming story of the past. Technological revolution in mechatronics and allied areas is reshaping the agricultural processes, making the robots an integral part of this autom... Read More about Towards autonomy in agriculture: Design and prototyping of a robotic vehicle with seed selector.