Mohammed Baziyad

• Research Assistant at University of Sharjah

Leveraging data redundancy has long been recognized as an effective approach for concealing large amounts of secret data. In digital images, the 2D-pixel matrix inherently provides opportunities for redundancy, as each pixel is connected to its eight neighbors. Video segments, with their 3D structures, introduce an additional layer of redundancy kn...

This paper presents a comprehensive review of path planning in dynamic environments. This review covers the entire process, starting from obstacle detection techniques, through path-planning strategies, and also extending to formation control and communication styles. The review discusses the key trends, challenges, and gaps in current methods to e...

The Discrete Cosine Transform (DCT) is fundamental to high-capacity data hiding schemes due to its ability to condense signals into a few significant coefficients while leaving many high-frequency coefficients relatively insignificant. These high-frequency coefficients are often replaced with secret data, allowing for the embedding of many secret b...

This paper introduces the Color Histogram Contouring (CHC) method, a new training-less approach to object detection that emphasizes the distinctive features in chrominance components. By building a chrominance-rich feature vector with a bin size of 1, the proposed CHC method exploits the precise information in chrominance features without increasin...

A vast amount of research has been conducted on path planning over recent decades, driven by the complexity of achieving optimal solutions. This paper reviews multi-robot path planning approaches and presents the path planning algorithms for various types of robots. Multi-robot path planning approaches have been classified as deterministic approach...

Over the past few decades, there has been a consistent interest in the creation and use of Unmanned Aerial Vehicles (UAVs). Although originally developed for military purposes, such as surveillance and target acquisition, UAVs are now being utilized in a variety of fields, including tourism, public safety, transportation, and healthcare. Due to the...

Current implementations of leader-follower systems in multi-robot environments typically separate path planning and formation control, often leading to inefficiencies in execution speed, path quality, and system stability. These systems rely on complex control strategies that struggle to adapt to dynamic and challenging environments, resulting in s...

Several recent studies have indicated that upper extremity injuries are classified as a top common workplace injury. Therefore, upper extremity rehabilitation has become a leading research area in the last few decades. However, this high number of upper extremity injuries is viewed as a challenging problem due to the insufficient number of physioth...

There has been a continuous interest in multi-robot formation systems in the last few years due to several significant advantages such as robustness, scalability, and efficiency. However, multi-robot formation systems suffer from well-known problems such as energy consumption, processing speed, and security. Therefore, developers are continuously r...

The leader-follower formation approach is a commonly used strategy in multi-robot systems, usually implemented with a hierarchical control architecture combining path planning and formation control. The leader robot determines the desired trajectory while the follower robots track the motion of the leader robot using a control system. However, this...

Dealing with the trade-off challenge between computation speed and path quality has been a high-priority research area in the robotic path planning field during the last few years. Obtaining a shorter optimized path requires additional processing since iterative algorithms are adopted to keep enhancing the final optimized path. Therefore, it is a c...

The strong energy compaction property of the Discrete Cosine Transform (DCT) has been widely proposed as a solution to the capacity-quality trade-off problem in steganography. However, several recent steganography schemes did not fully exploit the strong compaction property of the DCT and hide in the whole large region that contains the less signif...

A fundamental problem in steganography is the trade-off between the hiding capacity and the quality of the stego signal. Researchers have found in the Discrete Cosine Transform (DCT) a potential solution to this trade-off challenge due to its strong compaction property. The DCT has the ability to represent a time-domain signal within a few numbers...

Over the past few decades, robotics technology and applications have attracted considerable interest from many researchers both in academia and industry. This interest mainly covers the development and implementation of control strategies for robotic systems such as adaptive control, robust control, active disturbance rejection control (ADRC), etc....

The strong energy compaction property of the Discrete Cosine Transform (DCT) has inspired DCT-based steganography techniques to embed secret data in large areas of the insignificant DCT coefficients. Since these coefficients are noncritical, conventional DCT-based steganography techniques replace these insignificant coefficients with the secret dat...

It has been proven that the higher the correlation level between samples in the time-domain of a digital signal, the stronger the energy com-paction property in the Discrete Cosine Transform (DCT) domain. This paper aims to investigate the limits of the DCT energy compaction property in speech signals by segmenting the cover speech signal into corr...

It has been proven that the strong energy compaction property of the Discrete Cosine Transform (DCT) has a relation with the inter-pixel correlation level in the spatial domain of the cover image. Recent studies have proven that the higher the correlation between pixels in the spatial domain, the stronger the energy compaction property of the DCT....

Path quality and computational time have formed together a well-known trade-off problem for path planning techniques. Due to this trade-off, contributions were usually considering improving only one of the two aspects, either increasing the swiftness as in real-time robotic path planning algorithms or enhancing the path quality as in shortest path...

There has always been a trade-off between embedding capacity and stego quality, and due to this, current research in image steganography suffers either from low embedding capacity in order to preserve high stego image quality, or from sacrificing the stego quality for higher capacity. This paper proposes a steganography scheme that aims to achieve...

The traditional trade-off between execution speed and path quality has forced real-time robotic path planning algorithms to sacrifice path quality in order to execute in real-time. Producing a path planning algorithm that targets enhancing both, the path quality and swiftness is a challenging problem. However, this paper proposes a novel path plann...

The strong energy compaction property of the Discrete Cosine Transform (DCT) has inspired researchers to utilize the DCT transform technique in steganography. The DCT transform can effectively represent a signal within a few significant coefficients leaving a large area with insignificant coefficients that can be safely replaced by a substantial am...

This paper introduces a new compression scheme that exploits temporal redundancies in video segments utilizing the pixogram concept recently introduced in the literature. By taking into consideration the correlation between video pixels along the time domain, a pixogram has the ability to transform uncorrelated spatial areas of separate video-frame...

In this paper, a mosque recognition system based on the Convolutional Neural Networks (CNN) and the Laplacian Pyramid is proposed. CNN networks have the ability to autonomously obtain and extract from images the features that can assist in the decision making. However, due to some factors such as different environmental conditions as well as differ...

Object recognition is a broad area that covers several topics including face recognition, gesture recognition, human gait recognition, traffic road signs recognition, among many others. Object recognition plays a vital role in several real-time applications such as video surveillance, traffic analysis, security systems, and image retrieval. This wo...

This paper presents a vision-based path planning strategy that aims to reduce the computational time required by a robot to find a feasible path from a starting point to the goal point. The proposed algorithm presents a novel strategy that can be implemented on any well-known path planning algorithm such as A*, D* and probabilistic roadmap (PRM), t...

Recent advances in network speeds for exchanging multimedia data over insecure networks has resulted in an increased interest in steganography techniques. These techniques are usually evaluated based on their performance in three attributes; namely capacity, imperceptibility, and robustness. Each of these attributes has its own measurement metric....

This work introduces the concept of a pixogram which makes possible a fresh approach to high payload video steganography. The pixogram allows for a new perspective by investigating the temporal changes that take place at the individual pixel level across frames of a video segment. Simply put, a pixogram has the property of converting highly uncorre...

This paper presents a vision-based kinematic tracking control strat-egy for a differential wheeled mobile robot using an enhancedprobabilistic roadmap (PRM) algorithm. The system consists ofthree main phases. The first phase is the information gatheringphase using vision techniques. In the second phase, a free-obstaclepath is generated using an enh...

The traditional trade-off between payload capacity and stego quality of steganographic information systems has kept hiding capacities at relatively low values due to the adverse effect on stego quality. This paper proposes a novel strategy that can raise the hiding capacity without negatively impacting stego quality. The proposed scheme exploits a...

This paper introduces a high capacity image hiding scheme with enhanced stego image quality. This new hiding scheme utilizes a multiscale Laplacian pyramid of the cover image in the Discrete Wavelet Transform (DWT) domain. Previous work either enhanced capacity at the expense of stego quality or improved stego quality albeit at lower capacities. Th...

Achieving high embedding capacities for information hiding systems while maintaining high perceptual stego quality is a critical challenge in steganography. This quandary is attracting researchers to overcome the trade-off barrier between high capacities and enhanced levels of stego image quality. This work introduces a promising transform-domain h...

This paper investigates the improvements in hiding capacity and perceptibility of image-based steganography using a hiding scheme which utilizes a multiscale Laplacian pyramid of the cover image and the discrete cosine transform (DCT). The proposed methodology allows for an enhanced visual quality of the resulting stego image, while allowing for ve...

QUARC QBOT2 is a ground robot manufactured by Quanser which has a combination of Mechatronics and Robotics courseware. Object detection can be done on QBOT2 by using Microsoft Kinect which is attached to the robot for vision. There are several object recognition techniques introduced which use image properties such as the ones that depend on RGB or...

This paper introduces velocity tracking control for differential wheeled mobile robot using vision information provided by a depth camera. This tracking control strategy is done into three phases. First, a depth camera mounted on the ceiling is used to collect texture and 3D shape information of the scene. Second, the piecewise 3D models generated...