Search Results for author: Yahya Zweiri

Found 15 papers, 6 papers with code

Physics-Informed LSTM-Based Delay Compensation Framework for Teleoperated UGVs

no code implementations26 Feb 2024 Ahmad Abubakar, Yahya Zweiri, AbdelGafoor Haddad, Mubarak Yakubu, Ruqayya Alhammadi, Lakmal Seneviratne

Subsequently, experiments were conducted to validate the efficacy of the framework in close-loop scenarios, particularly to compensate for the real-network delays experienced by teleoperated UGVs coupled with longitudinal slippage.

Asynchronous Bioplausible Neuron for Spiking Neural Networks for Event-Based Vision

no code implementations20 Nov 2023 Sanket Kachole, Hussain Sajwani, Fariborz Baghaei Naeini, Dimitrios Makris, Yahya Zweiri

Spiking Neural Networks (SNNs) offer a biologically inspired approach to computer vision that can lead to more efficient processing of visual data with reduced energy consumption.

Event-based vision Image Classification

Reinforcement Learning Generalization for Nonlinear Systems Through Dual-Scale Homogeneity Transformations

no code implementations8 Nov 2023 Abdel Gafoor Haddad, Igor Boiko, Yahya Zweiri

It achieves a success rate of 96% in bringing the load to its designated target with a 3D RMSE of 0. 0253 m. The video that shows the experimental results along with a summary of the paper is available at this link.


Asynchronous Events-based Panoptic Segmentation using Graph Mixer Neural Network

1 code implementation5 May 2023 Sanket Kachole, Yusra Alkendi, Fariborz Baghaei Naeini, Dimitrios Makris, Yahya Zweiri

In the context of robotic grasping, object segmentation encounters several difficulties when faced with dynamic conditions such as real-time operation, occlusion, low lighting, motion blur, and object size variability.

Panoptic Segmentation Robotic Grasping +1

GhostFaceNets: Lightweight Face Recognition Model From Cheap Operations

4 code implementations IEEE Access 2023 Mohamad Alansari, Oussama Abdul Hay, Sajid Javed, Abdulhadi Shoufan, Yahya Zweiri, Naoufel Werghi

The development of deep learning-based biometric models that can be deployed on devices with constrained memory and computational resources has proven to be a significant challenge.

Face Identification Face Verification +1

Relay-based identification of Aerodynamic and Delay Sensor Dynamics with applications for Unmanned Aerial Vehicles

no code implementations25 Mar 2023 Anees Peringal, Mohamad Chehadeh, Igor Boiko, Yahya Zweiri

Real-time identification is achieved by using the homogeneity properties of the MRFT and the LPRS which are proven in this paper.

Bimodal SegNet: Instance Segmentation Fusing Events and RGB Frames for Robotic Grasping

1 code implementation20 Mar 2023 Sanket Kachole, Xiaoqian Huang, Fariborz Baghaei Naeini, Rajkumar Muthusamy, Dimitrios Makris, Yahya Zweiri

Object segmentation for robotic grasping under dynamic conditions often faces challenges such as occlusion, low light conditions, motion blur and object size variance.

Instance Segmentation Object +3

A Neuromorphic Dataset for Object Segmentation in Indoor Cluttered Environment

1 code implementation13 Feb 2023 Xiaoqian Huang, Kachole Sanket, Abdulla Ayyad, Fariborz Baghaei Naeini, Dimitrios Makris, Yahya Zweiri

To the best of our knowledge, this densely annotated and 3D spatial-temporal event-based segmentation benchmark of tabletop objects is the first of its kind.

Benchmarking Segmentation +1

The Role of Time Delay in Sim2real Transfer of Reinforcement Learning for Cyber-Physical Systems

no code implementations30 Sep 2022 Mohamad Chehadeh, Igor Boiko, Yahya Zweiri

This paper analyzes the simulation to reality gap in reinforcement learning (RL) cyber-physical systems with fractional delays (i. e. delays that are non-integer multiple of the sampling period).

Reinforcement Learning (RL)

A Neuromorphic Vision-Based Measurement for Robust Relative Localization in Future Space Exploration Missions

no code implementations23 Jun 2022 Mohammed Salah, Mohammed Chehadah, Muhammed Humais, Mohammed Wahbah, Abdulla Ayyad, Rana Azzam, Lakmal Seneviratne, Yahya Zweiri

Driven by this necessity, this work proposes a robust relative localization system based on a fusion of neuromorphic vision-based measurements (NVBMs) and inertial measurements.

Landmark Tracking

Neuromorphic Camera Denoising using Graph Neural Network-driven Transformers

1 code implementation17 Dec 2021 Yusra Alkendi, Rana Azzam, Abdulla Ayyad, Sajid Javed, Lakmal Seneviratne, Yahya Zweiri

Compared to existing solutions, qualitative results verified the superior capability of the proposed algorithm to eliminate noise while preserving meaningful scene events.


Multirotors from Takeoff to Real-Time Full Identification Using the Modified Relay Feedback Test and Deep Neural Networks

no code implementations6 Oct 2020 Abdulla Ayyad, Mohamad Chehadeh, Pedro Silva, Mohamad Wahbah, Oussama Abdul Hay, Igor Boiko, Yahya Zweiri

Low cost real-time identification of multirotor unmanned aerial vehicle (UAV) dynamics is an active area of research supported by the surge in demand and emerging application domains.

Neuromorphic Eye-in-Hand Visual Servoing

no code implementations15 Apr 2020 Rajkumar Muthusamy, Abdulla Ayyad, Mohamad Halwani, Yahya Zweiri, Dongming Gan, Lakmal Seneviratne

Based on the visual feedback, the motion of the robot is controlled to make the temporal upcoming event features converge to the desired event in spatio-temporal space.

Cannot find the paper you are looking for? You can Submit a new open access paper.