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Dr. Azfar Khalid
Nottingham Trent University, School of Science and Technology, Clifton Lane, Nottingham NG11 8NS UK

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0 Control Design
0 Digital Innovation
0 Energy
0 Renewable and Sustainable Energy
0 Robotics and Automation

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Journal article
Published: 17 August 2021 in Ocean Engineering
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The demand for energy is constantly rising in developing countries. Ocean waves with continuous energy flux can contribute to universal energy production. The wave energy has its advantages of renewable, non-polluting and large storage, however, the technological solution to extract energy from oceans is still at early stages. In this paper, a strategy is devised to estimate wave power potential for a developing country. Pakistan is considered as a use case on the basis of less renewable energy share and facing energy crises. In this study, wave energy potential is estimated for power generation by excluding the sensitive areas from the exclusive economic zone. The year long significant wave height and mean wave period data set is used for the purpose. A GIS based multi-criteria overlay analysis model is implemented using different restriction and weighted factors such as ocean bathymetry, distance to ports and shoreline. The results show that average wave power is peaked at 9.15 kW/m in the summer season and 85% of Pakistan economic zone is suitable for wave farm development. The wave energy potential assessment is coupled by extractable power estimation that is worked out by assessing the performance of commercial wave energy converters in regional context.

ACS Style

Madeeha Khan; Azfar Khalid; Waqas Akbar Lughmani; Muhammad Mahabat Khan. A use case of exclusive economic zone of Pakistan for wave power potential estimation. Ocean Engineering 2021, 237, 109664 .

AMA Style

Madeeha Khan, Azfar Khalid, Waqas Akbar Lughmani, Muhammad Mahabat Khan. A use case of exclusive economic zone of Pakistan for wave power potential estimation. Ocean Engineering. 2021; 237 ():109664.

Chicago/Turabian Style

Madeeha Khan; Azfar Khalid; Waqas Akbar Lughmani; Muhammad Mahabat Khan. 2021. "A use case of exclusive economic zone of Pakistan for wave power potential estimation." Ocean Engineering 237, no. : 109664.

Review
Published: 09 July 2021 in Sustainability
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Scheduling plays a pivotal role in the competitiveness of a job shop facility. The traditional job shop scheduling problem (JSSP) is centralized or semi-distributed. With the advent of Industry 4.0, there has been a paradigm shift in the manufacturing industry from traditional scheduling to smart distributed scheduling (SDS). The implementation of Industry 4.0 results in increased flexibility, high product quality, short lead times, and customized production. Smart/intelligent manufacturing is an integral part of Industry 4.0. The intelligent manufacturing approach converts renewable and nonrenewable resources into intelligent objects capable of sensing, working, and acting in a smart environment to achieve effective scheduling. This paper aims to provide a comprehensive review of centralized and decentralized/distributed JSSP techniques in the context of the Industry 4.0 environment. Firstly, centralized JSSP models and problem-solving methods along with their advantages and limitations are discussed. Secondly, an overview of associated techniques used in the Industry 4.0 environment is presented. The third phase of this paper discusses the transition from traditional job shop scheduling to decentralized JSSP with the aid of the latest research trends in this domain. Finally, this paper highlights futuristic approaches in the JSSP research and application in light of the robustness of JSSP and the current pandemic situation.

ACS Style

Raja Liaqait; Shermeen Hamid; Salman Warsi; Azfar Khalid. A Critical Analysis of Job Shop Scheduling in Context of Industry 4.0. Sustainability 2021, 13, 7684 .

AMA Style

Raja Liaqait, Shermeen Hamid, Salman Warsi, Azfar Khalid. A Critical Analysis of Job Shop Scheduling in Context of Industry 4.0. Sustainability. 2021; 13 (14):7684.

Chicago/Turabian Style

Raja Liaqait; Shermeen Hamid; Salman Warsi; Azfar Khalid. 2021. "A Critical Analysis of Job Shop Scheduling in Context of Industry 4.0." Sustainability 13, no. 14: 7684.

Journal article
Published: 05 August 2020 in Sensors
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Electricity demand is rising due to industrialisation, population growth and economic development. To meet this rising electricity demand, towns are renovated by smart cities, where the internet of things enabled devices, communication technologies, dynamic pricing servers and renewable energy sources are integrated. Internet of things (IoT) refers to scenarios where network connectivity and computing capability is extended to objects, sensors and other items not normally considered computers. IoT allows these devices to generate, exchange and consume data without or with minimum human intervention. This integrated environment of smart cities maintains a balance between demand and supply. In this work, we proposed a closed-loop super twisting sliding mode controller (STSMC) to handle the uncertain and fluctuating load to maintain the balance between demand and supply persistently. Demand-side load management (DSLM) consists of agents-based demand response (DR) programs that are designed to control, change and shift the load usage pattern according to the price of the energy of a smart grid community. In smart grids, evolved DR programs are implemented which facilitate controlling of consumer demand by effective regulation services. The DSLM under price-based DR programs perform load shifting, peak clipping and valley filling to maintain the balance between demand and supply. We demonstrate a theoretical control approach for persistent demand control by dynamic price-based closed-loop STSMC. A renewable energy integrated microgrid scenario is discussed numerically to show that the demand of consumers can be controlled through STSMC, which regulates the electricity price to the DSLM agents of the smart grid community. The overall demand elasticity of the current study is represented by a first-order dynamic price generation model having a piece-wise linear price-based DR program. The simulation environment for this whole scenario is developed in MATLAB/Simulink. The simulations validate that the closed-loop price-based elastic demand control technique can trace down the generation of a renewable energy integrated microgrid.

ACS Style

Taimoor Ahmad Khan; Kalim Ullah; Ghulam Hafeez; Imran Khan; Azfar Khalid; Zeeshan Shafiq; Muhammad Usman; Abdul Baseer Qazi. Closed-Loop Elastic Demand Control under Dynamic Pricing Program in Smart Microgrid Using Super Twisting Sliding Mode Controller. Sensors 2020, 20, 4376 .

AMA Style

Taimoor Ahmad Khan, Kalim Ullah, Ghulam Hafeez, Imran Khan, Azfar Khalid, Zeeshan Shafiq, Muhammad Usman, Abdul Baseer Qazi. Closed-Loop Elastic Demand Control under Dynamic Pricing Program in Smart Microgrid Using Super Twisting Sliding Mode Controller. Sensors. 2020; 20 (16):4376.

Chicago/Turabian Style

Taimoor Ahmad Khan; Kalim Ullah; Ghulam Hafeez; Imran Khan; Azfar Khalid; Zeeshan Shafiq; Muhammad Usman; Abdul Baseer Qazi. 2020. "Closed-Loop Elastic Demand Control under Dynamic Pricing Program in Smart Microgrid Using Super Twisting Sliding Mode Controller." Sensors 20, no. 16: 4376.

Journal article
Published: 29 July 2020 in IEEE Access
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An operative and versatile household energy management system is proposed to develop and implement demand response (DR) projects. These are under the hybrid generation of the energy storage system (ESS), photovoltaic (PV), and electric vehicles (EVs) in the smart grid (SG). Existing household energy management systems cannot offer its users a choice to ensure user comfort (UC) and not provide a sustainable solution in terms of reduced carbon emission. To tackle these problems, this research work proposes a heuristic-based programmable energy management controller (HPEMC) to manage the energy consumption in residential buildings to minimize electricity bills, reduce carbon emissions, maximize UC and reduce the peak-to-average ratio (PAR). We used our proposed hybrid genetic particle swarm optimization (HGPO) algorithm and existing algorithms like a genetic algorithm (GA), binary particle swarm optimization algorithm (BPSO), ant colony optimization (ACO), wind-driven optimization algorithm (WDO), bacterial foraging algorithm (BFA) to schedule smart appliances optimally to attain our desired objectives. In the proposed model, consumers use solar panels to produce their energy from microgrids. We also perform MATLAB simulations to validate our proposed HGPO-HPEMC (HHPEMC), and results confirm the efficiency and productivity of our proposed HPEMC based strategy. The proposed algorithm reduced the electricity cost by 25.55%, PAR by 36.98%, and carbon emission by 24.02% as compared to the case of without scheduling.

ACS Style

Adil Imran; Ghulam Hafeez; Imran Khan; Muhammad Usman; Zeeshan Shafiq; Abdul Baseer Qazi; Azfar Khalid; Klaus-Dieter Thoben. Heuristic-Based Programable Controller for Efficient Energy Management Under Renewable Energy Sources and Energy Storage System in Smart Grid. IEEE Access 2020, 8, 139587 -139608.

AMA Style

Adil Imran, Ghulam Hafeez, Imran Khan, Muhammad Usman, Zeeshan Shafiq, Abdul Baseer Qazi, Azfar Khalid, Klaus-Dieter Thoben. Heuristic-Based Programable Controller for Efficient Energy Management Under Renewable Energy Sources and Energy Storage System in Smart Grid. IEEE Access. 2020; 8 (99):139587-139608.

Chicago/Turabian Style

Adil Imran; Ghulam Hafeez; Imran Khan; Muhammad Usman; Zeeshan Shafiq; Abdul Baseer Qazi; Azfar Khalid; Klaus-Dieter Thoben. 2020. "Heuristic-Based Programable Controller for Efficient Energy Management Under Renewable Energy Sources and Energy Storage System in Smart Grid." IEEE Access 8, no. 99: 139587-139608.

Research article
Published: 31 December 2019 in Advances in Mechanical Engineering
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Human workers are envisioned to work alongside robots and other intelligent factory modules, and fulfill supervision tasks in future smart factories. Technological developments, during the last few years, in the field of smart factory automation have introduced the concept of cyber-physical systems, which further expanded to cyber-physical production systems. In this context, the role of collaborative robots is significant and depends largely on the advanced capabilities of collision detection, impedance control, and learning new tasks based on artificial intelligence. The system components, collaborative robots, and humans need to communicate for collective decision-making. This requires processing of shared information keeping in consideration the available knowledge, reasoning, and flexible systems that are resilient to the real-time dynamic changes on the industry floor as well as within the communication and computer network infrastructure. This article presents an ontology-based approach to solve industrial scenarios for safety applications in cyber-physical production systems. A case study of an industrial scenario is presented to validate the approach in which visual cues are used to detect and react to dynamic changes in real time. Multiple scenarios are tested for simultaneous detection and prioritization to enhance the learning surface of the intelligent production system with the goal to automate safety-based decisions.

ACS Style

Syed Osama Bin Islam; Waqas Akbar Lughmani; Waqar Shahid Qureshi; Azfar Khalid; Miguel Angel Mariscal; Susana Garcia-Herrero. Exploiting visual cues for safe and flexible cyber-physical production systems. Advances in Mechanical Engineering 2019, 11, 1 .

AMA Style

Syed Osama Bin Islam, Waqas Akbar Lughmani, Waqar Shahid Qureshi, Azfar Khalid, Miguel Angel Mariscal, Susana Garcia-Herrero. Exploiting visual cues for safe and flexible cyber-physical production systems. Advances in Mechanical Engineering. 2019; 11 (12):1.

Chicago/Turabian Style

Syed Osama Bin Islam; Waqas Akbar Lughmani; Waqar Shahid Qureshi; Azfar Khalid; Miguel Angel Mariscal; Susana Garcia-Herrero. 2019. "Exploiting visual cues for safe and flexible cyber-physical production systems." Advances in Mechanical Engineering 11, no. 12: 1.

Conference paper
Published: 01 January 2019 in Proceedings of the 29th European Safety and Reliability Conference (ESREL)
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ACS Style

Mariscal M.A.; González-Pérez J; Azfar Khalid.; Gutierrez-Llorente J.M.; García-Herrero S.. Risks management and cobots. Identifying critical variables. Proceedings of the 29th European Safety and Reliability Conference (ESREL) 2019, 1 .

AMA Style

Mariscal M.A., González-Pérez J, Azfar Khalid., Gutierrez-Llorente J.M., García-Herrero S.. Risks management and cobots. Identifying critical variables. Proceedings of the 29th European Safety and Reliability Conference (ESREL). 2019; ():1.

Chicago/Turabian Style

Mariscal M.A.; González-Pérez J; Azfar Khalid.; Gutierrez-Llorente J.M.; García-Herrero S.. 2019. "Risks management and cobots. Identifying critical variables." Proceedings of the 29th European Safety and Reliability Conference (ESREL) , no. : 1.

Journal article
Published: 01 December 2018 in Robotics and Computer-Integrated Manufacturing
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ACS Style

Azfar Khalid; Samir Mekid. Intelligent spherical joints based tri-actuated spatial parallel manipulator for precision applications. Robotics and Computer-Integrated Manufacturing 2018, 54, 173 -184.

AMA Style

Azfar Khalid, Samir Mekid. Intelligent spherical joints based tri-actuated spatial parallel manipulator for precision applications. Robotics and Computer-Integrated Manufacturing. 2018; 54 ():173-184.

Chicago/Turabian Style

Azfar Khalid; Samir Mekid. 2018. "Intelligent spherical joints based tri-actuated spatial parallel manipulator for precision applications." Robotics and Computer-Integrated Manufacturing 54, no. : 173-184.

Review article
Published: 19 May 2018 in Innovative Food Science & Emerging Technologies
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This paper provides a comprehensive review of the robotic potential that is foreseen by researchers in designing future food manufacturing plant. The present day food handling and packaging setup is limited in capacity and output due to manual processing. An optimized protocol to fetch various ingredients and shape them in a final product by passing through various stages in an automated processing plant while simultaneously ensuring high quality and hygienic environment is merely possible by using robotized processing. The review also highlights the possibilities and limitations of introducing these high technology robots in the food sector. A comparison of several robots from different classes is listed with major technical parameters. However, as predicted, a food cyber-physical production system (CPPS) visualizes a closed loop system for the desired output keeping in view various constraints and risks. Human machine interface (HMI) for these machines complies with the industrial safety standards to provide a fail safe production cycle. Various new horizons in research and development of food robots are also highlighted in the upcoming industrial paradigm.

ACS Style

Zeashan Khan; Azfar Khalid; Jamshed Iqbal. Towards realizing robotic potential in future intelligent food manufacturing systems. Innovative Food Science & Emerging Technologies 2018, 48, 11 -24.

AMA Style

Zeashan Khan, Azfar Khalid, Jamshed Iqbal. Towards realizing robotic potential in future intelligent food manufacturing systems. Innovative Food Science & Emerging Technologies. 2018; 48 ():11-24.

Chicago/Turabian Style

Zeashan Khan; Azfar Khalid; Jamshed Iqbal. 2018. "Towards realizing robotic potential in future intelligent food manufacturing systems." Innovative Food Science & Emerging Technologies 48, no. : 11-24.

Journal article
Published: 01 May 2018 in Computers in Industry
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The paper introduces a security framework for the application of human-robot collaboration in a futuristic industrial cyber-physical system (CPS) context of industry 4.0. The basic elements and functional requirements of a secure collaborative robotic cyber-physical system are explained and then the cyber-attack modes are discussed in the context of collaborative CPS whereas a defense mechanism strategy is proposed for such a complex system. The cyber-attacks are categorized according to the extent on controllability and the possible effects on the performance and efficiency of such CPS. The paper also describes the severity and categorization of such cyber-attacks and the causal effect on the human worker safety during human-robot collaboration. Attacks in three dimensions of availability, authentication and confidentiality are proposed as the basis of a consolidated mitigation plan. We propose a security framework based on a two-pronged strategy where the impact of this methodology is demonstrated on a teleoperation benchmark (NeCS-Car). The mitigation strategy includes enhanced data security at important interconnected adaptor nodes and development of an intelligent module that employs a concept similar to system health monitoring and reconfiguration.

ACS Style

Azfar Khalid; Pierre Kirisci; Zeashan Khan; Zied Ghrairi; Klaus-Dieter Thoben; Jürgen Pannek. Security framework for industrial collaborative robotic cyber-physical systems. Computers in Industry 2018, 97, 132 -145.

AMA Style

Azfar Khalid, Pierre Kirisci, Zeashan Khan, Zied Ghrairi, Klaus-Dieter Thoben, Jürgen Pannek. Security framework for industrial collaborative robotic cyber-physical systems. Computers in Industry. 2018; 97 ():132-145.

Chicago/Turabian Style

Azfar Khalid; Pierre Kirisci; Zeashan Khan; Zied Ghrairi; Klaus-Dieter Thoben; Jürgen Pannek. 2018. "Security framework for industrial collaborative robotic cyber-physical systems." Computers in Industry 97, no. : 132-145.

Original
Published: 14 December 2017 in Heat and Mass Transfer
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An experimental investigation of multistream gasoline sprays under highly evaporating conditions is carried out in this paper. Temperature increase of fuel and low engine pressure could lead to flash boiling. The spray shape is normally modified significantly under flash boiling conditions. The spray plumes expansion along with reduction in the axial momentum causes the jets to merge and creates a low-pressure area below the injector’s nozzle. These effects initiate the collapse of spray cone and lead to the formation of a single jet plume or a big cluster like structure. The collapsing sprays reduces exposed surface and therefore they last longer and subsequently penetrate more. Spray plume momentum increase, jet plume reduction and spray target widening could delay or prevent the closure condition and limit the penetration (delayed formation of the cluster promotes evaporation). These spray characteristics are investigated experimentally using shadowgraphy, for five and six hole injectors, under various boundary conditions. Six hole injectors produce more collapsing sprays in comparison to five hole injector due to enhanced jet to jet interactions. The spray collapse tendency reduces with increase in injection pressure due high axial momentum of spray plumes. The spray evaporation rates of five hole injector are observed to be higher than six hole injectors. Larger spray cone angles of the six hole injectors promote less penetrating and less collapsing sprays.

ACS Style

Muhammad Mahabat Khan; Nadeem Ahmed Sheikh; Azfar Khalid; Waqas Lughmani. Experimental characterization of gasoline sprays under highly evaporating conditions. Heat and Mass Transfer 2017, 54, 1 -13.

AMA Style

Muhammad Mahabat Khan, Nadeem Ahmed Sheikh, Azfar Khalid, Waqas Lughmani. Experimental characterization of gasoline sprays under highly evaporating conditions. Heat and Mass Transfer. 2017; 54 (5):1-13.

Chicago/Turabian Style

Muhammad Mahabat Khan; Nadeem Ahmed Sheikh; Azfar Khalid; Waqas Lughmani. 2017. "Experimental characterization of gasoline sprays under highly evaporating conditions." Heat and Mass Transfer 54, no. 5: 1-13.

Review
Published: 01 April 2017 in Food Science and Technology
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Technological advancements in various domains have broadened the application horizon of robotics to an incredible extent. Highlighting a very recent application area, this paper presents a comprehensive review of robotics application in food industry. Robots essentially have the potential to transform the processes in food processing and handling, palletizing and packing and food serving. Therefore, recent years witnessed tremendously increased trend of robots deployment in food sector. Consequently, the aspects related with robot kinematics, dynamics, hygiene, economic efficiency, human-robot interaction, safety and protection and operation and maintenance are of critical importance and are discussed in the present review. A comparison of actual robots being used in the industry is also presented. The review reveals that the food serving sector is the new potential area in which ample research opportunities exist by integrating advancements from various technology domains. It is anticipated that wider dissemination of research developments in ‘robo-food’ will stimulate more collaborations among the research community and contribute to further developments.

ACS Style

Jamshed Iqbal; Zeashan Khan; Azfar Khalid. Prospects of robotics in food industry. Food Science and Technology 2017, 37, 159 -165.

AMA Style

Jamshed Iqbal, Zeashan Khan, Azfar Khalid. Prospects of robotics in food industry. Food Science and Technology. 2017; 37 (2):159-165.

Chicago/Turabian Style

Jamshed Iqbal; Zeashan Khan; Azfar Khalid. 2017. "Prospects of robotics in food industry." Food Science and Technology 37, no. 2: 159-165.

Original paper
Published: 08 November 2016 in Logistics Research
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The paper identifies the need for human robot collaboration for conventional light weight and heavy payload robots in future manufacturing environment. An overview of state of the art for these types of robots shows that there exists no solution for human robot collaboration. Here, we consider cyber physical systems, which are based on human worker participation as an integrated role in addition to its basic components. First, the paper identifies the collaborative schemes and a formal grading system is formulated based on four performance indicators. A detailed sensor catalog is established for one of the collaboration schemes, and performance indices are computed with various sensors. This study reveals an assessment of best and worst possible ranges of performance indices that are useful in the categorization of collaboration levels. To illustrate a possible solution, a hypothetical industrial scenario is discussed in a production environment. Generalizing this approach, a design methodology is developed for such human robot collaborative environments for various industrial scenarios to enable solution implementation.

ACS Style

Azfar Khalid; Pierre Kirisci; Zied Ghrairi; Klaus-Dieter Thoben; Jürgen Pannek. A methodology to develop collaborative robotic cyber physical systems for production environments. Logistics Research 2016, 9, 23 .

AMA Style

Azfar Khalid, Pierre Kirisci, Zied Ghrairi, Klaus-Dieter Thoben, Jürgen Pannek. A methodology to develop collaborative robotic cyber physical systems for production environments. Logistics Research. 2016; 9 (1):23.

Chicago/Turabian Style

Azfar Khalid; Pierre Kirisci; Zied Ghrairi; Klaus-Dieter Thoben; Jürgen Pannek. 2016. "A methodology to develop collaborative robotic cyber physical systems for production environments." Logistics Research 9, no. 1: 23.

Book chapter
Published: 15 September 2016 in Optimization and Decision Support Systems for Supply Chains
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The paper identifies the basic technology and functional requirements of a cyber-physical system to control human–robot collaboration in an industrial environment. The paper defines the collaboration grading of human–robot co-working environment based on the prevailing safety concepts in workspace sharing. Detailed requirements are generated for each interaction mode and few collaboration indices are established. Different indices are found to be useful for the purpose of categorization of collaboration levels. A specific case is discussed later for a detailed Cyber-Physical System solution in a smart production or logistical context. The paper ends with a general guideline that is formulated to cater for various industrial level human–robot collaborative scenarios. An important aspect of the collaboration guideline is a sensor catalogue to meet cyber-physical system design requirements.

ACS Style

Azfar Khalid; Pierre Kirisci; Zied Ghrairi; Jürgen Pannek; Klaus-Dieter Thoben. Safety Requirements in Collaborative Human–Robot Cyber-Physical System. Optimization and Decision Support Systems for Supply Chains 2016, 41 -51.

AMA Style

Azfar Khalid, Pierre Kirisci, Zied Ghrairi, Jürgen Pannek, Klaus-Dieter Thoben. Safety Requirements in Collaborative Human–Robot Cyber-Physical System. Optimization and Decision Support Systems for Supply Chains. 2016; ():41-51.

Chicago/Turabian Style

Azfar Khalid; Pierre Kirisci; Zied Ghrairi; Jürgen Pannek; Klaus-Dieter Thoben. 2016. "Safety Requirements in Collaborative Human–Robot Cyber-Physical System." Optimization and Decision Support Systems for Supply Chains , no. : 41-51.

Conference paper
Published: 01 April 2014 in 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE)
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DC motor is a common component used in automated systems, almost in every industry. In this paper, the focus is on the machine tool and precision system control design as DC motors are used as prime movers for all the stages. Sophisticated CNC machine tools use high end closed or open architecture control and sensors to run complex CAM routines. Linear or rotary encoders and glass scales are commonly used for rate sensing as a feedback system in CNC machine tools. The intelligent control design is necessary to operate these flexible CNC machine tool systems to achieve high accuracies. To make such systems in low cost, it is necessary to build machine tool system with reduced number of sensors. In this paper, an intelligent speed control of DC motor in a sensor less environment is followed in order to avoid costly hardware. This is a stochastic estimation method for estimating DC motor angular rate and current without using any rate sensors in the closed loop feedback. In this simple and cost effective approach, we have used Kalman Filter (KF) for the speed control of DC motor where it is applied to stochastic time varying system. KF is found robust against external disturbances and has the ability to predict such states and parameters which are even not easy to measure through deployed sensors. The employed scheme uses the state estimation technique by analyzing the currents in the windings and re-constructs the states. This way, the machine tool can get high accuracies using low cost control alternative.

ACS Style

Azfar Khalid; Amjad Nawaz. Sensor less control of DC motor using Kalman filter for low cost CNC machine. 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE) 2014, 180 -185.

AMA Style

Azfar Khalid, Amjad Nawaz. Sensor less control of DC motor using Kalman filter for low cost CNC machine. 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE). 2014; ():180-185.

Chicago/Turabian Style

Azfar Khalid; Amjad Nawaz. 2014. "Sensor less control of DC motor using Kalman filter for low cost CNC machine." 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE) , no. : 180-185.

Conference paper
Published: 01 April 2014 in 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE)
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Non-contact metrology systems are gaining popularity as the micro products industries are establishing to meet high level of demand. Precision micro products are used in the fields of electronics, computer, medical and aerospace systems. So far, the production technologies are well advancing in the form of lithography and non-lithography based techniques. But, the dimensional inspection at micro-meso scale is not possible with conventional touch based systems. Micro-meso (10μm to few mm) scale artifact inspection needs non-conventional methods as compared to the well-established contact methods for normal large size manufacturing. The inspection of these parts is a challenge for the micro-manufacturing industry. Non-contact metrology inspection has turned out as a solution to this problem. Non-contact vision systems based technique has accuracy constraints. Computer vision system is used to model the artifact data through digital image. Edge detection technique is used to find the edges in the image to extract the required information. Many pixel and sub-pixel edge detection techniques are used for this purpose. Sub pixel edge detection through interpolation method is explored and implemented on various features of different samples. The behavior of the pixel and sub-pixel edge detection techniques is tested for different mega pixels. Using sub-pixel techniques, the system error is reduced by taking into account inside pixel information.

ACS Style

Adeel Wahab; Azfar Khalid; Rab Nawaz. Non-contact metrology inspection system for precision micro products. 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE) 2014, 151 -156.

AMA Style

Adeel Wahab, Azfar Khalid, Rab Nawaz. Non-contact metrology inspection system for precision micro products. 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE). 2014; ():151-156.

Chicago/Turabian Style

Adeel Wahab; Azfar Khalid; Rab Nawaz. 2014. "Non-contact metrology inspection system for precision micro products." 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE) , no. : 151-156.

Chapter
Published: 19 February 2014 in Econometrics for Financial Applications
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In this chapter, a comparison of Golay code based pulse compression (GCPC) technique with the Neuro-Fuzzy based pulse compression (NFPC) technique is demonstrated for ranging systems. Both of these techniques are used for the suppression of range side lobes that appear during the pulse compression process of the received echo pulse at the receiver for target(s) detection. Golay code is a pair of complementary codes and has an inherent property of zero side lobes when the two auto-correlation results of the complementary code pair are added. On the other side, neural network based pulse compression techniques are also developed to reduce the range side lobes. Both the techniques are different in nature but they share the common objective of range side lobe suppression in target detection. The differentiation parameters chosen for the comparison of GCPC and NFPC techniques include the computational complexity, range side lobe suppression levels, noise rejection capability, Doppler tolerance capability, range resolution capability as well as the training and convergence requirements of these pulse compression techniques. All these comparison criteria are found to determine the overall performance measures of the pulse compression techniques for ranging applications especially in case of detection and ranging of multiple closely spaced and weak targets. This comparison may be useful for a system designer to select a particular type of pulse compression technique for a specific ranging application.

ACS Style

Aamir Hussain; Zeashan Khan; Azfar Khalid; Muhammad Iqbal. A Comparison of Pulse Compression Techniques for Ranging Applications. Econometrics for Financial Applications 2014, 169 -191.

AMA Style

Aamir Hussain, Zeashan Khan, Azfar Khalid, Muhammad Iqbal. A Comparison of Pulse Compression Techniques for Ranging Applications. Econometrics for Financial Applications. 2014; ():169-191.

Chicago/Turabian Style

Aamir Hussain; Zeashan Khan; Azfar Khalid; Muhammad Iqbal. 2014. "A Comparison of Pulse Compression Techniques for Ranging Applications." Econometrics for Financial Applications , no. : 169-191.

Book chapter
Published: 19 February 2014 in Econometrics for Financial Applications
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In the last decade, the demand of micro products and miniaturization has seen a wide spread growth. Currently, micro products and micro features are produced through conventional macro scale ultra-precision machines and MEMS manufacturing techniques. These technologies have limitations as conventional machining centers consume large energy and space. For mass production of micro components using non-silicon materials and real 3D shapes or free-form surfaces, mechanical micro manufacturing technology based machine tools are developed as an alternative method. The principle of “Small equipment for small parts” is gaining trend towards the investigation on micro-machine tools. One example of miniaturization of manufacturing equipment and systems is the Japanese micro-factory concept. Few micro-machines and associated handling micro grippers and transfer arms are developed to create micro-factory. The manufacturing processes are performed in a desktop factory environment. To explore the micro-factory idea, large number of micro machines can be installed in a small work-floor. The control of this micro factory concept for operation, maintenance and monitoring becomes a Cyber-physical system capable of producing micro-precision products in a fully-automated manner at low cost. Manufacturing processing data and condition monitoring of micro machine tools in a micro factory are the variables of interest to run a smooth process flow. Every machine out of hundreds of micro machines will have sensing equipment and the sensors data is being compiled at one place, ideally using wireless communication systems. One or two operators can run and monitor the whole micro-factory and access the machine if the fault alarms receive from any station. A variety of sensors will be employed for machine control, process control, metrology and calibration, condition monitoring of machine tools, assembly and integration technology at the micro-scale resulting in smooth operation of micro-factory. Single machine can be designed with a computer numerical control, but, flexible reconfigurable controllers are envisioned to control variety of processes that will lead to the development of open architecture controllers to operate micro-factory. Therefore, the control effort and algorithms have to utilize process models to improve the overall process and, ultimately, the product. Thus, we aim to introduce machine to machine (M2M) communication in the micro factory test bed. M2M communication enables micro actuator/sensor & controller devices to communicate with each other directly i.e., without human intervention, automating management, monitoring, and data collection between devices, as well as communicating with neighboring machines. All micro sensors communicate with a local short distance wireless network e.g. via Bluetooth piconet as well as with a centralized controller via WLAN 802.11 to exchange control/command from it. In this chapter, inherent issues are first highlighted where bulk micro-part manufacturing is carried out using large size machines. State-of-the-art micro machine tool systems designed and developed so far are discussed. With the help of precision engineering fundamentals and miniaturization scaling issues, a design strategy is formulated for a high precision 3-axis CNC micro machine tool as a model for micro-factory working. Based on this, a mathematical model is built that includes machine’s design variables and its inherent errors. The volumetric error between tool/work-piece is evaluated from the machine’s mathematical model and further used as an objective function to be minimized. Robust design optimization at micro machine development stage reveals the sensitivity analysis of each design variable. The optimization analysis employs different design of Experiment (DOE) techniques to make initial population that is governed by multi-objective genetic algorithm. Hence, the robust design is achieved for 3-axis micro machine tool using the essential knowledge base. The technique is used to remove the machine’s repeatable scale errors via calibration and is known as error mapping. These errors are entered into the machine controller, which has the capability of compensating for the error. The machine does not need any extra hardware. Error mapping is a cost-effective tool in achieving volumetric accuracy in a micro manufacturing system.

ACS Style

Azfar Khalid; Zeashan Khan. Multi-objective Optimization for Error Compensation in Intelligent Micro-factory CPS. Econometrics for Financial Applications 2014, 540, 67 -103.

AMA Style

Azfar Khalid, Zeashan Khan. Multi-objective Optimization for Error Compensation in Intelligent Micro-factory CPS. Econometrics for Financial Applications. 2014; 540 ():67-103.

Chicago/Turabian Style

Azfar Khalid; Zeashan Khan. 2014. "Multi-objective Optimization for Error Compensation in Intelligent Micro-factory CPS." Econometrics for Financial Applications 540, no. : 67-103.

Journal article
Published: 02 March 2013 in Cognitive Computation
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The paper explains the utility of pod-like parallel structures in locomotion of bioinspired robots and motion platforms. Parallel robots are characterized by few performance measures which include workspace size, dexterity, orientation space limits and existence of singular regions. Conventionally, the parallel robots are six-legged, hexapods, but other configurations of parallel robots involve variation in the number of limbs and type of joints. The computation of performance measures of different geometries using a single algorithm is a challenging task. In this attempt, an algorithm is developed for the analysis of some of the performance measures like workspace, orientation space and dexterity of selected manipulators. The results show that the dexterous workspace found is always a subspace within the total workspace envelope. Moreover, the computational test for the task space mobility search is found to be a useful tool for parallel robot designing.

ACS Style

Azfar Khalid; Samir Mekid; Aamir Hussain. Characteristic Analysis of Bioinspired Pod Structure Robotic Configurations. Cognitive Computation 2013, 6, 89 -100.

AMA Style

Azfar Khalid, Samir Mekid, Aamir Hussain. Characteristic Analysis of Bioinspired Pod Structure Robotic Configurations. Cognitive Computation. 2013; 6 (1):89-100.

Chicago/Turabian Style

Azfar Khalid; Samir Mekid; Aamir Hussain. 2013. "Characteristic Analysis of Bioinspired Pod Structure Robotic Configurations." Cognitive Computation 6, no. 1: 89-100.

Conference paper
Published: 01 January 2010 in Proceedings of the 36th International MATADOR Conference
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This paper shows the design analysis of a non-conventional parallel manipulator of 3-SPS (Spherical-Prismatic-Spherical) configuration. This configuration is selected with the aim to enhance the manipulator workspace and dexterity in a table-top scale pod. The minimum number of limbs can be three in a parallel kinematic machine (PKM). The limb interference is reduced in a three limb structure unlike the six limbs configuration in the Stewart platform. In contrast, the stiffness is compromised in this structure as the platform cannot take load while standing on three ball joints. In order to deal with this issue, self-lockable spherical joints are designed to be incorporated into the 3-SPS system. The table-top size PKM manipulator is prototyped with the self-lockable spherical joints and its working performance is checked.

ACS Style

A. Khalid; Samir Mekid. Design Synthesis of a three legged SPS Parallel Manipulator. Proceedings of the 36th International MATADOR Conference 2010, 169 -173.

AMA Style

A. Khalid, Samir Mekid. Design Synthesis of a three legged SPS Parallel Manipulator. Proceedings of the 36th International MATADOR Conference. 2010; ():169-173.

Chicago/Turabian Style

A. Khalid; Samir Mekid. 2010. "Design Synthesis of a three legged SPS Parallel Manipulator." Proceedings of the 36th International MATADOR Conference , no. : 169-173.

Conference paper
Published: 28 June 2007 in Proceedings of the 35th International MATADOR Conference
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The emerging interest in the use of parallel kinematic machines for machining applications requires extensive research to determine proper workspace and dexterity when designing PKMs. Theoretically, the jacobian matrix is used to calculate all the performance parameters in PKMs. The condition number plays the role of an observer calculated for every point of the workspace in order to identify the location’s reachability and dexterity. The paper discusses issues related to the Jacobian inversion to determine the dexterity space. A program has been made to analyse the extraction of dexterity from workspace with two examples to illustrate this. Issues concerning dexterity and the jacobian inversion are also discussed.

ACS Style

Azfar Khalid; Samir Mekid. Jacobian Inversion Analysis and Extraction of Dexterous Workspace in PKMs. Proceedings of the 35th International MATADOR Conference 2007, 293 -296.

AMA Style

Azfar Khalid, Samir Mekid. Jacobian Inversion Analysis and Extraction of Dexterous Workspace in PKMs. Proceedings of the 35th International MATADOR Conference. 2007; ():293-296.

Chicago/Turabian Style

Azfar Khalid; Samir Mekid. 2007. "Jacobian Inversion Analysis and Extraction of Dexterous Workspace in PKMs." Proceedings of the 35th International MATADOR Conference , no. : 293-296.