Kazi Mostafa

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Papers by Kazi Mostafa

Edge-detection method using binary morphology on hexagonal images

The Imaging Science Journal, 2014

This paper proposes a new edge-detection and noise-removal method for hexagonally sampled images ... more This paper proposes a new edge-detection and noise-removal method for hexagonally sampled images by using binary morphology edge detection on hexagonally sampled images. This is achieved by applying binary morphological operators on hexagonal images. This approach presents a framework for conversion of hexagonally sampled images and processing to detect edges on a hexagonal grid. The proposed study shows that a method combining horizontal, 60°, and 120° directional hexagonal structuring elements achieves results superior to those of a rectangular image. The experimental results showed that the proposed method was more efficient for binary hexagonal image edge detection and noise removal than the commonly used rectangular image.

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The Offset Model of a Hexapod Robot and the Effect of the Offset Parameter

International Journal of Manufacturing, Materials, and Mechanical Engineering, 2012

Generally, it is claimed that hexapod walking robots are superior to others. However, in some con... more Generally, it is claimed that hexapod walking robots are superior to others. However, in some conditions hexapod suffers from stability problems. To solve the problem of stability, this paper proposes a new gait model of hexapod robot named offset model and also investigates the effects of morphological factor of hexapod robots on their locomotion. A comparison between the offset model and general model of hexapod robot is also included. The stability margin and error margin are used to indicate the stability of a hexapod robot, as it walks with different gaits in arbitrary directions. Two hexapod gaits are compared, which are the diametrical gait and the paired metachronal gait. The former is an artificial gait and the latter is a natural gait. The authors conclude that that the stability of a hexapod robot with the diametrical gait can be enhanced by increasing the offset parameter.

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Stabilization wedges as a tool of engineering optimization, with an example of CO<inf>2</inf> emission control

2010 International Symposium on Computer, Communication, Control and Automation (3CA), 2010

This paper demonstrates the use of stabilization wedges as a tool of engineering optimization for... more This paper demonstrates the use of stabilization wedges as a tool of engineering optimization for stabilizing the Carbon dioxide via optimum strategies to reduce Carbon emission. Stabilization wedges is an approach which can find out the optimum solution of carbon emission problem. Moreover, uses of wedges tool also promoted in this paper. A particular combination of target can be achieved in a variety of ways. Rather than choosing arbitrarily, more attention needs to be devoted to choose strategy that can minimize cost and effort and also easy to adapt. The effectiveness of suggested optimum strategies can be proof by using Modeling to generate alternatives (MGA) technique which is borrowed from the operations research literature. We conclude that, a broad range of research is urgently needed to decide optimum combination of emission reduction strategy.

An image based method of finding better walking strategies for hexapod on discontinuous terrains

2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2012

ABSTRACT The adaptive gait planning is an important aspect for walking robot traversing on rough ... more ABSTRACT The adaptive gait planning is an important aspect for walking robot traversing on rough terrain. Hexapod robot is robust among all legged robots walking over rough terrain. For rough terrain, many studies have been performed on robot vision system to recognize the surrounding terrain. But those studies are based on simple rule of forbidden walking regions of the robot. This paper presented a special image based method to recognize the surrounding terrain. Moreover, a number of parameters used to establish, modify, and analyze the terrain. A hexapod robot walking gait model also designed to test the effectiveness of proposed method. Simulation results show that the method can handle large databases with image processing technique to find out the optimum strategy of walking on rough terrain.

InTech-Alternative gaits for multiped robots with leg failures to retain maneuverability

Fuzzy Noise Removal and Edge Detection on Hexagonal Image

Traditionally images are digitized, processed and displayed in a rectangular grid. But rectangula... more Traditionally images are digitized, processed and displayed in a rectangular grid. But rectangular grid has many inherent ambiguities such as continuity, inter-pixel distance, etc. These ambiguities restrict rectangular grid to obtain optimal results in image processing. This study considers a particular topic of grayscale morphology image processing based on fuzzy discipline for hexagonally sampled images. The proposed research presents a methodology for hexagonally sampled images that consist of processing, and display of processed images on hexagonal grid. Image processing includes fuzzy morphological operations with different sizes, shapes and directional fuzzy structuring elements with an application of noise removal and edge detection. Performance evaluation conducted to demonstrate that hexagonal grid structure coupled with fuzzy morphological image processing is more robust than the rectangular counterpart in many applications.

Image Recognition Algorithms for Isolated & Occluded Objects

This paper describes an approach to lowresolution image processing, in particular, contour recogn... more This paper describes an approach to lowresolution image processing, in particular, contour recognition. The concept of hexagonal grid for low resolution image processing has already been investigated, and found several advantages. One of them is biologically inspired hexagonal mosaic of insect’s low resolution vision system, which renewed interest to investigate an alternative grid structure for image processing other than rectangular. The study proposes Curve Bend Function and Subpixel Improvement scheme based on the symmetric hexagonal grid coordinates to recognize the isolated objects. A feature vector matching scheme and a similarity matching scheme are also devised to recognize simpler images. For complex lowresolution images with occluded objects, the integrated method, named Graph Matching scheme proposed in this paper. This paper also evaluates and compares the proposed scheme using hexagonal and rectangular grid images with results. The results and comparison shows that the...

Image-Based Method for Determining Better Walking Strategies for Hexapods

International Journal of Advanced Robotic Systems, 2015

An intelligent walking strategy is vital for multi-legged robots possessing no a priori informati... more An intelligent walking strategy is vital for multi-legged robots possessing no a priori information of an environment when traversing across discontinuous terrain. Six-legged robots outperform other multi-legged robots in static and dynamic stability. However, hexapods require careful planning to traverse across discontinuous terrain. A hexapod walking strategy can be accomplished using a vision-based navigation system to identify the surrounding environment. This paper presents an image-based technique to achieve better walking strategies for a hexapod walking on a special terrain containing irregular, restricted regions. The properties of the restricted regions were acquired beforehand by using reliable surveillance means. Moreover, simplified forward gaits, better rotational gaits, and adaptive gait selection strategies for walking on discontinuous terrain were proposed. The hexapod can effectively switch the gait sequences and types according to the environment involved. The bou...

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Which is Better?

Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics

Natural multiped gaits are believed to evolve from countless generations of natural selection. Ho... more Natural multiped gaits are believed to evolve from countless generations of natural selection. However, do they also prove to be better choices for walking machines? This paper compares two surefooted gaits, one natural and the other artificial, for six-legged animals or robots. In these gaits four legs are used to support the body, enabling greater stability and tolerance for faults. A standardized hexapod model was carefully examined as it moved in arbitrary directions. The study also introduced a new factor in addition to the traditional stability margin criterion to evaluate the equilibrium of such gaits. Contrary to the common belief that natural gaits would always provide better stability during locomotion, these results show that the artificial gait is superior to the natural gait when moving transversely in precarious conditions.

Which is Better?

International Journal of Intelligent Mechatronics and Robotics, 2011

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Alternative Gaits for Multiped Robots with Leg Failures to Retain Maneuverability

International Journal of Advanced Robotic Systems, 2010

In modern day, from planetary exploration, disaster response to antiterrorism mission multiped ro... more In modern day, from planetary exploration, disaster response to antiterrorism mission multiped robot has become the major tool. Smart robot with effective gait plan may play a significant role in such missions. But if a leg is injured, it is not possible to repair in this kind of mission. Then robot needs some alternative strategies to complete its mission. This paper proposes a removable sliding leg approach to solve this problem. A fault leg can be detaches and other legs can be slide to better position by the command of operator to get optimum alternative gait configuration. Based on leg sequence, stride length, longitudinal stability and efficiency, alternative gaits are evaluated. This paper recommends tables for different gait sequence with progressive efficiency. These tables can provide options for alternative gait and information about certain damaged leg. Moreover, a procedure for a multi-legged robot to complete its mission after serious leg failure is included. By taking...

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A hybrid trademark retrieval system using four-gray-level zernike moments and image compactness indices

There are just too many trademarks out there so that a good automated retrieval system is require... more There are just too many trademarks out there so that a good automated retrieval system is required to help to protect them from possible infringements. However, it is from people, i.e., the general consumers' viewpoint how similar or confusing two trademarks can be. Thus, in this paper we propose a hybrid system where we patently incorporate human inputs into a computerized trademark retrieval scheme. Various surveys involving general consumers' cognition and responses are conducted, and the results are used as benchmarks in developing the automated part. The core mathematical features used in the scheme are fourgray-level Zernike moments and two new image compactness indices. Experimental results show that this hybrid system, when compared with humangenerated results, is able to achieve an average accuracy rate of 95% while that of the closest competing existing method is 65%.

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Emulating the Human Tibiofemoral Joint by Using a Four-Bar Linkage, Condylar Shapes and Slip Ratio Variation

International Journal of Robotics and Automation, 2015

ABSTRACT This study evaluates a biomechanical design concept of the tibiofemoral (TF) joint by us... more ABSTRACT This study evaluates a biomechanical design concept of the tibiofemoral (TF) joint by using a four-bar linkage (FBL) mechanism on a sagittal plane in order to accurately simulate the motion of the human knee. Also included are the design objectives and parameters of both the endo- and exo-prostheses of the knee, both of which derive from TF characteristics. The exo-prosthesis of the knee depends only on the femoral polode (or the moving polode (MP) linkage). On the other hand, the endo-prosthesis of the knee relies upon the TF condylar surface and the slip ratio variation, without needing to consider the femoral polode. By calculating the polodes of the FBL mechanism and by applying envelope curve applications, the proposed design concept incorporates both the endo- and exo-prosthesis parameters with the multi-objective goal of recreating the full functionality of the TF joint. Those results demonstrate that the slip ratio adjusts to the TF condylar surface even if the femoral polode is unaltered, thereby determining the optimal measurement between the pole and contact point with the TF condylar surface.

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