1. Reference: 20083-D
Date of Filing: 23/09/2019
Date of Award: 2/07/2020
Title: Actuator of Exoskeleton Hand (Class-03)
Inventors: Muhammad Hamza Asif Nizami, Abdul Rehman, Hamza Butt, Muhammad
Hamza Javed, Yasar Ayaz and Muhammad Jawad Khan.
2. Reference: 20085-D
Date of Filing: 23/09/2019
Date of Award: 2/07/2020
Title: Sixth Finger Actuator (Class-03)
Inventors: Muhammad Hamza Asif Nizami, Abdul Rehman, Hamza Butt, Muhammad
Hamza Javed, Yasar Ayaz and Muhammad Jawad Khan.
3. Reference: 20087-D
Date of Filing: 23/09/2019
Date of Award: 2/07/2020
Title: Brain Imaging Tool for Medical Diagnosis (Class-03)
Inventors: Muhammad Hamza Asif Nizami, Umer Asgher, Sara Ali, Yasar Ayaz and
Muhammad Jawad Khan.

ISI Thomson Reuters Indexed Journal Publications
[1] Khurram Khalil, Umer Asgher and Yasar Ayaz “Novel fNIRS study on homogeneous
symmetric feature-based transfer learning for brain-computer interface” Scientific Reports
2022 (ISSN: 2045-2322) (DOI: 10.1038/s41598-022-06805-4)

[2] Nihad Ali, Yasar Ayaz, and Jamshed Iqbal, “Collaborative Position Control of Pantograph
Robot Using Particle Swarm Optimization” International Journal of Control, Automation and
Systems, 2022 (ISSN:1598-6446) (DOI 10.1007/s12555-019-0931-6)

[3] Tehseen Akhtar; Syed Omer Gilani; Zohaib Mushtaq; Saad Arif; Mohsin Jamil; Yasar Ayaz;
Shahid Ikramullah Butt; Asim Waris, “Effective Voting Ensemble of Homogenous
Ensembling with Multiple Attribute Selection Approaches for Improved Identification of
Thyroid Disorder” Electronics (ISSN 2079-9292) 2021

[4] Saad Arif, Muhammad Jawad Khan, Noman Naseer, Keum-Shik Hong, Hasan Sajid, and Yasar
Ayaz. “Vector Phase Analysis Approach for Sleep Stage Classification: A Functional NearInfrared Spectroscopy-Based Passive Brain-Computer Interface.” Frontiers in Human
Neuroscience, 15, (2021).

[5] Umer Asgher, Muhammad Jawad Khan, Muhammad Hamza Asif Nizami, Riaz Ahmad, Yasar
Ayaz, Khurram Khalil, and Noman Naseer, “Motor training using mental workload (MWL)
with an assistive Soft Exoskeleton system; an fNIRS Study for brain-machine interface (BMI)”,
Frontiers in Neurorobotics, 2021 (doi: 10.3389/fnbot.2021.605751)

[6] Faisal Mehmood, Hamed Mahzoon, Yuichiro Yoshikawa, Hiroshi Ishiguro, Haleema Sadia,
Sara Ali, and Yasar Ayaz, “Attentional behavior of children with ASD in response to robotic
agents”, IEEE Access, Feb 2021 (doi: 10.1109/ACCESS.2021.3056211)

[7] Hammad Nazeer, Noman Naseer, Aakif Mehboob, Muhammad Jawad Khan, Rayyan Azam
Khan, Umar Shahbaz Khan, Yasar Ayaz, “Enhancing Classification Performance of fNIRSBCI by Identifying Cortically Active Channels Using the z-Score Method”, Sensors, MDPI,
Vol. 20, No. 23, 6995, Dec 2020.

[8] Hamza Asif, Zaid Ahsan Shah, Yasar Ayaz, Muhammad Jawad Khan, Sara Ali, Naveed
Muhammad, Khalid Akhtar, Darren Dancey, and Raheel Nawaz, “Proximal Actuation of an
Elastically Loaded Scissors Mechanism for the Leg Design of a Quadruped Robot”, in IEEE
Access, Vol. 8, pp. 208240 – 208252, 2020.

[9] Farwa Jaffar, Taha Farid, Muhammad Sajid, Yasar Ayaz, and Muhammad Jawad Khan,
“Prediction of Drag Force on Vehicles in a Platoon Configuration Using Machine Learning”,
IEEE Access, Vol. 8, pp. 201823-201834, Nov 2020.

[10] Muhammad Saqib Nazir, Iftikhar Ahmad, Muhammad Jawad Khan, Yasar Ayaz, and Hammad
Armghan, “Adaptive control of fuel cell and supercapacitor based hybrid electric vehicles”,
Energies, MDPI, Vol 13, No. 21, 5587, Oct 2020

[11] Sagheer Khan, Muhammad Zeeshan, and Yasar Ayaz, “Implementation and analysis of
MultiCode MultiCarrier Code Division Multiple Access (MC–MC CDMA) in IEEE 802.11ah
for UAV Swarm communication”, Physical Communication, Elsevier, Volume 42, 101159,
October 2020.

[12] Umer Asgher, Khurram Khalil, Muhammad Jawad Khan, Riaz Ahmad, Shahid Ikramullah
Butt, Yasar Ayaz, Noman Naseer, and Salman Nazir, “Enhanced Accuracy for Multiclass
Mental Workload Detection Using Long Short-Term Memory for Brain–Computer Interface”,
Frontiers in Neuroscience, Vol. 14, Article 584, June 2020.

[13] Sara Ali, Faisal Mehmood, Muhammad Jawad Khan, Yasar Ayaz, Umer Asgher, Haleema
Sadia, Ernest Edifor, and Raheel Nawaz, “A Preliminary Study on Effectiveness of a
Standardized Multi-Robot Therapy for Improvement in Collaborative Multi-Human
Interaction of Children with ASD,” in IEEE Access, Vol. 8, pp. 109466 – 109474, June 2020.

[14] Rumshaa Yunus, Sara Ali, Yasar Ayaz, Mushtaq Khan, Shamsa Kanwal, Uzma Akhlaque, and
Raheel Nawaz, “Development and Testing of a Wearable Vibrotactile Haptic Feedback System
for Proprioceptive Rehabilitation,” in IEEE Access, Vol. 8, pp. 35172 – 35184, Feb 2020.

[15] Sara Ali, Faisal Mehmood, Yasar Ayaz, Muhammad Jawad Khan, Haleema Sadia, and Raheel
Nawaz, “Comparing the Effectiveness of Different Reinforcement Stimuli in a Robotic
Therapy for Children with ASD,” in IEEE Access, Vol. 8, pp. 13128 – 13137, Jan 2020.

[16] Faisal Mehmood, Yasar Ayaz, Sara Ali, Rita de Cassia Amadeu and Haleema Sadia,
“Dominance in Visual Space of ASD children using multi-robot joint attention integrated
distributed imitation system”, IEEE Access, Volume 7, pp. 168815 – 168827, Nov 2019.

[17] Umer Asgher, Riaz Ahmad, Noman Naseer, Yasar Ayaz, Muhammad Jawad Khan and
Muhammad Kamal Amjad, “Assessment and Classification of Mental Workload in the
Prefrontal Cortex (PFC) Using Fixed-Value Modified Beer-Lambert Law”, IEEE Access,
Volume 7, pp. 143250 – 143262, Oct 2019.

[18] Mamoona Shami, Salman Maqbool, Hasan Sajid, Yasar Ayaz and Sen-ching Samson Cheung,
“People Counting in Dense Crowd Images using Sparse Head Detections”, IEEE Transactions
on Circuits and Systems for Video Technology, Vol. 29, No. 9, pp. 2627-2636, Sept 2019.

[19] Waseem Shahzad, Yasar Ayaz, Muhammad Jawad Khan, Noman Naseer, Mushtaq Khan,
“Enhanced Performance for Multi-Forearm Movement Decoding Using Hybrid IMU–sEMG
Interface”, Frontiers in Neurorobotics, July 2019.

[20] Sara Ali, Faisal Mehmood, Darren Dancey, Yasar Ayaz, Muhammad Jawad Khan, Noman
Naseer, Rita De Cassia Amadeu, Haleema Sadia, and Raheel Nawaz, “An Adaptive MultiRobot Therapy for Improving Joint Attention and Imitation of ASD Children”, IEEE Access,
Vol 7, pp. 81808 – 81825, June 2019.

[21] Asim Zaheer ud Din, Yasar Ayaz, Mian Ilyas Ahmad, Momena Hasan, Salman Masaud,
Naveed Muhammad, “Cost-Effective Telemetry for Energy Network of an Electricity
Distribution Company: Part I”, Turkish Journal of Electrical Engineering and Computer
Science, Vol. 27, Issue 2, pp. 889 – 902, 2019.

[22] Rizwan Asif, Ali Athar, Faisal Mehmood, Fahad Islam, Yasar Ayaz, “Whole-body motion and
footstep planning for humanoid robots with multi-heuristic search”, Robotics and Autonomous
Systems, Vol. 116, pp. 51–63, 2019.

[23] Zaid Tahir, Ahmed Hussain Qureshi, Yasar Ayaz and Raheel Nawaz, “Potentially guided
bidirectionalized RRT* for fast optimal path planning in cluttered environments”, Robotics
and Autonomous Systems, Elsevier, Volume 108, pp. 13-27, October 2018.

[24] Shahid Ikramullah Butt, Umer Asgher, Umar Mushtaq, Riaz Ahmed, Faping Zhang, Yasar
Ayaz, Mohsin Jamil and Muhammad Kamal Amjad, “Intelligent machine vision based
Modeling and Positioning System in Sand casting process”, Advances in Materials Science and
Engineering, Hindawi, Volume 2017, Article ID 3192672, Jan 2017.

[25] Zeeshan Asfar, Saad Nauman, Ghufran ur Rehman, Fahad Mumtaz Malik, Yasar Ayaz, and
Naveed Muhammad, “Development of Flexible Cotton-Polystyrene Sensor for Application as
Strain Gauge”, IEEE Sensors Journal, Vol. 16, Issue 24, December 2016.

[26] Ahmed Hussain Qureshi and Yasar Ayaz, “Potential Functions based Sampling Heuristic for
Optimal Path Planning”, Autonomous Robots, Springer, Vol 40, Issue 6, pp. 1079-1093,
August 2016.

[27] Sara Baber Sial, Muhammad Baber Sial, Yasar Ayaz, Syed Irtiza Ali Shah and Aleksandar
Zivanovic, “Interaction of robot with humans by communicating simulated emotional states
through expressive movements”, Intelligent Service Robots, Springer, Vol 9, Issue 3, pp. 231-
255, July 2016.

[28] Muhammad Yaqoob, Sardar Rushan Sher Qaisrani, Muhammad Waqas Tariq, Yasar Ayaz,
Sohail Iqbal and Sajid Nisar, “Design and Control of a Haptic Enabled Robotic Manipulator”,
International Journal of Advanced Robotic Systems (IJARS), InTech Publishers, Vol. 12, No.
7, 12:109, July 2015.

[29] Mohsin Jamil, Usman Rashid, Rizwan Arshad, Muhammad Nasir Khan, Syed Omer Gilani and
Yasar Ayaz, “Robust Repetitive Current Control of Two-Level Utility-Connected Converter
using LCL Filter”, The Arabian Journal for Science and Engineering (AJSE), Springer, pp.
2653-2670, Sept 2015.

[30] Muhammad Zeeshan Baig, Yasar Ayaz, Syed Omer Gilani, Mohsin Jamil and Muhammad
Naveed, “Motor imagery based EEG signal classification using self-organizing maps”, Science
International, Vol. 27, No. 2, pp. 1165-1170, 2015.

[31] Umair Iqbal, Syed Irtiza Ali Shah, Mohsin Jamil, Syed Omer Gillani and Yasar Ayaz,
“Selection of Unmanned Aerial System (UAS) for Disaster Relief Operations: A Comparison”,
Science International, Vol 27, No. 4, pp. 3199-3203, 2015.

[32] Badar Ali, Yasar Ayaz, Naveed Muhammad, Syed Omer Gilani, Mohsin Jamil, “Improved
Method for Stereo Vision-Based Human Detection For a Mobile Robot Following a Target
Person”, South African Journal of Industrial Engineering, Vol. 26, No. 1, pp. 102-119, 2015.

[33] Ahmed Hussain Qureshi, and Yasar Ayaz, “Intelligent bidirectional rapidly-exploring random
trees for optimal motion planning in complex cluttered environments”, Robotics and
Autonomous Systems, Elsevier, Vol. 68, pp. 1-11, June 2015.

[34] Malik Anas Ahmed, Yasar Ayaz, Mohsin Jamil, Syed Omer Gillani, Muhammad Babar
Rasheed, Muhammad Imran, Nadeem Ahmed Khan, Waqas Majeed and Nadeem Javaid,
“Comparative analysis of classifiers for developing an adaptive computer-assisted EEG
analysis system for diagnosing epilepsy”, BioMed Research International, Hindawi, Article ID
638036, 2015.

[35] Ahmed Hussain Qureshi, Saba Mumtaz, Yasar Ayaz, Osman Hasan, Mannan Saeed
Muhammad and Muhammad Tariq Mahmood, “Triangular Geometrized Sampling Heuristics
for Fast Optimal Motion Planning”, International Journal of Advanced Robotic Systems
(IJARS), InTech Publishers, Vol. 12, No. 2, 12:10, 2015, (Top Most Popular Paper of IJARS
for 3 consecutive weeks in February – March 2015).

[36] Shahab Shahid Khawaja, Mohsin Jamil, Qasim Awais, Umer Asgher and Yasar Ayaz,
“Analysis of Classical Controller by Variation of Innerloop and Controller Gain for Two-level
Grid-connected Converter”, Indian Journal of Science and Technology (IJST), Vol. 8, Issue
20, pp. 1-9, 2015.

[37] Mohsin Jamil, Asad Asghar Janjua, Iqra Rafique, Shahid Ikramullah Butt, Yasar Ayaz, and
Syed Omer Gilani, “Optimal Control based Intelligent Controller for Active Suspension
System”, Life Science Journal, Vol. 10 No. 12s, pp. 653-659, December 2013.

[38] Mohsin Jamil, Asad Asghar Janjua, Iqra Rafique, Aamir Mehmood, Yasar Ayaz, and Syed
Omer Gilani, “Modeling and Control of a Non-Linear Quarter Vehicle Suspension System
Using Hybrid Fuzzy-LQR Controller”, Life Science Journal, Vol. 10 No. 11s, pp. 653-659,
December 2013.

[39] Jauwairia Nasir, Fahad Islam, Usman Malik, Yasar Ayaz, Osman Hasan, Mushtaq Khan, and
Mannan Saeed Muhammad, “RRT*-Smart: A rapid convergence implementation of RRT*”,
International Journal of Advanced Robotic Systems (IJARS), InTech Publishers, 2013, Vol. 10, No. 7, 299:2013.

[40] Aamir Iftikhar, Mushtaq Khan, Khurshid Alam , Syed Hussain Imran, Liaqat Ali, Yasar Ayaz,
and Ashfaq Khan, “Turbine blade manufacturing through Rapid Tooling (RT) process and its
quality inspection”, International Journal of Materials and Manufacturing Processes, Taylor &
Francis, Vol. 28, No. 5, pp. 534-538, 2013.

[41] Teppei Tsujita, Atsushi Konno, Shunsuke Komuzunai, Yuki Nomura, Tomoya Myojin, Yasar
Ayaz and Masaru Uchiyama, “Humanoid Robot Motion Generation Scheme for Tasks
Utilizing Impulsive Force,” International Journal of Humanoid Robotics (IJHR), World
Scientific Publishing Company, Vol. 9, No. 2, pp. 1250008-1 to 1250008-23, 2012.

[42] Yasar Ayaz, Atsushi Konno, Khalid Munawar, Teppei Tsujita, Shunsuke Komizunai and
Masaru Uchiyama, “A Human-Like Approach Towards Humanoid Robot Footstep Planning”,
International Journal of Advanced Robotic Systems (IJARS), InTech Publishers, Vol. 8, No.
4, pp. 98-109, 2011.

[43] Yasar Ayaz, Khalid Munawar, Muhammad Bilal Malik, Atsushi Konno and Masaru Uchiyama,
“Human-like Approach to Footstep Planning Among Obstacles for Humanoid Robots,”
International Journal of Humanoid Robotics (IJHR), vol. 4, no. 1, pp. 125-149, 2007.

INTERNATIONAL BOOK CHAPTERS AND MONOGRAPHS

[59] Khurram Khalil, Umer Asgher, Yasar Ayaz, Riaz Ahmad, Salman Nazir, Sara Ali, Sofia
Scataglini and Noriyuki Oka, “Efficient Extreme Learning Machine (ELM) Based Algorithm
for Electrocardiogram (ECG) Heartbeat Classification”, Advances in Neuroergonomics and
Cognitive Engineering, International Conference on Applied Human Factors and Ergonomics
(AHFE 2020). Advances in Intelligent Systems and Computing, Springer, Vol 1201, pp. 312-
318, San Diego, CA, USA, June 2020.

[60] Sara Ali, Muhammad Sajid, Yasar Ayaz and Umer Asgher, “A Methodology for Integrating
Project Based Learning Outcomes and Attributes via Questionnaire”, Advances in
Neuroergonomics and Cognitive Engineering, International Conference on Applied Human
Factors and Ergonomics (AHFE 2020). Advances in Intelligent Systems and Computing,
Springer, Vol 1201, pp. 369-374, San Diego, CA, USA, June 2020.

[61] Sara Ali, Faisal Mehmood, Yasar Ayaz, Muhammad Jawad Khan and Umer Asgher, “Effect
of Paired Stimuli on Joint Attention of Children with ASD”, Advances in Neuroergonomics
and Cognitive Engineering, International Conference on Applied Human Factors and
Ergonomics (AHFE 2020). Advances in Intelligent Systems and Computing, Springer, Vol
1201, pp. 362-368, San Diego, CA, USA, June 2020.

[62] Khurram Khalil, Umer Asgher, Mahmoona Khalil, Kausar Khawaja, Yasar Ayaz, Salman
Nazir, Noriyuki Oka, and Jose Arzola Ruiz, “An Empirical Study on Organizational
Socialization and Its Relationship with Employees’ Age and the Knowledge Management”,
Advances in Neuroergonomics and Cognitive Engineering, International Conference on
Applied Human Factors and Ergonomics (AHFE 2020). Advances in Intelligent Systems and
Computing, Springer, Vol 1201, pp. 355-361, San Diego, CA, USA, June 2020.

[63] Umer Asgher, Jose Arzola Ruiz, Yasar Ayaz, Muhammad Sajid, Khurram Khalil and Sara Ali,
“Multi-level Optimization of Reactive Power Compensation in Industrial Nets with Heuristic
Modelling Techniques”, Advances in Neuroergonomics and Cognitive Engineering,
International Conference on Applied Human Factors and Ergonomics (AHFE 2020). Advances
in Intelligent Systems and Computing, Springer, Vol 1201, pp. 429-438, San Diego, CA, USA,
June 2020.

[64] Ahmed Husnain Johar, Talha Yousaf, Umer Asgher, Yasar Ayaz, Salman Nazir, Muhammad
Jawad Khan, Lala Mustafa, and Khurram Khalil, “Investigation of EEG Correlate in NIRS
Signal for BCI”, Advances in Neuroergonomics and Cognitive Engineering, International
Conference on Applied Human Factors and Ergonomics (AHFE 2020). Advances in Intelligent
Systems and Computing, Springer, Vol 1201, pp. 319-325, San Diego, CA, USA, June 2020.

[65] Umer Asgher, Jose Arzola Ruiz, Eduardo Roberto Gutiérrez-Gualotuña, Yasar Ayaz,
Muhammad Sajid, Khurram Khalil, and Sara Ali, “Mathematical Modeling and Optimization
of Downdraft Gasifiers Using Artificial Neural Networks (ANN) and Stochastic Programming
Techniques”, Advances in Neuroergonomics and Cognitive Engineering, International
Conference on Applied Human Factors and Ergonomics (AHFE 2020). Advances in Intelligent
Systems and Computing, Springer, Vol 1201, pp. 375-384, San Diego, CA, USA, June 2020.

[66] Faisal Mehmood, Sara Ali, Yasar Ayaz, Muhammad Jawad Khan and Umer Asgher,
“Comparing Effect of Active vs. Passive Robotic Interaction on Joint Attention of Children
with ASD”, Advances in Neuroergonomics and Cognitive Engineering, International
Conference on Applied Human Factors and Ergonomics (AHFE 2020). Advances in Intelligent
Systems and Computing, Springer, Vol 1201, pp. 305-311, San Diego, CA, USA, June 2020.

[67] Khurram Khalil, Umer Asgher, Yasar Ayaz, Riaz Ahmad, Jose Arzola Ruiz, Noriyuki Oka,
Sara Ali, and Muhammad Sajid, “Cognitive Computing for Human-Machine Interaction: An
IBM Watson Implementation”, Advances in Neuroergonomics and Cognitive Engineering,
International Conference on Applied Human Factors and Ergonomics (AHFE 2020). Advances
in Intelligent Systems and Computing, Springer, Vol 1201, pp. 400-406, San Diego, CA, USA,
June 2020.

[68] Khurram Khalil, Umer Asgher, Mahmoona Khalil, Kausar Khawaja, Yasar Ayaz, Salman
Nazir, Noriyuki Oka, Jose Arzola Ruiz, and Muhammad Sajid, “Organizational Socialization:
An Important Factor for Knowledge Creation in Knowledge Based Industrial Organizations
and Enterprises”, Advances in Neuroergonomics and Cognitive Engineering, International
Conference on Applied Human Factors and Ergonomics (AHFE 2020). Advances in Intelligent
Systems and Computing, Springer, Vol 1201, pp. 445-451, San Diego, CA, USA, June 2020.

[69] Sara Ali, Mohammad Samad, Faisal Mehmood, Yasar Ayaz, Wajahat Mehmood Qazi,
Muhammad Jawad Khan, and Umer Asgher, “Hand Gesture Based Control of NAO Robot
Using Myo Armband”, Advances in Neuroergonomics and Cognitive Engineering,
International Conference on Applied Human Factors and Ergonomics (AHFE 2019). Advances
in Intelligent Systems and Computing, Springer, Vol 953, pp. 449-457, Washington D.C.,
USA, July 2019.

[70] Sara Ali, Faisal Mehmood, Yasar Ayaz, Umer Asgher, and Muhammad Jawad Khan, “Effect
of Different Visual Stimuli on Joint Attention of ASD Children Using NAO Robot”, Advances
in Neuroergonomics and Cognitive Engineering, International Conference on Applied Human
Factors and Ergonomics (AHFE 2019), Advances in Intelligent Systems and Computing,
Springer, Springer, Vol 953, pp. 490-499, Washington D.C., USA, July 2019.

[71] Umer Asgher, José Arzola-Ruiz, Riaz Ahmad, Osmel Martínez-Valdés, Yasar Ayaz, and Sara
Ali, “Modeling and Multi-objective Optimization of Insulating Lining Using Heuristic
Technique “Exploration of Variable Codes (EVC)”, Advances in Neuroergonomics and
Cognitive Engineering, International Conference on Applied Human Factors and Ergonomics
(AHFE 2019), Advances in Intelligent Systems and Computing Series, Springer Vol 953, pp.
427-437, Washington D.C., USA, July 2019.

[72] Umer Asgher, Riaz Ahmad, Yasar Ayaz, Noman Naseer, Liaqat Ali, José Arzola Ruiz, and
Maureen Kole, “Analyzing Various Functions of Prefrontal Cortex (PFC) in Decision Making
via Brain Imaging Techniques”, Advances in Cross-Cultural Decision Making, International
Conference on Applied Human Factors and Ergonomics (AHFE 2019), Advances in Intelligent
Systems and Computing (AISC) Series, Springer Vol 610, pp. 249 – 260, Los Angeles,
California, USA, July 2017.

[73] Muhammad Taha Manzoor, Umer Sohail, Noor-e-Mustafa, Muhammad Hamza Asif Nizami
and Yasar Ayaz, “Design of a Single Motor Based Leg Structure with the Consideration of
Inherent Mechanical Stability”, 4th International Conference on Mechanics and Mechatronics
Research (ICMMR 2017), IOP Conference Series: Materials Science and Engineering, Xi’an,
China, June 2017.

[74] Saima Tariq, Sara Baber, Asbah Ashfaq, Yasar Ayaz , Muhammad Naveed and Saba Mohsin,
“Interactive Therapy Approach Through Collaborative Physical Play Between a Socially
Assistive Humanoid Robot and Children with Autism Spectrum Disorder”, ICSR, Social
Robotics, Volume 9979 of the series Lecture Notes in Computer Science, Springer, pp. 561-

570, October 2016. ISBN: 978-3-319-47436-6.
[75] Muhammad Zeeshan Baig, Yasir Mehmood and Yasar Ayaz, “A BCI System Classification
Technique Using Median Filtering and Wavelet Transform”, Dynamics in Logistics, Part of
the series Lecture Notes in Logistics, Springer, pp. 355-364, 2015.

[76] Akhtar Khurshid, Abdul Ghafoor, Muhammad Afzal Malik, and Yasar Ayaz, “Modeling and
analysis of robotic grasping using soft fingers”, Nature Inspired Mobile Robots: Proceedings
of International Conference on Climbing and Walking Robots (CLAWAR), World Scientific
Publishers, Sydney, Australia, pp. 643-650, 2013. (Third Best Technical Paper Award)

[77] Teppei Tsujita, Atsushi Konno, Yuki Nomura, Shunsuke Komizunai, Yasar Ayaz and Masaru
Uchiyama, “An Impact Motion Generation Support Software”, Chapter 11, Cutting Edge
Robotics 2010, Advanced Robotic Systems Journal and In-Tech Publishing Company, pp. 175-
186, 2010.

[78] Yasar Ayaz, Atsushi Konno, Khalid Munawar, Teppei Tsujita and Masaru Uchiyama,
“Navigation Planning with a Human-like Approach”, Chapter 11, Mobile Robots Navigation,
Advanced Robotic Systems Journal and In-Tech Publishing Company, pp. 223-240, 2010.

[79] Yasar Ayaz, “Footstep Planning Among Obstacles for Humanoid Robots”, Doctoral Thesis
(Robotics and Machine Intelligence), Graduate School of Engineering, Tohoku University,
Japan, 2009.

[80] Yasar Ayaz, Khalid Munawar, Muhammad Bilal Malik, Atsushi Konno and Masaru Uchiyama,
“Human-like Approach Towards Footstep Planning,” Chapter 15, Humanoid Robots: Humanlike Machines, Advanced Robotics Systems Journal and I-Tech Education and Publishing, pp.
295-314, 2007.

[81] Yasar Ayaz, “Autonomous footstep planning for humanoid robots,” Master’s Thesis (Electrical
Engineering: Controls and Signal Processing), College of Electrical and Mechanical
Engineering, National University of Sciences and Technology (NUST), Pakistan, 2005.

INTERNATIONAL CONFERENCE PAPERS (FULL PAPER PEER REVIEWED)
2021

[82] Saad Arif, Mahad Arif, Saba Munawar, Yasar Ayaz, Muhammad Jawad Khan, and Noman
Naseer. “EEG Spectral Comparison Between Occipital and Prefrontal Cortices for Early
Detection of Driver Drowsiness.” IEEE International Conference on Artificial Intelligence and
Mechatronics
2020

[83] Umer Asgher, Khurram Khalil, Yasar Ayaz, Riaz Ahmad, and Muhammad Jawad Khan,
“Classification of Mental Workload (MWL) using Support Vector Machines (SVM) and
Convolutional Neural Networks (CNN)”, IEEE International Conference on Computing,
Mathematics and Engineering Technologies (iCoMET), Sukkur, Pakistan, Jan 2020. DOI:
10.1109/iCoMET48670.2020.9073799
2019

[84] Ahmed A. Ansari, Junaid Ahmed, Hamza Arif, Aashir Iqbal, Hamza Asif Nizami, and Yasar
Ayaz, “Investigating Series-Parallel Actuation Arrangement in a Bioinspired Biped Robot”,
IEEE International Conference on Robotics and Automation in Industry (ICRAI), Rawalpindi,
Pakistan, Oct 2019, DOI: 10.1109/ICRAI47710.2019.8967365

[85] Asim Zaheer Ud Din, Yasar Ayaz, Momena Hasan, Jawad Khan, Muhammad Salman,
“Bivariate Short-term Electric Power Forecasting using LSTM Network”, IEEE International
Conference on Robotics and Automation in Industry (ICRAI), Rawalpindi, Pakistan, Oct 2019,
DOI: 10.1109/ICRAI47710.2019.8967378

[86] Naveed Anjum, Muhammad Kamal Amjad, and Yasar Ayaz, “Analysis of Computational
Efficiency of Artificial Intelligence based Search Techniques in Trajectory Planning of
Industrial Manipulator”, IEEE International Conference on Robotics and Automation in
Industry (ICRAI), Rawalpindi, Pakistan, Oct 2019, DOI: 10.1109/ICRAI47710.2019.8967374

[87] Sobia Fayyaz and Yasar Ayaz, “CNN and Traditional Classifiers Performance for Sign
Language Recognition”, ACM International Conference on Machine Learning and Soft
Computing (ICMLSC), Da Lat, Vietnam, Jan 2019.
2018

[88] Hassan Mahmood, Syed Mohammed Shamsul Islam, Syed Omer Gilani, and Yasar Ayaz,
“Dynamic Saliency Model Inspired by Middle Temporal Visual Area: A Spatio-Temporal
Perspective”, IEEE Digital Image Computing: Techniques and Applications (DICTA),
Canberra, Australia, Dec 2018, doi: 10.1109/DICTA.2018.8615806.

[89] Sara Ali, Yasar Ayaz, Muhammad Jawad Khan, and Faisal Mehmood, “Therapy for Autsim
Using Robots as Virtual Agents”, International Conference on Virtual Reality Technology, pp.
81-84, Quanzhou, China, Nov 2018.

[90] Sara Ali, Faisal Mehmood, Yasar Ayaz , Noman Naseerb , Umer Asgher, Muhammad
Jahangeer Qureshi and M. Jawad Khan, “Cognitive assessment for autistic children using
robotic therapy: an fNIRS study”, fNIRS2018: Biennial Meeting of the Society for fNIRS, III46, Tokyo, Japan, Oct 2018.

[91] Muhammad Jawad Khan, Yasar Ayaz, Faisal Mehmood, Sara Ali, Noman Naseer, Umer
Asgher and Muhammad Jahangeer Qureshi, “Enhanced classification accuracy using deep
learning for mental math: an fNIRS study”, III-43, fNIRS2018, Biennial Meeting of the Society
for fNIRS, Tokyo, Japan, Oct 2018.

[92] Habib Ahmed, Muhammad Hamza Asif Nizami, Syed Irtiza Ali Shah, and Yasar Ayaz,
“Monocular Vision-Based Obstacle Detection Technique using Projected Grid Deformation”,
IEEE International Conference on Information and Automation (ICIA), pp. 1599-1604,
Wuyishan, China, Aug 2018.

[93] Ahmed Hussain Qureshi, Zaid Tahir, Guliafshan Tariq, and Yasar Ayaz, “Re-planning Using
Delaunay Triangulation for Real Time Motion Planning in Complex Dynamic Environments”,
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 905
– 911, Auckland, New Zealand, July 2018.
2017

[94] Sara Baber Sial, Husnain Ahmad, Osama Farooq, Muhammmad Naveed, and Yasar Ayaz,
“Oizzu: A Bipedal Humanoid Robot Development Kit”, 9th ACM International Conference on
Machine Learning and Computing (ICMLC), pp. 493–497, Singapore, Feb 2017.
2016

[95] Ali Athar, Abdul Moeed Zafar, Rizwan Asif, Armaghan Ahmad Khan, Fahad Islam, Yasar
Ayaz and Osman Hasan, “Whole-body motion planning for humanoid robots with heuristic
search”, IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 4720 –
4727, Daejeon, South Korea, October 2016.

[96] Asim Zaheer, Yasar Ayaz, Momena Hasan and Muhammad Salman, “Sampled-data robust
feedback linearization using estimator”, IEEE International Workshop on Advanced Motion
Control (AMC), pp. 276-281, Auckland, New Zealand, April 2016.
2015

[97] Idrees Hussain, Muhammad Talha Imran, Abdul Haseeb Ayub, Shams Azeem, Maham
Tanveer, Fahad Islam and Yasar Ayaz, “Designing of motions for humanoid goal keeper
robots”, IEEE International Conference on Robotics and Biomimetics (Robio), pp. 1834-1839,
Zhuhai, China, Dec 2015.

[98] Muhammad Sarmad Khan, Asad Ali Awan, Ahmed Hussain Qureshi, Fahad Islam, Yasar
Ayaz and Osman Hassan, “Safe-radius based motion planning of hexapod using RRTconnect” , IEEE International Conference on Information and Automation (ICIA), pp. 415-
418, Yunnan, China, Aug 2015.

[99] Muhammad Sami, Yasar Ayaz , Mohsin Jamil , Syed Omer Gilani, Muhammad Naveed, “Text
Detection and Recognition for Semantic Mapping in Indoor Navigation”, 5th IEEE
International Conference on IT Convergence and Security (ICITCS), Kuala Lampur, Malaysia,
2015.

[100] Shehryar Ali Khan, Yasar Ayaz and Mohsin Jamil, “Collaborative Optimal Reciprocal
Collision Avoidance for Mobile Robots”, In Proceedings of International conference on Green
Computing and Engineering Technology (ICGCET), paper # 74, Dubai, UAE, 2015.

[101] Shahab Shahid Khawaja, Mohsin Jamil, Qasim Awais, Umer Asgher and Yasar Ayaz,
“Analysis of Classical Controller by Variation of Inner-Loop and Controller Gain for TwoLevel Grid-Connected Converter”, In Proceedings of International conference on Green
Computing and Engineering Technology (ICGCET), paper # 84, Dubai, UAE, 2015.

[102] Muhammad Faisal, Mohsin Jamil, Qasim Awais, Usman Rashid, Muhammad Sami, Syed
Omer Gilani, Yasar Ayaz and Muhammad Nasir Khan, “Iterative Linear Quadratic Regulator
(ILQR) Controller for Trolley Position Control of Quanser 3DOF Crane”, In Proceedings of International conference on Green Computing and Engineering
Technology (ICGCET), paper # 90, Dubai, UAE, 2015.
[103] Muhammad Faisal, Mohsin Jamil, Usman

Rashid, Syed Omer Gilani, Yasar Ayaz, and
Muhammad Nasir Khan, “A Novel Dual-loop Control Scheme for Payload Anti-Swing and
Trolley Position of Industrial Robotic 3DOF Crane”, In Proceedings of International
Conference on Robotics, Mechanics and Mechatronics (ICRMM), Singapore, 2015.
2014

[104] Ahmed Hussain Qureshi, Saba Mumtaz, Abdul Ahad Ashfaque Sheikh, Khawaja Fahad Iqbal,
Yasar Ayaz, and Osman Hasan, “Augmenting RRT* with Local Trees for Real Time Motion
Planning in Complex Cluttered Environments”, In Proceedings of IEEE International
Conference on Methods and Models in Automation and Robotics (MMAR), pp. 657-662,
Miedzydroje, Poland, Sept 2014.

[105] Mohsin Jamil, Rizwan Arshad, Usman Rashid, Yasar Ayaz and Muhammad Khan, “Design
and Analysis of Repetitive Controllers for Grid Connected Inverter Considering Plant
Bandwidth for Interfacing Renewable Energy Sources”, In Proceedings of International
Conference on Renewable Energy Research and Applications (ICRERA), pp. 468 – 473,
Milwaukee, USA, 2014.

[106] Mannan Saeed Muhammad, Husna Mutahira, Kun-Woo Choi, Whoi-Yul Kim, and Yasar
Ayaz, “Calculating Accurate Window Size for Shape-From-Focus”, In Proceedings of IEEE
International Conference on Information Science and Applications (ICISA), Seoul, South
Korea, 2014.

[107] Muhammad Affan Zia, Umer Ansari, Mohsin Jamil, Omer Gilani, and Yasar Ayaz, “Face and
Eye Detection in Images using Skin Color Segmentation and Circular Hough Transform”, In
Proceedings of IEEE International Conference on Robotics and Emerging Allied Technologies
in Engineering (iCreate), pp. 211-213, Islamabad, Pakistan, 2014.

[108] Faheem Ijaz, Nouman Mehmood, Mohsin Jamil, and Yasar Ayaz, “Developments in Adaptive
Control Techniques for Machine Tools”, In Proceedings of IEEE International Conference on
Robotics and Emerging Allied Technologies in Engineering (iCreate), pp. 186-190, Islamabad,
Pakistan, 2014.

[109] Osama Jamil, Mohsin Jamil, Yasar Ayaz, Khubab Ahmad, “Modeling, Control of a TwoWheeled Self-Balancing Robot”, In Proceedings of IEEE International Conference on Robotics
and Emerging Allied Technologies in Engineering (iCreate), pp. 191-199, Islamabad, Pakistan,
2014.

[110] Shahwar Yaseen, Yasar Ayaz, Khawaja Fahad Iqbal, Naveed Muhammad, Syed Omer Gilani,
Mohsin Jamil, and Syed Iritza Ali, “Centre of Mass Avoidance Planner using Radius of
Gyration for Reciprocal Velocity Obstacles”, In Proceedings of IEEE International Conference
on Robotics and Emerging Allied Technologies in Engineering (iCreate), pp. 118-124,
Islamabad, Pakistan, 2014.

[111] Umair Iqbal, Syed Irtiza Ali Shah, Fazl-e-Umer, Mohsin Jamil and Yasar Ayaz, “Development
of Low Cost Radio Range Testing System for Unmanned Disaster Relief Helicopter”, In
Proceedings of IEEE International Conference on Robotics and Emerging Allied Technologies
in Engineering (iCreate), pp. 255-258, Islamabad, Pakistan, 2014.

[112] Usman Ayub Sheikh, Mohsin Jamil, and Yasar Ayaz, “A Comparison of Various Robotic
Control Architectures for Autonomous Navigation of Mobile Robots”, In Proceedings of IEEE
International Conference on Robotics and Emerging Allied Technologies in Engineering
(iCreate), pp. 239-243, Islamabad, Pakistan, 2014.

[113] Muhammad Yaqoob, Sardar Rushan Qaisrani, Muhammad Waqas, Yasar Ayaz, Sohail Iqbal,
and Sajid Nisar, “Control of Robotic Arm Manipulator with Haptic Feedback Using
Programmable System on Chip”, In Proceedings of IEEE International Conference on Robotics
and Emerging Allied Technologies in Engineering (iCreate), pp. 300-305, Islamabad, Pakistan,
2014.

[114] Zain Murtaza, Noaman Mehmood, Mohsin Jamil, and Yasar Ayaz, “Design and
Implementation of Low Cost Remote-Operated Unmanned Ground Vehicle (UGV)”, In
Proceedings of IEEE International Conference on Robotics and Emerging Allied Technologies
in Engineering (iCreate), pp. 37-41, Islamabad, Pakistan, 2014.

[115] Muhammad Zeeshan Baig, Ehtesham Javed, Yasar Ayaz, Waseem Afzal, Syed Omer Gilani,
Muhammad Naveed and Mohsin Jamil, “Classification of Left/Right Hand Movement from
EEG Signal by Intelligent Algorithms”, In Proceedings of IEEE International Symposium on
Computer Applications & Industrial Electronics (ISCAIE), pp. 178-183, Penang, Malaysia,
April 2014.

[116] Ahmed Hussain Qureshi, Saba Mumtaz, Khawaja Fahad Iqbal, Yasar Ayaz, Mannan Saeed
Muhammad and Osman Hasan, “Triangular Geometry based Optimal Motion Planning using
RRT*”, In Proceedings of International Workshop on Advanced Motion Control (AMC), pp.
380-385, Yokohama, Japan, March 2014.
2013

[117] Badar Ali, Ahmed Hussain Qureshi, Khawaja Fahad Iqbal, Yasar Ayaz, Syed Omer Gilani,
Mohsin Jamil, Naveed Muhammad, Faizan Ahmed, Mannan Saeed Muhammad, Whoi-Yul
Kim, and Moonsoo Ra, “Human Tracking by a Mobile Robot using 3D Features”, Proceedings
of IEEE International Conference on Robotics and Biomimetics (RoBio), pp. 2464-2469,
December, 2013.

[118] Ahmed Hussain Qureshi, Khawaja Fahad Iqbal , Saba Mumtaz , Syeda Madiha Qamar , Fahad
Islam , Yasar Ayaz, Naveed Muhammad , Mannan Saeed Muhammad, Osman Hasan, Whoi
Yul Kim and Moonsoo Ra, “Adaptive Potential Guided Directional-RRT*”, Proceedings of
IEEE International Conference on Robotics and Biomimetics (RoBio), pp. 1887-1892,
December, 2013.

[119] Muhammad Asim Waris, Mohsin Jamil, Syed Omer Gilani, and Yasar Ayaz, “Control of Upper
Limb Active Prosthesis Using Surface Electromyography”, Proceedings of the 2013
International Conference on Biology, Medical Physics, Medical Chemistry, Biochemistry and Biomedical Engineering (BioMed), pp. 47-51, Venice, Italy,
September 2013.

[120] Jauwairia Nasir, Fahad Islam, and Yasar Ayaz, “Adaptive RRT*-Smart: Algorithm
characteristics and behavior analysis in complex environments”, Proceedings of International
Multi-Conference on Artificial Intelligence Technology (M-CAIT), Kuala Lampur, Malaysia,
Paper ID: 22, August 2013.

[121] Badar Ali, Khawaja Fahad Iqbal, Yasar Ayaz, Muhammad Naveed, “Human detection and
following by a mobile robot using 3D features”, Proceedings of International Conference on
Mechatronics and Automation (ICMA), pp. 1714-1719, Takamatsu, Japan, 2013.

[122] Ahmed Hussain Qureshi, Khawaja Fahad Iqbal, Syeda Madiha Qamar, Fahad Islam, Yasar
Ayaz, and Muhammad Naveed, “Potential guided directional-RRT* for fast optimal motion
planning”, Proceedings of International Conference on Mechatronics and Automation (ICMA),
pp. 519-524, Takamatsu, Japan, 2013.

[123] Syeda Madiha Qamar, Khawaja Fahad Iqbal, Ahmed Hussain Qureshi, Naveed Muhammad,
Yasar Ayaz, and Abdul Ghafoor Abbasi, “A solution to perceptual aliasing through
probabilistic fuzzy logic and SIFT”, Proceedings of IEEE/ASME International Conference on
Advanced Intelligent Mechatronics (AIM), Wollongong, Australia, pp. 1393-1398, 2013.
2012

[124] Muhammad Yaqoob, Sardar Rushan Qaisrani, Muhammad Waqas, Yasar Ayaz and Sohail
Iqbal, “Low Cost Tactile, Force and Size Feedback System for Surgical Robotics”, Proceedings
of IEEE International Conference on Innovative Systems Engineering (ICIES), pp. 58-63,
Alexandria, Egypt, December 2012.

[125] Shabih Ul Hassan, Bilal Ahmed, Bilal Shaukat, Habib ur Rehman Paracha, Usman Malik, Saad
Qaiser, Nabeel Anwar and Yasar Ayaz, “Modified SOM Based Intelligent Semi- Autonomous
Navigation System”, Proceedings of IEEE International Symposium on Neural Network
Applications in Electrical Engineering (NEUREL), pp. 25-29, Belgrade, Serbia and
Montenegro, 2012.

[126] Fahad Islam, Jauwairia Nasir, Usman Malik, Yasar Ayaz and Osman Hasan, “RRT*-Smart:
Rapid convergence implementation of RRT* towards optimal solution”, Proceedings of IEEE
International Conference on Mechatronics and Automation (ICMA), pp. 1651-1656, Chengdu,
China, August 2012.

[127] Aamir Iftikhar, Mushtaq Khan, Asim Nisar , Syed Hussain Imran, and Yasar Ayaz, “Turbine
blade manufacturing through Rapid Tooling (RT) process and its quality inspection”,
Proceedings of the 37th International MATADOR Conference, Paper No: 3230, Manchester,
England, UK, July 2012.
2011

[128] Syed Usman Ahmed, Usman Ali Malik, Khwaja Fahad Iqbal, Yasar Ayaz and Kunwar Faraz,
“Sparsed Potential-PCNN for Real Time Path Planning and Indoor Navigation Scheme for
Mobile Robots”, Proceedings of the IEEE International Conference on Mechatronics and
Automation (ICMA), pp. 1729-1734, Beijing, China, August 2011.
2010

[129] Sajid Hussain, Rana M. Ather, Javed Iqbal, Akhtar Nawaz, Hammad Nazeer, Umar Karim, and
Yasar Ayaz, “Design and Development of a Low Cost Automated Trans-Radial Prosthetic
Limb”, Proceedings of IEEE International Conference on Intelligence and Information
Technology (ICIIT), Vol 1, pp. 161-165, Lahore, Pakistan, October 2010.
2009

[130] Yasar Ayaz, Takuya Owa, Teppei Tsujita, Atsushi Konno, Khalid Munawar and Masaru
Uchiyama, “Footstep Planning for Humanoid Robots Among Obstacles of Various Types,”,
Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp.
361-366, Paris, France, December 2009.
[131] Yasar Ayaz, Atsushi Konno, Khalid Munawar, Teppei Tsujita and Masaru Uchiyama,
“Planning Footsteps in Obstacle Cluttered Environments,” Proceedings of IEEE/ASME
International Conference on Advanced Intelligent Mechatronics (AIM), pp. 156-161,
Singapore, July 2009.
2008

[132] Teppei Tsujita, Atsushi Konno, Shunsuke Komizunai, Yuki Nomura, Takuya Owa, Tomoya
Myojin, Yasar Ayaz and Masaru Uchiyama, “Analysis of Nailing Task Motion for a Humanoid
Robot,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS), pp. 1570-1575, Nice, France, September 2008.

[133] Teppei Tsujita, Atsushi Konno, Shunsuke Komizunai, Yuki Nomura, Takuya Owa, Tomoya
Myojin, Yasar Ayaz and Masaru Uchiyama, “Humanoid Robot Motion Generation for Nailing
Task,” Proceedings of IEEE/ASME International Conference on Advanced Intelligent
Mechatronics (AIM), pp. 1024-1029, Xi’an, China, July 2008.
2007

[134] Yasar Ayaz, Atsushi Konno, Teppei Tsujita, Masaru Uchiyama and Khalid Munawar,
“Obstacle Stepping Over Strategy for Humanoid Robots,” Proceedings of SICE System
Integration Division Annual International Conference (SI), pp. 533-534, Hiroshima, Japan,
December 2007.

[135] Yasar Ayaz, Khalid Munawar, Muhammad Bilal Malik, Atsushi Konno and Masaru Uchiyama,
“A Human-like Approach towards Humanoid Robot Footstep Planning,” Proceedings of JSME
International Conference on Robotics and Mechatronics (RoboMec), 1A1-B02, Akita, Japan,
May 2007.
[136] Mannan Saeed, Yasar Ayaz, Saeed-ur-Rehman and Sadia Farah, “Design and Development of
a Six-Legged Robot with Simplified Control Architecture”, Proceedings of IEEE International
Conference on Electrical Engineering (ICEE), Lahore, Pakistan, April 2007.
2006

[137] Yasar Ayaz, Khalid Munawar, Muhammad Bilal Malik, Atsushi Konno and Masaru Uchiyama,
“Human-like Approach to Footstep Planning Among Obstacles for Humanoid Robots,”
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
pp. 5490-5495, Beijing, China, October 2006.
2004

[138] Mannan Saeed, Yasar Ayaz and Saeed-ur-Rehman, “Design and Development of a Six-Legged
Robot with Simplified Control Architecture”, Proceedings of International Conference on
Software Engineering and Applications (ICSEA), pp. 89-94, Islamabad, Pakistan, December
2004.

[139] Yasar Ayaz and Muhammad Bilal Malik, “Tracking of a Speech Signal Using SSRLS and its
Regeneration”, Proceedings of International Conference on Software Engineering and
Applications (ICSEA), pp. 122-126, Islamabad, Pakistan, December 2004.

[140] Yasar Ayaz, Bilal Afzal, Mannan Saeed and Saeed-ur-Rehman, “Design, Fabrication and
Control of a Two-Legged Walking Robot”, Proceedings of IEEE International Workshop on
Robot Motion & Control (RoMoCo), pp 73-78, Poland, June, 2004.