Kamran Shah
@kfu.edu
Associate Professor, Mechanical Engineering
King Faisal University KSA
RESEARCH INTERESTS
Additive manufacturing, Agricultural Automation, Biomedical Engineering, Design & Manufacture
Scopus Publications
Scopus Publications
Muhammad Usman Qadir, Izhar Ul Haq, Muhammad Awais Khan, Kamran Shah, Houssam Chouikhi, and Mohamed A. Ismail
MDPI AG
For amputees, amputation is a devastating experience. Transfemoral amputees require an artificial lower limb prosthesis as a replacement for regaining their gait functions after amputation. Microprocessor-based transfemoral prosthesis has gained significant importance in the last two decades for the rehabilitation of lower limb amputees by assisting them in performing activities of daily living. Commercially available microprocessor-based knee joints have the needed features but are costly, making them beyond the reach of most amputees. The excessive cost of these devices can be attributed to custom sensing and actuating mechanisms, which require significant development cost, making them beyond the reach of most amputees. This research contributes to developing a cost-effective microprocessor-based transfemoral prosthesis by integrating off-the-shelf sensing and actuating mechanisms. Accordingly, a three-level control architecture consisting of top, middle, and low-level controllers was developed for the proposed prosthesis. The top-level controller is responsible for identifying the amputee intent and mode of activity. The mid-level controller determines distinct phases in the activity mode, and the low-level controller was designed to modulate the damping across distinct phases. The developed prosthesis was evaluated on unilateral transfemoral amputees. Since off-the-shelf sensors and actuators are used in i-Inspire, various trials were conducted to evaluate the repeatability of the sensory data. Accordingly, the mean coefficients of correlation for knee angle, force, and inclination were computed at slow and medium walking speeds. The obtained values were, respectively, 0.982 and 0.946 for knee angle, 0.942 and 0.928 for knee force, and 0.825 and 0.758 for knee inclination. These results confirmed that the data are highly correlated with minimum covariance. Accordingly, the sensors provide reliable and repeatable data to the controller for mode detection and intent recognition. Furthermore, the knee angles at self-selected walking speeds were recorded, and it was observed that the i-Inspire Knee maintains a maximum flexion angle between 50° and 60°, which is in accordance with state-of-the-art microprocessor-based transfemoral prosthesis.
Mustafa Ur Rehman, Kamran Shah, Izhar Ul Haq, Sajid Iqbal, and Mohamed A. Ismail
MDPI AG
Force myography (FMG) represents a promising alternative to surface electromyography (EMG) in the context of controlling bio-robotic hands. In this study, we built upon our prior research by introducing a novel wearable armband based on FMG technology, which integrates force-sensitive resistor (FSR) sensors housed in newly designed casings. We evaluated the sensors’ characteristics, including their load–voltage relationship and signal stability during the execution of gestures over time. Two sensor arrangements were evaluated: arrangement A, featuring sensors spaced at 4.5 cm intervals, and arrangement B, with sensors distributed evenly along the forearm. The data collection involved six participants, including three individuals with trans-radial amputations, who performed nine upper limb gestures. The prediction performance was assessed using support vector machines (SVMs) and k-nearest neighbor (KNN) algorithms for both sensor arrangments. The results revealed that the developed sensor exhibited non-linear behavior, and its sensitivity varied with the applied force. Notably, arrangement B outperformed arrangement A in classifying the nine gestures, with an average accuracy of 95.4 ± 2.1% compared to arrangement A’s 91.3 ± 2.3%. The utilization of the arrangement B armband led to a substantial increase in the average prediction accuracy, demonstrating an improvement of up to 4.5%.
Mustafa Ur Rehman, Kamran Shah, Izhar Ul Haq, Sajid Iqbal, Mohamed A. Ismail, and Fatih Selimefendigil
MDPI AG
Using force myography (FMG) to monitor volumetric changes in limb muscles is a promising and effective alternative for controlling bio-robotic prosthetic devices. In recent years, there has been a focus on developing new methods to improve the performance of FMG technology in the control of bio-robotic devices. This study aimed to design and evaluate a novel low-density FMG (LD-FMG) armband for controlling upper limb prostheses. The study investigated the number of sensors and sampling rate for the newly developed LD-FMG band. The performance of the band was evaluated by detecting nine gestures of the hand, wrist, and forearm at varying elbow and shoulder positions. Six subjects, including both fit and amputated individuals, participated in this study and completed two experimental protocols: static and dynamic. The static protocol measured volumetric changes in forearm muscles at the fixed elbow and shoulder positions. In contrast, the dynamic protocol included continuous motion of the elbow and shoulder joints. The results showed that the number of sensors significantly impacts gesture prediction accuracy, with the best accuracy achieved on the 7-sensor FMG band arrangement. Compared to the number of sensors, the sampling rate had a lower influence on prediction accuracy. Additionally, variations in limb position greatly affect the classification accuracy of gestures. The static protocol shows an accuracy above 90% when considering nine gestures. Among dynamic results, shoulder movement shows the least classification error compared to elbow and elbow–shoulder (ES) movements.
Sayyid Kamran Hussain, Ali Haider Khan, Malek Alrashidi, Sajid Iqbal, Qazi Mudassar Ilyas, and Kamran Shah
Computers, Materials and Continua (Tech Science Press)
Yasir Nawaz, Muhammad Usman Qadir, Muhammad Awais Khan, Izhar Ul Haq, Kamran Shah, and Tahir Khan
IEEE
The desired development and design of an electric control system (ECS) for a precision planter is one of the most crucial elements in evaluating the efficacy of applicators for plant production. The seeds would be sown using this approach. Years have been invested in the continuous development of a range of application methods and metering systems, each of which offers specific advantages for applying the required system with a high degree of precision. Researchers worldwide have been trying to make electric-driven seed meters (EDSM) for planters, but they haven't succeeded. This study looks into the current state of installing seed metering systems for precision planters. Proportional-integral (PI) and sliding mode control (SMC) designs of the control system have been implemented to improve the planting quality of the planters. We want to highlight the electrically driven control system (EDCS) using these designs. An overview of the noteworthy features and limitations of past research is given. We also discuss several future directions for future research, concentrating on the knowledge gaps in this area.
Abdul Mohiz, Fazal E Nasir, and Kamran Shah
IEEE
Tillage of the soil is the most important consideration when it comes to the implementation of agricultural practices. Increases in crop yield has been achieved through a variety of agricultural practices thanks to the discoveries of various agricultural experts. The planting process is the one that has the greatest impact on the crop's overall health. The hull can be more precisely prepared for the seed-planting trench with the assistance of furrows. A variety of furrow openers are currently undergoing the implantation process. Studying dynamic systems that are discontinuous in nature can be done with the help of discrete element modelling. The simulation of a tine-shaped furrow opener using the EDEM package software was carried out for three different speeds. When the speed of an object increases, so does the force it exerts on it. Additionally, the length of an object has an effect on the force it exerts. Additionally, taken into consideration were the profiles that were generated in the soil. To carry out statistical validation of the results analysis of variation (ANOVA) was done. The results provided a basis for calculating a confidence level of 95%. For the furrow openers, it was suggested that a speed of 0.495 meters per second, which is equivalent to 1.76 kilometers per hour, be used.
Kaffayatullah Khan, Muhammad Nasir Amin, Umbreen Us Sahar, Waqas Ahmad, Kamran Shah, and Abdullah Mohamed
Frontiers Media SA
It is evident that preparing materials, casting samples, curing, and testing all need time and money. The construction sector will benefit if these problems can be handled using cutting-edge techniques like machine learning. Also, a material’s ultrasonic pulse velocity (UPV) is affected by various variables, and it is difficult to study their combined effect experimentally. This research used machine learning to assess the UPV and SHapley Additive ExPlanations techniques to study the impact of input parameters of hybrid fiber-reinforced concrete modified with nano-silica (HFRNSC). Three ML algorithms were employed, i.e., gradient boosting regressor, adaptive boosting regressor, and extreme gradient boosting, for ultrasonic pulse velocity evaluation. The accuracy of machine learning models was measured via the coefficient of determination (R2), k-fold analysis, statistical tests, and comparing the predicted and actual ultrasonic pulse velocity. This study determined that the gradient boosting and adaptive boosting models had a good level of accuracy for ultrasonic pulse velocity, but the extreme gradient boosting method estimated the ultrasonic pulse velocity of HFRNSCs with a greater degree of precision. Also, from the statistical checks and k-fold approach, it was discovered that the extreme gradient boosting method is more exact in estimating the ultrasonic pulse velocity of HFRNSCs. The SHapley Additive ExPlanations analysis revealed that the age of the specimen and nano-silica had a greater positive impact on the ultrasonic pulse velocity of HFRNSCs, whereas the coarse aggregate to fine aggregate ratio had a negative impact. In addition, fiber volume was found to have both positive and negative effects. By aiding the development of rapid and low-cost methods for determining material properties and the influence of input parameters, the construction industry may profit from the use of such technologies.
Kamran Shah, Muhammad Shahab Alam, Fazal E. Nasir, Muhammad Usman Qadir, Izhar Ul Haq, and Muhammad Tahir Khan
Institute of Electrical and Electronics Engineers (IEEE)
Seed planters with the conventional ground wheel and chain-gear driven seed metering units suffer from several limitations, such as the inability to plant seeds at variable rates, high missing rates at faster travel speeds, and higher down-times due to the intricacy of the manual discs replacement procedure for planting a different type of crop seed. Therefore, an apt solution to overcome these significant limitations is to: (a) replace the ground wheel and chain-gear based disc driving mechanism with a drive-by-wire system that comprises motors and sensors for variable rate planting and (b) incorporate a two-level adjustment of the applied negative pressure in the vacuum chamber for two different types of seeds, and (c) design seed metering unit that can plant multiple types of crops without any use of multiple discs. This paper presents the design and working of a novel variable rate multi-crop pneumatic seed metering unit that addresses the limitations of conventional seed planters. Laboratory tests were carried out on our proposed metering unit for maize and soybean seeds at varying rates in compliance with travel speeds. Experimental evaluation of the developed metering unit was performed on a lab test bench in terms of accuracy, average miss counts, and average multiple counts at various rotational speeds. The experimental results proved that our developed multi-crop seed metering unit performed significantly better than the conventional seed metering units by obtaining the average miss-count of 5.4 seeds, average multiple-count of 2.5 seeds, and coefficient of variation in spacing (precision) of 0.34 inches for a set of travel speeds of 2 km/h to 4 km/h.
Mustafa Ur Rehman, Kamran Shah, Izhar Ul Haq, and Hassan Khurshid
IEEE
Advancement in the field of rehabilitation has led to develop state-of-art multi-dexterous robotic hands such that to restore Activities of Daily Livings (ADLs) of upper limb amputees. However, these high-tech devices require an effective human-machine interface (HMI) for conversion of musculotendinous activities to myoelectric signals for control and functioning of robotic hands. In this study, a novel force myography (FMG) based HMI, considered as a potential alternate to sEMG, was developed. FMG band having five resistive based pressure sensors was developed for monitoring of change in stiffness of muscles during gestures. This flexible, un-stretchable, and adjustable FMG band is capable to be fastened on any adult forearm regardless of the size and shape of forearm. Voltage divider circuit was used to extract signals from FMG band. Five intact subjects participated in this study and protocol was developed for prediction of five static gestures such as relax, power, precision, supination, and pronation. All of subjects recorded selected gestures for three times. Gestures were classified using linear discriminant analysis (LDA) and support vector machines (SVM). SVM shows higher classification accuracy than LDA. LDA and SVM demonstrated prediction accuracies upto 87.2% and 93.3%, respectively.
Ali Murtaza, Muhammad Usman Qadir, Muhammad Awais Khan, Izhar ul Haq, Kamran Shah, and Nizar Akhtar
Computers, Materials and Continua (Tech Science Press)
Transfemoral prostheses have evolved from mechanical devices to microprocessor-based, electronically controlled knee joints, allowing amputees to regain control of their limbs. For improved amputee experience at varying ambulation rates, these devices provide controlled damping throughout the swing and stance phases of the gait cycle. Commercially available microprocessor-based prosthetic knee (MPK) joints use linear controllers, heuristic-based methods, and finite state machine based algorithms to track the refence gait cycle. However, since the amputee experiences a variety of non-linearities during ambulation, such as uneven terrains, walking backwards and climbing stairs, therefore, traditional controllers produces error, abnormal movements, unstable control system and require manual-tuning. As a result, novel controllers capable of replicating and tracking reference gait cycles for a range of reference signals are needed to reduce the burden on amputees and improve the rehabilitation process. Therefore, the current study proposes two non-linear control techniques, the Lyapunov-redesign controller and the sliding mode controller for real-time tracking of various signals, such as walking on level ground at a normal speed and ambulation on uneven terrains. State-space model of MPK was developed along with the mathematical modelling of non-linear controllers. Simulations and results are presented using MATLAB to verify the ability of proposed non-linear controllers for constantly and dynamically tracking and maintaining desired motion dynamics. Furthermore, for selected reference signals, a linear controller was applied to the same mathematical model of MPK. During tracking of reference angel in case of general gait cycle, an accuracy of 99.95% and 99.96% was achieved for sliding mode controller and Lyapunov-redesign controller respectively. Whereas, for the same case, linear controller had an accuracy of 95.5% only. Therefore, it can be concluded that the performance of non-linear controllers was better than their linear counterparts while tracking various reference signals for microprocessor based prosthetic knee. This work is licensed under a Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Intelligent Automation & Soft Computing DOI:10.32604/iasc.2022.020006 Article ech T Press Science
Muhammad Usman Qadir, Izhar Ul Haq, Muhammad Awais Khan, Mian Naveed Ahmad, Kamran Shah, and Nizar Akhtar
Institute of Electrical and Electronics Engineers (IEEE)
Limb loss is a traumatic event as it has physical and psychological effects on an amputee. Recent advancements in mechatronics and biomedical engineering have resulted in development of dexterous myoelectric prostheses for rehabilitation of amputees. In addition, evolution in manufacturing and sensing technology presents ample room for improvement in mechanical design and control system of prostheses to enhance amputee experience while using prosthetic devices. The present study is focused on design of a novel and cost-effective externally powered two-degree-of freedom prosthesis for assisting amputees to switch from body-powered devices to externally powered prosthesis. The control system of the developed prosthesis is based on the muscles signals acquired through force myography (FMG) technique. For precise integration of force-sensitive resistor (FSR) inside the socket to measure muscle activity, a stand-alone housing for FSR was designed with the feature of mechanical adjustment to control sensitivity of FSR and auto-calibrate its threshold to meet the requirements of individual amputees. The housing was designed to handle the fabrication inconsistencies during socket shaping process and thus ensure that sensor is in-firm contact with the muscle to sense volumetric changes. The developed mechanical design and FMG based muscle acquisition technique was successfully tested on a transradial amputee and extensive experimentation was performed for characterization of the prosthesis. FMG signal for various gestures was successfully extracted from muscles of the amputee to control the prosthesis according to the developed control technique. The results suggested that integration of FSR in the socket has significantly reduced the effect of sweat and volumetric changes on the performance of the sensor. Due to its novel design, embedded features, and cost-effectiveness the developed prototype holds the promise to be successfully commercialized to assist transradial amputees in becoming active citizens for contributing towards socio-economic growth of their country.
Muhammad Ikhlas Saleem, Muhammad Usman Qadir, Izhar ul Haq, Nizar Akhtar, Muhammad Tariq Afridi, and Kamran Shah
IEEE
This research focuses on developing a novel control system technique for electronically controlled knee joints to help amputees achieve the actual human gait cycle without facing any difficulties. The proposed technique controls the movement of electronically controlled microprocessor knee intelligently by acquiring sensory data from the amputee's functional leg. As a result, amputee will be able to achieve a gait cycle like actual human gait cycle. This research will prove to be a revolution in the field of intelligent prosthesis as the patient will not be bound to limited modes of walking, running and jogging etc. rather he will be able to achieve any stance like walking slowly, or fast and running or jogging. Real-time sensory data is acquired from different points of the functional leg and then used to mimic the behavior of functional leg on to the prosthetic knee. The acquired sensory data includes angular movement, acceleration and the forces exerted on the ground. This sensory data is then passed to a machine learning algorithm for optimizing results and controlling prosthetic knee through beagle-bone microcontroller. The results are simulated in ROS software on a two degree of freedom leg with three links and three revolute joints. The results achieved are very promising, as the behavior of functional leg is efficiently mimicked up to 90%.
Shah Zaib Nadeem Siddiqui, Muhammad Usman Qadir, Izhar ul Haq, Kamran Shah, Muhammad Tariq Afridi, and Shafiq ur Rehman
IEEE
Filament winding is an emerging field in order to transfer filament from one spool to another spool according to having the desired length and pattern. Filament materials that are commonly wound in the industry include threads, yarns, synthetic fiber, and wire. Currently, winding machines are available in textile industry for threads or yarns, however such machines are not suitable for fiber optic winding with high precision in winding pattern. In comparison to thread or yarns, optical fiber is more fragile and cannot be subjected to high stresses and extreme bends. In nature optical fiber has very low surface friction as a result slippage phenomenon exist between layers during filament winding. In addition, fiber optic winding density and pattern stability is not well addressed. This research presents application of fuzzy logic-based control technique on newly developed precision fiber optic winding machine.
Syed Humayoon Shah, S G Khan, Izhar ul Haq, Kamran Shah, and Anam Abid
IEEE
The existing robotic walk assist devices (RWAD) are not affordable for everyone particularly in low income countries like Pakistan. In addition, convincing people to adopt such devices is somehow challenging due to lack of trust, dependability and cultural constraints. Safety of the users is also a major concern. Many researchers are currently working in this area to come up with better mechanical design along with safe and trust worthy control techniques. Some aspects of safety can be addressed with the help of compliance (low-stiffness and flexibility) control. Compliance(low stiffness) control will make RWAD more user friendly by limiting the forces RWAD applied on the human user. In this paper a model reference compliance control scheme is suggested for a robotic walk assist device based on integral sliding mode control (ISMC) coupled with a dynamic model based feedback linearization controller. Joint torques feedback from the knee and hip joints are used to make the robotic walk assist device compliant via ISMC. A mass-spring-damper system is used as a compliant reference model. Simulation results are presented to show the effectiveness of the suggested scheme.
Zubair Ahmad Khan, Muhammad Tahir Khan, Izhar Ul Haq, and Kamran Shah
Informa UK Limited
ABSTRACT Disruption in manufacturing process adversely affects the productivity, efficiency and increases the downtime, which severely affects the consumer-centric value. In this regard, it is inevitable to bring about disruption in an effective way. Agent-based techniques are frequently practised to deal with multiple industrial-based disruptions regarding handling machine faults. This current research work is an endeavour to mitigate disruption by deploying Agent-Based Fault Tolerant Framework (ABFTF) in the manufacturing process; this technique is adept to handle Fault Detection and Identification (FDI) effectively, as well as it responds to the disruption dynamically to assess the root cause. Once disruption is identified, weight is assigned to it in a pre-defined manner and a corrective mechanism is executed. This proposed model was implemented on asphalt manufacturing plant. The observed reduction in downtime was 80.26 min in 24 h, while the overall production was improved by 5.1%, casting worthwhile impacts on process efficiency and consumer-centric value in comparison to established logics.
Kamran Shah, Hassan Khurshid, Izhar ul Haq, Shahzad Anwar, and Shaukat Ali Shah
Springer Science and Business Media LLC
Muhammad Arif, Muhammad Ilyas, Muhammad Riaz, Kawsar Ali, Kamran Shah, Izhar Ul Haq, and Shah Fahad
Elsevier BV
Shahzad Anwar, . Izhar-ul-Haq, Muhammad Usman Qadir, Ihtisham Ali, Shadman Razzaq, Bilal Ahmad, Kamran Shah, Shaukat Ali Shah, and Muhammad Tahir Khan
American Scientific Publishers
Shaukat Ali Shah, Erik L. J. Bohez, Kamran Shah, Izhar ul Haq, Khizar Azam, and Shahzad Anwar
Springer Science and Business Media LLC
Izhar Haq, Shahzad Anwar, Kamran Shah, Muhammad Tahir Khan, and Shaukat Ali Shah
Public Library of Science (PLoS)
Edge detection has beneficial applications in the fields such as machine vision, pattern recognition and biomedical imaging etc. Edge detection highlights high frequency components in the image. Edge detection is a challenging task. It becomes more arduous when it comes to noisy images. This study focuses on fuzzy logic based edge detection in smooth and noisy clinical images. The proposed method (in noisy images) employs a 3×3 mask guided by fuzzy rule set. Moreover, in case of smooth clinical images, an extra mask of contrast adjustment is integrated with edge detection mask to intensify the smooth images. The developed method was tested on noise-free, smooth and noisy images. The results were compared with other established edge detection techniques like Sobel, Prewitt, Laplacian of Gaussian (LOG), Roberts and Canny. When the developed edge detection technique was applied to a smooth clinical image of size 270×290 pixels having 24 dB ‘salt and pepper’ noise, it detected very few (22) false edge pixels, compared to Sobel (1931), Prewitt (2741), LOG (3102), Roberts (1451) and Canny (1045) false edge pixels. Therefore it is evident that the developed method offers improved solution to the edge detection problem in smooth and noisy clinical images.
Kamran Shah, Izhar Ul Haq, Shaukat Ali Shah, Farid Ullah Khan, Muhammad Tahir Khan, and Sikandar Khan
Hindawi Limited
In the paper titled “Experimental Study of Direct Laser Deposition of Ti-6Al-4V and Inconel 718 by Using Pulsed Parameters” one name of the authors was incorrectly written as “Sikander Khan” and is corrected as above.
Kamran Shah, Izhar Ul Haq, Shaukat Ali Shah, Farid Ullah Khan, Muhammad Tahir Khan, and Sikander Khan
Hindawi Limited
Laser direct metal deposition (LDMD) has developed from a prototyping to a single metal manufacturing tool. Its potential for creating multimaterial and functionally graded structures is now beginning to be explored. This work is a first part of a study in which a single layer of Inconel 718 is deposited on Ti-6Al-4V substrate. Single layer tracks were built at a range of powder mass flow rates using a coaxial nozzle and 1.5 kW diode laser operating in both continuous and pulsed beam modes. This part of the study focused on the experimental findings during the deposition of Inconel 718 powder on Ti-6Al-4V substrate. Scanning electron microscopy (SEM) and X-ray diffraction analysis were performed for characterization and phase identification. Residual stress measurement had been carried out to ascertain the effects of laser pulse parameters on the crack development during the deposition process.
Ashfaq Khan, Muhammad Alam Zaib Khan, Kamran Shah, Aftab Khan, Mushtaq Khan, Syed Husain Imran, Mohammad A. Sheikh, and Lin Li
American Society of Mechanical Engineers
For a number of applications there is evidence that the tribological conditions for mating surfaces can be improved by surface texturing. Literature shows that texturing the tool rake face can have a positive influence on tribological properties. This research focuses of the texturing of tool rake surface by laser machining. Compared to other texturing techniques, laser provides the flexibility of machining customized textures on tool surface. This paper deals with the assessment and optimization of the process parameters for generation of textures on cemented carbide inserts under ambient conditions by using a femtosecond laser. The paper is a significant contribution to the efficient and rapid generation of customized surface texture on hard tool inserts.
Kamran Shah, Izhar ul Haq, Ashfaq Khan, Shaukat Ali Shah, Mushtaq Khan, and Andrew J Pinkerton
Elsevier BV