Reem S K Ashour

• PhD Student at Khalifa University

Unmanned aerial vehicles (UAVs) have grown in popularity over the last decade, with applications ranging from agriculture to commercial and widespread use in search and rescue (SAR) operations. The utilization of UAVs has been shown to enhance the effectiveness of these missions by providing a fast, agile, and cost-effective means of gathering info...

This paper proposes an innovative hazard identification and risk assessment mapping model for Urban Search and Rescue (USAR) environments, concentrating on a 3D mapping of the environment and performing grid-level semantic labeling to recognize all hazards types found in the scene and to distinguish their risk severity level. The introduced strateg...

This paper presents a strategy to autonomously explore unknown indoor environments, focusing on 3D mapping of the environment and performing grid level semantic labeling to identify all available objects. Unlike conventional exploration techniques that utilize geometric heuristics and information gain theory on an occupancy grid map, the work prese...

Urban search and rescue missions require rapid intervention to locate victims and survivors in the affected environments. To facilitate this activity, Unmanned Aerial Vehicles (UAVs) have been recently used to explore the environment and locate possible victims. In this paper, a UAV equipped with multiple complementary sensors is used to detect the...

In this work, we propose artificial and virtual impedance interaction force reflection based shared control strategy for bilateral telemanipulation of MAV. The shared input for the master is designed by combining the velocity of the slave MAV with the scaled position-velocity of the master manipulator. The master input also uses reflected interacti...

This paper addresses the stability and tracking control problem of quadrotor unmanned flying vehicle (UAV) in the presence of uncertainty. Adaptive autonomous sliding mode tracking system is designed by combining robust and adaptive control theory. Lyapunov analysis shows that the proposed algorithms can guarantee asymptotic convergence of the trac...

In this paper, we deal with the stability and tracking control problem of quadrotor unmanned aerial vehicle (UAV) in the presence of the modeling error and disturbance uncertainty. The flight tracking control system combines classical proportional-derivative (PD) like term with robust and adaptive control term. Lyapunov method is used to design and...

In this work, we propose haptic-based bilateral tele-operation for quad-rotor vehicles by using Internet communication infrastructure. The idea is to introduce shared autonomy to increase remote operation and manipulation capacity of the vehicle in uncertain flying environments. The design couples ground and remote sites by position and velocity si...

This paper demonstrates the design and implementation of a portable embedded system targeting continuous temperature monitoring with wireless interface capability. Our main motive is to provide a solution for monitoring babies', disable or elderly population body temperature and initiate immediate alarm in case of hazardous cases. Such cases includ...