Papers by Tamer Abukhalil
International Journal of Electrical and Computer Engineering (IJECE)
When it is important to authenticate a person based on his or her biometric qualities, most syste... more When it is important to authenticate a person based on his or her biometric qualities, most systems use a single modality (e.g. fingerprint or palm print) for further analysis at higher levels. Rather than using higher levels, this research recommends using two biometric features at the sensor level. The Log-Gabor filter is used to extract features and, as a result, recognize the pattern, because the data acquired from images is sampled at various spacing. Using the two fused modalities, the suggested system attained greater accuracy. Principal component analysis was performed to reduce the dimensionality of the data. To get the optimum performance between the two classifiers, fusion was performed at the sensor level utilizing different classifiers, including k-nearest neighbors and support vector machines. The technology collects palm prints and veins from sensors and combines them into consolidated images that take up less disk space. The amount of memory needed to store such phot...
Computers, Materials & Continua
Biometric verification has become essential to authenticate the individuals in public and private... more Biometric verification has become essential to authenticate the individuals in public and private places. Among several biometrics, iris has peculiar features and its working mechanism is complex in nature. The recent developments in Machine Learning and Deep Learning approaches enable the development of effective iris recognition models. With this motivation, the current study introduces a novel Chaotic Krill Herd with Deep Transfer Learning Based Biometric Iris Recognition System (CKHDTL-BIRS). The presented CKHDTL-BIRS model intends to recognize and classify iris images as a part of biometric verification. To achieve this, CKHDTL-BIRS model initially performs Median Filtering (MF)-based preprocessing and segmentation for iris localization. In addition, MobileNet model is also utilized to generate a set of useful feature vectors. Moreover, Stacked Sparse Autoencoder (SSAE) approach is applied for classification. At last, CKH algorithm is exploited for optimization of the parameters involved in SSAE technique. The proposed CKHDTL-BIRS model was experimentally validated using benchmark dataset and the outcomes were examined under several aspects. The comparison study results established the enhanced performance of CKHDTL-BIRS technique over recent approaches.
Computers, Materials & Continua
Recent technological advancements have been used to improve the quality of living in smart cities... more Recent technological advancements have been used to improve the quality of living in smart cities. At the same time, automated detection of vehicles can be utilized to reduce crime rate and improve public security. On the other hand, the automatic identification of vehicle license plate (LP) character becomes an essential process to recognize vehicles in real time scenarios, which can be achieved by the exploitation of optimal deep learning (DL) approaches. In this article, a novel hybrid metaheuristic optimization based deep learning model for automated license plate character recognition (HMODL-ALPCR) technique has been presented for smart city environments. The major intention of the HMODL-ALPCR technique is to detect LPs and recognize the characters that exist in them. For effective LP detection process, mask regional convolutional neural network (Mask-RCNN) model is applied and the Inception with Residual Network (ResNet)-v2 as the baseline network. In addition, hybrid sunflower optimization with butterfly optimization algorithm (HSFO-BOA) is utilized for the hyperparameter tuning of the Inception-ResNetv2 model. Finally, Tesseract based character recognition model is applied to effectively recognize the characters present in the LPs. The experimental result analysis of the HMODL-ALPCR technique takes place against the benchmark dataset and the experimental outcomes pointed out the improved efficacy of the HMODL-ALPCR technique over the recent methods.
Computers, Materials & Continua, 2022
Prevention of cervical cancer becomes essential and is carried out by the use of Pap smear images... more Prevention of cervical cancer becomes essential and is carried out by the use of Pap smear images. Pap smear test analysis is laborious and tiresome work performed visually using a cytopathologist. Therefore, automated cervical cancer diagnosis using automated methods are necessary. This paper designs an optimal deep learning based Inception model for cervical cancer diagnosis (ODLIM-CCD) using pap smear images. The proposed ODLIM-CCD technique incorporates median filtering (MF) based pre-processing to discard the noise and Otsu model based segmentation process. Besides, deep convolutional neural network (DCNN) based Inception with Residual Network (ResNet) v2 model is utilized for deriving the feature vectors. Moreover, swallow swarm optimization (SSO) based hyperparameter tuning process is carried out for the optimal selection of hyperparameters. Finally, recurrent neural network (RNN) based classification process is done to determine the presence of cervical cancer or not. In order to showcase the improved diagnostic performance of the ODLIM-CCD technique, a series of simulations occur on benchmark test images and the outcomes highlighted the improved performance over the recent approaches with a superior accuracy of 0.9661.
Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduct... more Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Swarm robotics is one of the most fascinating and new research areas of recent decades, and one of the grand challenges of robotics is the design of swarm robots that are self-sufficient. This can be crucial for robots exposed to environments that are unstructured or not easily accessible for a human operator, such as the inside of a blood vessel, a collapsed building, the deep sea, or the surface of another planet. In this paper, we present a comprehensive study on hardware architecture and several other important aspects of modular swarm robots, such as self-reconfigurability, self-replication, and self-assembly.The key factors in designing and building a group of swarm robots are cost andminiaturizationwith robustness, flexibility, and scalability. In robotics intelligence, self-assembly and self-reconfigurability are am...
Indonesian Journal of Electrical Engineering and Computer Science, 2021
Sign languages are the most basic and natural form of languages which were used even before the e... more Sign languages are the most basic and natural form of languages which were used even before the evolution of spoken languages. These sign languages were developed using various sign "gestures" that are made using hand palm. Such gestures are called "hand gestures". Hand gestures are being widely used as an international assistive communication method for deaf people and many life aspects such as sports, traffic control and religious acts. However, the meanings of hand gestures vary among different civilization cultures. Therefore, because of the importance of understanding the meanings of hand gestures, this study presents a procedure whichcan translate such gestures into an annotated explanation. The proposed system implements image and video processing which are recently conceived as one of the most important technologies. The system initially, analyzes a classroom video as an input, and then extracts the vocabulary of twenty gestures. Various methods have been...
International Journal of Electrical and Computer Engineering (IJECE), 2021
Job searching for the proper vacancy among several choices is one of the most important decision-... more Job searching for the proper vacancy among several choices is one of the most important decision-making problems. The necessity of dealing with uncertainty in such real-world problems has been a long-term research challenge which has originated from different methodologies and theories. The main contribution of this work is to match the applicant curriculum vitae (CV) with the best available job opportunities based on certain criteria. The proposed job searching system (JSS) implements a series of approaches which can be broken down into segmentation, tokenization, part of speech, gazetteer, and fuzzy inference to extract and arrange the required data from the job announcements and CV. Moreover, this study designs a fuzzy parameterized structure to store such data as well as a measuring tool to calculate the degree of similarity between the job requirements and the applicant’s CV. In addition, this system analyses the computed similarity scores in order to get the optimal job opport...
In this paper we described the hardware architecture of an inexpensive, heterogeneous, mobile rob... more In this paper we described the hardware architecture of an inexpensive, heterogeneous, mobile robot swarm, designed and developed at RISC lab, University of Bridgeport. Each UB robot swarm is equipped with sensors, actuators, control and communication units, power supply, and interconnection mechanism. Robot swarms have become a new research paradigm in the last ten years offering novel approaches, such as self-reconfigurabity, self-assembly, selfreplication and self-learning. Developing a multi-agent robot system with heterogeneity and larger behavioral repertoire is a great challenge. This robot swarm is capable of performing user defined tasks such as wall painting, mapping, human rescue operations, task allocation, obstacle avoidance, and object transportation. Keywords—Heterogeneous Robot Swarm; Hardware Architecture; Reconfigurable Robot Swarm.
In a swarm robotic system, the desired collective behavior emerges from local decisions made by r... more In a swarm robotic system, the desired collective behavior emerges from local decisions made by robots, themselves, according to their environment. Swarm robotics is an emerging area that has attracted many researchers over the last few years. It has been proven that a single robot with multiple capabilities cannot complete an intended job within the same time frame as that of multiple robotic agents. A swarm of robots, each one with its own capabilities, are more flexible, robust, and cost-effective than an individual robot. As a result of a comprehensive investigation of the current state of swarm robotic research, this dissertation demonstrates how current swarm deployment systems lack the ability to coordinate heterogeneous robotic agents. Moreover, this dissertation’s objective shall define the starting point of potential algorithms that lead to the development of a new software environment interface. This interface will assign a set of collaborative tasks
The key contribution in this research work is introducing a technique that can be used to avoid u... more The key contribution in this research work is introducing a technique that can be used to avoid unknown objects to a mobile robot. Most vision-based obstacle avoidance systems tend to have high computational complexity in order to compensate for accuracy. The proposed method tries to overcome that using pattern recognition of two laser pointers in the view of a single camera. This vision combination along with the program that runs on a base station is designed as a module that detects objects around the robot. Such obstacles are detected by calculating the intensity of the red laser points found on each frame being captured by the camera in real-time. Distance and angle to the objects is measured using Lagrange interpolation formula applied separately to each laser projection in the framed image. A map is created to show the robot’s actual distances versus estimated ones as the robot keeps track of objects which are in the camera’s view. The algorithm successfully manages to avoid ...
This paper presents the results of a comprehensive investigation of the current state of swarm ro... more This paper presents the results of a comprehensive investigation of the current state of swarm robotics research, organizing and classifying that research into a preliminary taxonomy. We aim to provide an analysis of existing swarm systems in an attempt to define the starting point of potential algorithms leading to the development of a new swarm system platform and software design. In other words, we provide a detailed summary of systems that have been classified under four main categories of the general multi-robot system platforms, namely: selfreconfigurable, modular, self-replicating, and swarm systems. We present a preliminary taxonomy for swarm robotics and classify existing studies into this taxonomy. In later sections of this survey, we do not only address the fact that there is a shortage of available software packages and interfaces that are integrated with capabilities to distribute decentralized algorithms over the swarm system, but also we introduce the challenges of ha...
International Journal of Computing, 2016
In this work we present the hardware architecture of a mobile heterogeneous robot swarm, designed... more In this work we present the hardware architecture of a mobile heterogeneous robot swarm, designed and implemented at the Interdisciplinary Robotics, Intelligent Sensing and Control (RISC) Laboratory, University of Bridgeport. Most of the recent advances in swarm robotics have mainly focused on homogeneous robot swarms and their applications. Developing and coordinating a multi-agent robot system with heterogeneity and a larger behavioral repertoire is a great challenge. To give swarm hardware heterogeneity we have equipped each swarm robot with different set of sensors, actuators, control and communication units, power supply, and an interconnection mechanism. This paper discusses the hardware heterogeneity of the robotic swarm and its challenges. Another issue addressed in paper is the active power management of the robotic agents. The power consumption of each robot in the UB robot swarm is calculated and the power management technique is also explained in this paper. We applied t...
Journal of Robotics, 2020
Mobile robots typically run using finite energy resources, supplied by finite batteries. The limi... more Mobile robots typically run using finite energy resources, supplied by finite batteries. The limitation of energy resources requires human intervention for recharging the batteries. To reduce human intervention, this work focuses on coordinating power in a group of robots. A power optimization subroutine provides some sense of distribution of power by the control unit (CU). A variety of on-board sensors, actuators, and communication modules are controlled by a heuristic-based controller class allowing such components to conserve the current taken from the attached power source. Using the proposed approach, autonomous robots will be aware of their power system, especially regarding battery life. The new approach takes advantage of a heuristic function which uses evaluation values calculated at different times for the different robots. An experimental setup is applied on the team of robots. The optimization module is evaluated on each robot. The results show that the team of mobile ro...
Journal of Robotics, 2020
This paper presents a method to estimate gasoline fuel consumption using the onboard vehicle info... more This paper presents a method to estimate gasoline fuel consumption using the onboard vehicle information system OBD-II (Onboard Diagnoses-II). Multiple vehicles were used on a test route so that their consumption can be compared. The relationships between fuel consumption and both of the engine speed are measured in RPM (revolutions per minute), and the throttle position sensor (TPS). The relationships are expressed as polynomial equations. The method which is composed of an SVM (support vector machine) classifier combined with Lagrange interpolation, is used to define the relationship between the two engine parameters and the overall fuel consumption. The relationship model is plotted using a surface fitting tool. In the experimental section, the proposed method is tested using the vehicles on a major highway between two cities in Jordan. The proposed model gets its sample data from the engine’s RPM, TPS, and fuel consumption. The method successfully has given precise fuel consumpt...
Robotics, 2016
The objective of this work is to develop a framework that can deploy and provide coordination bet... more The objective of this work is to develop a framework that can deploy and provide coordination between multiple heterogeneous agents when a swarm robotic system adopts a decentralized approach; each robot evaluates its relative rank among the other robots in terms of travel distance and cost to the goal. Accordingly, robots are allocated to the sub-tasks for which they have the highest rank (utility). This paper provides an analysis of existing swarm control environments and proposes a software environment that facilitates a rapid deployment of multiple robotic agents. The framework (UBSwarm) exploits our utility-based task allocation algorithm. UBSwarm configures these robots and assigns the group of robots a particular task from a set of available tasks. Two major tasks have been introduced that show the performance of a robotic group. This robotic group is composed of heterogeneous agents. In the results, a premature example that has prior knowledge about the experiment shows whether or not the robots are able to accomplish the task.
2016 12th IEEE International Conference on Control and Automation (ICCA), 2016
In this paper we describe the hardware architecture of an inexpensive, heterogeneous robot swarm,... more In this paper we describe the hardware architecture of an inexpensive, heterogeneous robot swarm, designed and developed at the RISC lab, University of Bridgeport. Each swarm robot is equipped with sensors, actuators, control and communication units, power supply, and interconnection mechanism. This article also describes the essential features and design of a power distribution and management system for a dynamically reconfigurable system. It further presents the empirical results of the proposed power management system collected with the real robotic applications.
In this poster we described the hardware architecture of an inexpensive, heterogeneous, mobile ro... more In this poster we described the hardware architecture of an inexpensive, heterogeneous, mobile robot swarm, designed and developed at RISC lab, University of Bridgeport. Each UB robot swarm is equipped with sensors, actuators, control and communication units, power supply, and interconnection mechanism. Robot swarms have become a new research paradigm in the last ten years offering novel approaches, such as self-reconfigurabity, self-assembly, self-replication and self-learning. Developing a multi-agent robot system with heterogeneity and larger behavioral repertoire is a great challenge. This robot swarm is capable of performing user defined tasks such as wall painting, mapping, human rescue operations, task allocation, obstacle avoidance, and object transportation.
This article presents a high-level configuration and task assignment software package that distri... more This article presents a high-level configuration and task assignment software package that distributes algorithms on a swarm of robots. The software allows the robots to operate in a swarm fashion. When the swarm robotic system adopts a decentralized approach, the desired collective behaviors emerge from local decisions made by the robots themselves according to their environment. Using its GUI, the proposed system expects the operator to select between several available robot agents and assign the swarm of robots a particular task from a set of available tasks.
International Journal of Electrical and Computer Engineering, 2021
Offensive posts in the social media that are inappropriate for a specific age, level of maturity,... more Offensive posts in the social media that are inappropriate for a specific age, level of maturity, or impression are quite often destined more to unadult than adult participants. Nowadays, the growth in the number of the masked offensive words in the social media is one of the ethically challenging problems. Thus, there has been growing interest in development of methods that can automatically detect posts with such words. This study aimed at developing a method that can detect the masked offensive words in which partial alteration of the word may trick the conventional monitoring systems when being posted on social media. The proposed method progresses in a series of phases that can be broken down into a pre-processing phase, which includes filtering, tokenization, and stemming; offensive word extraction phase, which relies on using the soundex algorithm and permuterm index; and a post-processing phase that classifies the users’ posts in order to highlight the offensive content. Acc...
this article presents a high-level configuration and task assignment software package that distri... more this article presents a high-level configuration and task assignment software package that distributes algorithms on a swarm of robots which allows them to operate in a swarm fashion. When the swarm robotic system adopts a decentralized approach, the desired collective behaviors emerge from local decisions made by the robots themselves according to their environment. This paper first brings a discussion on the existing swarm control environments. Secondly it proposes a software application that aims to facilitate the deployment of multiple robotic agents which have different configurations and sensory components. Using its GUI, the proposed system expects the operator to select between several available robot agents and assign the group of robots a particular task from a set of available ones. The main purpose for designing this framework is to reduce the time and complexity of the development of robotic software and maintenance costs, and to improve code and component reusability.
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Papers by Tamer Abukhalil