publications

2025

1. AIS

   

   Bio-to-Robot Transfer of Fish Sensorimotor Dynamics via Interpretable Model

   Waqar Hussain Afridi, Ahsan Tanveer, Rahdar Hussain Afridi, and 4 more authors

   Advanced Intelligent Systems, 2025

   Abs DOI Bib HTML PDF

   

   Swimming in fish arises from tightly integrated neural, muscular, skeletal, and hydrodynamic processes that are difficult to capture in compact, transferable models for robotics. We present an interpretable SySID approach that bidirectionally maps between EMG and kinematics in freely swimming koi, further testing its generalization to a robotic fish. Synchronized EMG and kinematics were collected across laminar, Kármán vortex, and reverse Kármán vortex flows spanning 0.146–0.274 m/s. A linear ARX model architecture was chosen to capture both feedforward (EMG to kinematics) and feedback (kinematics to EMG) pathways, enabling the extraction of key system parameters, such as natural frequency, damping ratio, and input–output delays. Cross-individual validation demonstrated robust performance and identified the best-performing fish-trained model, which was then evaluated for cross-domain transfer by replacing EMG input with processed PWM actuation signals from a robotic fish in laminar flow. Despite differences in mechanics and actuation physics, predictions closely matched measured trajectories (mean R² = 0.86 ± 0.13), substantially outperforming a DNN (97.8% higher PFI) trained on the same biological datasets. These findings demonstrate that compact, interpretable SySID models can achieve accurate bio-to-robot transfer, eliminating the need for robot-specific retraining and enabling robotic motion models to be grounded directly in biological function rather than imitation.

   @article{waqar2025biotorob,
     title = {Bio-to-Robot Transfer of Fish Sensorimotor Dynamics via Interpretable Model},
     author = {Afridi, Waqar Hussain and Tanveer, Ahsan and Afridi, Rahdar Hussain and Hamza, Muhammad and Wu, Mingxin and Li, Liang and Xie, Guangming},
     journal = {Advanced Intelligent Systems},
     year = {2025},
     publisher = {Wiley},
     doi = {10.1002/aisy.202501117}
   }

2. OE

   NARX Modeling and Simulation of Heave Dynamics with Application of Robust Control of an Underactuated Underwater Vehicle

   Sarvat Mushtaq Ahmad and Ahsan Tanveer

   Ocean Engineering, 2025

   Abs DOI Bib HTML

   

   This article, which is an extension of the previous work of the authors (Tanveer and Ahmad (2022)) on yaw dynamics, investigates the modeling and control of heave degree-of-freedom of a compact custom designed ROV. Wherein, nonlinear data-driven modeling strategy is adopted to develop a high-fidelity heave dynamic model. The proposed modeling approach uses open-loop real-time experimental data to derive a high-fidelity NARX model of the vehicle. The resulting model accommodates the dynamics of the system in addition to the tether dynamics. The advantage of this approach is its ability to eliminate the need for intricate controller tuning. The identified model consistently demonstrated fitness scores ranging from 82% to 92% in both self-validation and cross-validation tests conducted on distinct datasets. This relative advantage is exemplified in real-time through the testing of a Genetic Algorithm Proportional-Integral (GAPI) controller. The performance of GAPI is subsequently compared with the relatively recent Marine Predators Algorithm (MPA) and the more conventional root-locus tuned PI controllers. The experimental results demonstrate that GAPI provides the most favorable response, achieving a 35%, 76%, and 44% improvement in rise time, percent overshoot and peak time, respectively. Furthermore, the controller effort required by GAPI running on an ATmega328 chipset is 22% less than its counterparts.

   @article{ahmad2025narx,
     title = {NARX Modeling and Simulation of Heave Dynamics with Application of Robust Control of an Underactuated Underwater Vehicle},
     author = {Ahmad, Sarvat Mushtaq and Tanveer, Ahsan},
     journal = {Ocean Engineering},
     volume = {325},
     pages = {120790},
     year = {2025},
     publisher = {Elsevier},
     doi = {10.1016/j.oceaneng.2025.120790}
   }

3. MAMS

   Strength Improvement/Optimization Methods in Adhesively Bonded Joints: A Comprehensive Review of Past and Present Techniques

   Hassan Ejaz, M Awais Awan, HM Muzzammil, and 4 more authors

   Mechanics of Advanced Materials and Structures, 2025

   Abs DOI Bib HTML

   

   Adhesive bonding is a versatile joining method gaining popularity due to its ability to join variety of metals, nonmetals, and composite materials to achieve lightweight, high-strength structures. Unlike mechanical fasteners that require holes, adhesive bonding creates a continuous bond, resulting in a more uniform stress distribution. It also allows bonding thin materials and dissimilar materials, and creates airtight seals. However, even with these advantages, adhesive joints lack structural redundancy and sometimes strength compared to their mechanical counterparts. This has driven extensive research and development efforts to improve their strength, reliability, and overall performance. The present paper aims to explore both historical and recent advancements in techniques for enhancing the strength of adhesively bonded joints, organizing them in a coherent and systematic manner that can be easily quantified. The paper also presents a comprehensive comparison of the techniques, their dependency on various factors, and guidelines for the optimal choice. This examination could pave the way for novel optimization techniques and data-driven approaches for achieving superior joint performance.

   @article{ejaz2025strength,
     title = {Strength Improvement/Optimization Methods in Adhesively Bonded Joints: A Comprehensive Review of Past and Present Techniques},
     author = {Ejaz, Hassan and Awan, M Awais and Muzzammil, HM and Ullah, Mateen and Akhavan-Safar, A and Dasilva, LFM and Tanveer, Ahsan},
     journal = {Mechanics of Advanced Materials and Structures},
     volume = {32},
     number = {17},
     pages = {4078--4106},
     year = {2025},
     publisher = {Taylor \& Francis},
     doi = {10.1080/15376494.2024.2400610}
   }

2024

1. ICoDT2

   Computer Vision-Enabled Autonomous Advanced Control for Serial-Link Robotic Manipulators

   Ammar Mazhar, Mohammad Zayan Tariq Khan, Muhammad Izhan, and 3 more authors

   In 2024 4th International Conference on Digital Futures and Transformative Technologies (ICoDT2), 2024

   Abs DOI Bib HTML

   

   Robotics is an integral part of Industry 4.0, playing a crucial role in creating autonomous workplaces. This study explores the integration of computer vision into the control system for a serial link robotic manipulator, emphasizing intelligent control strategies. YOLOv5 algorithm is utilized for target object detection, overcoming the challenge of estimating 3D positions from a single 2D camera image without any additional sensor, despite depth ambiguity. The research demonstrates successful object position estimation with mean errors of 5% along the X-axis and 1.2% along the Y-axis. A twofingered soft robotic gripper is fabricated, showing enhanced adaptability and safety in handling a variety of objects compared to a traditional aluminum gripper. The study contributes by applying monocular vision for object detection, integrating soft robotics for enhanced handling, and aligning with key Industry 4.0 principles.

   @inproceedings{mazhar2024computer,
     title = {Computer Vision-Enabled Autonomous Advanced Control for Serial-Link Robotic Manipulators},
     author = {Mazhar, Ammar and Khan, Mohammad Zayan Tariq and Izhan, Muhammad and Iqbal, Sohail and Ali, Ahsan and Tanveer, Ahsan},
     booktitle = {2024 4th International Conference on Digital Futures and Transformative Technologies (ICoDT2)},
     pages = {1--8},
     year = {2024},
     organization = {IEEE},
     doi = {10.1109/ICoDT262145.2024.10740252}
   }

2. JASE

   The Mechanical Behavior of Modified Epoxy Adhesive using GNPs, MWCNTs, and RGO Nanomaterials

   Hassan Ejaz, A Mubashar, Ahsan Tanveer, and 3 more authors

   Journal of Adhesion Science and Technology, 2024

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   In this research, a comprehensive comparison of the effects of adding nanomaterials on mechanical behavior of structural adhesive was experimentally investigated. The nanomaterials, namely graphene nanoplatelets (GNPs), Multi-Walled Carbon Nanotubes (MWCNTs), and reduced graphene oxide (RGO) were introduced at varying weight fractions of 0.25, 0.5, 0.75, and 1 wt% within the host adhesive. In addition to the parameters of type of nanomaterial and weight fraction, the effect of nanomaterial functionalization was also included. Two types of primary functionalization: carboxyl (COOH) and amine (NH2) along with non-functionalized filler was utilized. The nanomaterials were mixed in a high viscous structural adhesive araldite® 2011 by following a comprehensive mixing method. Flat doge bone specimens were prepared according to ASTM standard and subjected to testing using a universal testing machine (UTM). The results of the experimentation showed that the mechanical behavior of epoxy adhesive is significantly influenced by the addition of any type carbonaceous nanomaterial (GNPs, MWCNTs, and RGO) in the study, however, significant variation in mechanical properties (Elastic Modulus, Tensile Strength, Failure Strain, and Tensile Toughness), as well as their respective trends was observed among these nanomaterials. Overall, the introduction of GNPs was observed to increase the brittleness of the epoxy adhesive, whereas MWCNTs exhibited a contrasting effect by reducing brittleness. Moreover, it was found that the effect of functionalization and filler concentration on resulting properties was independent of each other.

   @article{ejaz2024mechanical,
     title = {The Mechanical Behavior of Modified Epoxy Adhesive using GNPs, MWCNTs, and RGO Nanomaterials},
     author = {Ejaz, Hassan and Mubashar, A and Tanveer, Ahsan and Uddin, Emad and Ali, Zaib and Arif, Nabeel},
     journal = {Journal of Adhesion Science and Technology},
     volume = {38},
     number = {10},
     pages = {1608--1628},
     year = {2024},
     doi = {10.1080/01694243.2023.2268230},
     publisher = {Taylor \& Francis}
   }

2023

1. Engg. Proc.

   Robust Control Approaches and Trajectory Planning Strategies for Industrial Robotic Manipulators in the Era of Industry 4.0: A Comprehensive Review

   Ammar Mazhar, Ahsan Tanveer, Muhammad Izhan, and 1 more author

   Engineering Proceedings, 2023

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   This article presents a comprehensive review of control approaches for industrial robotic manipulators, focusing on research conducted from 2020 onwards. The efficient functioning of robotic arms and successful task completion necessitate effective control strategies. Addressing real-world challenges, such as dynamic system variations due to environmental changes and unknown disturbances, remains crucial. To tackle these challenges, robust control strategies, including PID, H∞ and Model Predictive Control, are thoroughly surveyed. Commercially employed trajectory-planning techniques for manipulators are also extensively discussed. This paper concludes by providing valuable insights into prospective areas for future research, with the aim of enhancing the capabilities and performance of control strategies for industrial robotic manipulators. This study offers valuable knowledge to advance the field of robotic automation in Industry 4.0, fostering the development of efficient and intelligent manufacturing processes.

   @article{mazhar2023robust,
     title = {Robust Control Approaches and Trajectory Planning Strategies for Industrial Robotic Manipulators in the Era of Industry 4.0: A Comprehensive Review},
     author = {Mazhar, Ammar and Tanveer, Ahsan and Izhan, Muhammad and Khan, Mohammad Zayan Tariq},
     journal = {Engineering Proceedings},
     volume = {56},
     number = {1},
     pages = {75},
     year = {2023},
     doi = {10.3390/ASEC2023-15330},
     publisher = {MDPI}
   }

2. Engg. Proc.

   Exploration of Fluidic Thrust Vectoring Control on a Dynamic Test Rig: Computational and Experimental Analysis

   Ahsan Tanveer and Sarvat Mushtaq Ahmad

   Engineering Proceedings, 2023

   Abs DOI Bib HTML

   

   Fluidic thrust vectoring (FTV) control is a cutting-edge method used to manipulate the motion of an unmanned air vehicle when traditional control surfaces like elevators are not available. The primary purpose of employing FTV is to make the aircraft less detectable. This research centers around the exploration of the co-flow variation of the FTV concept. In this approach, a secondary jet with a significant velocity is injected into the boundary layer of the primary jet. As a consequence, the primary jet is diverted, leading to the formation of a pitch moment. Numerical simulations were conducted to analyze different ratios of secondary and primary jet velocities, providing valuable insights into the effectiveness of the proposed technique. The test rig, designed with a pitch-constraint dynamic setup, utilized electric ducted fans to generate primary and secondary flows. At 19 m/s primary velocity, the experimental testing shows a maximum vertical force of 0.4 N, producing a deflection of 25°, which is deemed adequate for thrust vectoring. This research builds upon the authors’ previous work on characterizing a static co-flow FTV rig. The comparison between the computational fluid dynamics analyses and the experimental results demonstrates agreement in the behavior of the vectored jet. This validation further strengthens the findings presented in this paper.

   @article{tanveer2023exploration,
     title = {Exploration of Fluidic Thrust Vectoring Control on a Dynamic Test Rig: Computational and Experimental Analysis},
     author = {Tanveer, Ahsan and Ahmad, Sarvat Mushtaq},
     journal = {Engineering Proceedings},
     volume = {56},
     number = {1},
     pages = {90},
     year = {2023},
     publisher = {MDPI},
     doi = {10.3390/ASEC2023-15315}
   }

3. Engg. Proc.

   Techniques used for process optimization of wire electrical discharge machining: a review

   Sami Ullah, Hamid Ullah Khan Niazi, and Ahsan Tanveer

   Engineering Proceedings, 2023

   DOI Bib

   @article{ullah2023techniques,
     title = {Techniques used for process optimization of wire electrical discharge machining: a review},
     author = {Ullah, Sami and Niazi, Hamid Ullah Khan and Tanveer, Ahsan},
     journal = {Engineering Proceedings},
     volume = {56},
     number = {1},
     pages = {118},
     year = {2023},
     publisher = {MDPI},
     doi = {}
   }

4. Engg. Proc.

   Optimizing traffic flow: Utilizing IR and load cell sensors for cost-effective traffic congestion alleviation at smart city intersections

   Muhammad Zain Khalid, Ahsan Tanveer, Sajjad Ahmad, and 2 more authors

   Engineering Proceedings, 2023

   DOI Bib

   @article{khalid2023optimizing,
     title = {Optimizing traffic flow: Utilizing IR and load cell sensors for cost-effective traffic congestion alleviation at smart city intersections},
     author = {Khalid, Muhammad Zain and Tanveer, Ahsan and Ahmad, Sajjad and Ejaz, Hassan and Farrukh, Muhammad Hashier Muneeb},
     journal = {Engineering Proceedings},
     volume = {56},
     number = {1},
     pages = {43},
     year = {2023},
     publisher = {MDPI},
     doi = {}
   }

5. Motion planning for autonomous ground vehicles using artificial potential fields: A review

   Aziz Rehman, Ahsan Tanveer, M Touseef Ashraf, and 1 more author

   arXiv preprint arXiv:2310.14339, 2023
6. ICCIT

   On Modeling of Coupled Heave-Yaw Motion of a μ-ROV

   Ahsan Tanveer and Sarvat Mushtaq Ahmad

   In 2023 3rd International Conference on Computing and Information Technology (ICCIT), 2023

   Bib

   @inproceedings{tanveer2023modeling,
     title = {On Modeling of Coupled Heave-Yaw Motion of a $\mu$-ROV},
     author = {Tanveer, Ahsan and Ahmad, Sarvat Mushtaq},
     booktitle = {2023 3rd International Conference on Computing and Information Technology (ICCIT)},
     pages = {545--549},
     year = {2023},
     organization = {IEEE}
   }

7. JMSE

   Cross-coupled Dynamics and MPA-optimized Robust MIMO Control for a Compact Unmanned Underwater Vehicle

   Ahsan Tanveer and Sarvat Mushtaq Ahmad

   Journal of Marine Science and Engineering, 2023

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   A compact, 3-degrees-of-freedom (DoF), low-cost, remotely operated unmanned underwater vehicle (UUV), or MicroROV, is custom-designed, developed, instrumented, and interfaced with a PC for real-time data acquisition and control. The nonlinear equations of motion (EoM) are developed for the under-actuated, open-frame, cross-coupled MicroROV utilizing the Newton-Euler approach. The cross-coupling between heave and yaw motion, an important dynamic of a class of compact ROVs that is barely reported, is investigated here. This work is thus motivated towards developing an understanding of the physics of the highly coupled compact ROV and towards developing model-based stabilizing controllers. The linearized EoM aids in developing high-fidelity experimental data-driven transfer function models. The coupled heave-yaw transfer function model is improved to an auto-regressive moving average with exogenous input (ARMAX) model structure. The acquired models facilitate the use of the multi-parameter root-locus (MPRL) technique to design baseline controllers for a cross-coupled multi-input, multi-output (MIMO) MicroROV. The controller gains are further optimized by employing an innovative Marine Predator Algorithm (MPA). The robustness of the designed controllers is gauged using gain and phase margins. In addition, the real-time controllers were deployed on an onboard embedded system utilizing Simulink′s automatic C++ code generation capabilities. Finally, pool tests of the MicroROV demonstrate the efficacy of the proposed control strategy.

   @article{tanveer2023cross,
     title = {Cross-coupled Dynamics and MPA-optimized Robust MIMO Control for a Compact Unmanned Underwater Vehicle},
     author = {Tanveer, Ahsan and Ahmad, Sarvat Mushtaq},
     journal = {Journal of Marine Science and Engineering},
     volume = {11},
     number = {7},
     pages = {1411},
     year = {2023},
     publisher = {MDPI},
     doi = {10.3390/jmse11071411}
   }

8. JNAME

   Design and Testing of a Compact Inexpensive Prototype Remotely Operated Underwater Vehicle for Shallow Water Operation

   Ahsan Tanveer and Sarvat Mushtaq Ahmad

   Journal of Naval Architecture and Marine Engineering, 2023

   Bib

   @article{tanveer2023design,
     title = {Design and Testing of a Compact Inexpensive Prototype Remotely Operated Underwater Vehicle for Shallow Water Operation},
     author = {Tanveer, Ahsan and Ahmad, Sarvat Mushtaq},
     journal = {Journal of Naval Architecture and Marine Engineering},
     year = {2023}
   }

9. Aerospace

   Mathematical Modelling and Fluidic Thrust Vectoring Control of a Delta Wing UAV

   Ahsan Tanveer and Sarvat Mushtaq Ahmad

   Aerospace, 2023

   Abs DOI Bib HTML PDF

   Pitch control of an unmanned aerial vehicle (UAV) using fluidic thrust vectoring (FTV) is a relatively novel technique requiring no moving control surfaces, such as elevators. In this paper, the authors’ previous work on the characterization of a static co-flow FTV rig is further validated using the free to pitch dynamic test bench. The deflection of a primary jet after injection of a high-velocity secondary jet was captured using the tuft flow visualization technique, along with the experimental recording of subsequent normal force impinged on the Coanda surface resulting in the pitching moment. The effect of primary and secondary flow velocities on exhaust jet deflection, as well as on the pitch angle of the aircraft, is examined. Aerodynamic gain as well as the inertia of a delta wing UAV test bench are computed through experiments and fed into the equation of motion (e.o.m). The e.o.m developed aided in the design of a model-based PID controller for pitch motion control using the multi-parameter root locus technique. The root locus tuned controller serves as a benchmark controller for performance evaluation of the genetic algorithm (GA) and particle swarm optimization (PSO) tuned controllers. Furthermore, the frequency domain metric of gain and phase margins were also employed to reach a robust control design. Experiments conducted in a simulation environment reveal that PSO-PID results in a better response of the UAV in comparison to the baseline pitch controller.

   @article{tanveer2023mathematical,
     title = {Mathematical Modelling and Fluidic Thrust Vectoring Control of a Delta Wing UAV},
     author = {Tanveer, Ahsan and Ahmad, Sarvat Mushtaq},
     journal = {Aerospace},
     volume = {10},
     number = {6},
     pages = {563},
     year = {2023},
     publisher = {MDPI},
     doi = {10.3390/aerospace10060563}
   }

10. Engg. Proc.

    GA-Based Motor Drive Control of Planetary Gears of a Variable Valve System of an Internal Combustion Engine

    Aziz Rehman and Ahsan Tanveer

    Engineering Proceedings, 2023
11. Engg. Proc.

    Genetic-algorithm-based proportional integral controller (GAPI) for ROV steering control

    Ahsan Tanveer and Sarvat Mushtaq Ahmad

    Engineering Proceedings, 2023

2022

1. OE

   High Fidelity Modelling and GA Optimized Control of Yaw Dynamics of a Custom Built Remotely Operated Unmanned Underwater Vehicle

   Ahsan Tanveer and Sarvat Mushtaq Ahmad

   Ocean Engineering, 2022

   Abs DOI Bib HTML

   

   In this paper, a custom built, underactuated, inspection class micro Remotely Operated Unmanned Underwater Vehicle (ROV) is employed as a testbed to investigate control and modelling problems related to underwater vehicles in shallow waters and pools. Dynamic model for yaw is obtained via mathematical modelling and system identification techniques. To instil confidence in the identified model, residuals and cross-validation tests are carried out to obtain high fidelity vehicle model for subsequent stabilizing closed-loop control design. Following the modelling exercise, design, real-time implementation, and analysis of a GA optimized PI controller for yaw is carried out. The performance of the GA optimized controller is benchmarked against the experimental results of a multi-parameter root-locus tuned PI controller and simulated responses of a standard linear quadratic regulator (LQR) controller. In addition, the efficacy of the GA-PI controller is gauged employing recently developed marine predator algorithm (MPA). The need for a controller with optimized performance motivated the utilization of GA and MPA optimization techniques. The results from real-time pool experiments indicate substantially enhanced performance of GA optimized controller, outperforming other controllers by as much as 22% in performance indicators such as settling time and maximum overshoot. Furthermore, the GA optimized controller demonstrated far better robustness and disturbance rejection capabilities.

   @article{tanveer2022high,
     title = {High Fidelity Modelling and GA Optimized Control of Yaw Dynamics of a Custom Built Remotely Operated Unmanned Underwater Vehicle},
     author = {Tanveer, Ahsan and Ahmad, Sarvat Mushtaq},
     journal = {Ocean Engineering},
     volume = {266},
     pages = {112836},
     year = {2022},
     publisher = {Elsevier},
     doi = {10.1016/j.oceaneng.2022.112836}
   }

2. ICETECC

   Linearized 1-DoF Dynamic Model of an Underwater Vehicle Using CFD

   Ahsan Tanveer and Sarvat Mushtaq Ahmad

   In 2022 International Conference on Emerging Technologies in Electronics, Computing and Communication (ICETECC), 2022

   Abs DOI Bib

   The development of a dynamic model for yaw while considering the hydrodynamic forces acting on an underwater vehicle is inevitable if its performance during a mission like underwater structure inspection is to be examined. However, the high cost of underwater testing makes it impractical to obtain a model that adequately characterizes the vehicle dynamics. Therefore, this work suggests employing computational fluid dynamics (CFD) approach to develop a yaw model of the vehicle. Drag coefficient in the dynamic model is obtained using CFD analysis. On the other hand, the data from the thrust curve is used to compute the thrust coefficient. The resulting transfer function model is validated with experimental data of the vehicle. The model synthesised using the proposed approach is discovered to agree with the experimental results.

   @inproceedings{tanveer2022linearized,
     title = {Linearized 1-DoF Dynamic Model of an Underwater Vehicle Using CFD},
     author = {Tanveer, Ahsan and Ahmad, Sarvat Mushtaq},
     booktitle = {2022 International Conference on Emerging Technologies in Electronics, Computing and Communication (ICETECC)},
     pages = {1--5},
     year = {2022},
     organization = {IEEE},
     doi = {10.1109/ICETECC56662.2022.10068911}
   }

3. ETECTE

   Design & Development of a Prototype Compressed Air Energy Storage Mechanism

   Ahsan Tanveer, Farooq Khan, Muhammad Usman, and 1 more author

   In 2022 International Conference on Emerging Trends in Electrical, Control, and Telecommunication Engineering (ETECTE), 2022

   Abs DOI Bib

   The world as of today is dependent almost entirely on fossil fuel for its energy requirements. However, Fossil fuel supplies are limited and non-renewable. Therefore, it is essential to utilise readily available renewable energy sources, such as wind and solar, for a sustainable future. But because these sources are intermittent, a storage mechanism is needed to make them grid compatible. This study outlines the design of a small-scale prototype compressed air energy storage (CAES) plant that uses clean electricity from a supposed PV array or a wind farm to compress atmospheric air for storage in a subsurface tank. The stored air is fed to a generator-coupled turbine to produce electricity on as needed basis. The suggested technique, in contrast to the storage mechanisms found in literature, precludes the use of any fuel. To evaluate the performance of the proposed system, a thorough design approach, thermodynamic analysis, and selection criteria for various plant components are included. The experimental results indicated a decent efficiency of 20%, which is understandable given the plant’s modest size and lack of any heat storage mechanism. Nonetheless, a number of methods have been found and are provided in order to increase the system’s overall efficiency. In short, the suggested approach has proven its capacity to scale, enabling huge renewable power plants to store extra energy cheaply at the grid level without using costly pumped hydro storage or battery technology.

   @inproceedings{tanveer2022design,
     title = {Design \& Development of a Prototype Compressed Air Energy Storage Mechanism},
     author = {Tanveer, Ahsan and Khan, Farooq and Usman, Muhammad and Irfan, MA},
     booktitle = {2022 International Conference on Emerging Trends in Electrical, Control, and Telecommunication Engineering (ETECTE)},
     pages = {1--6},
     year = {2022},
     organization = {IEEE},
     doi = {10.1109/ETECTE55893.2022.10007224}
   }

4. Pak-Turk

   Design of a Low-Cost Prototype Underwater Vehicle

   Ahsan Tanveer and Sarvat Mushtaq Ahmad

   In 5th Pak-Turk International Conference on Emerging Technologies in the field of Sciences and Engineering, 2022

   Abs DOI Bib

   In this study, a small, inexpensive remotely driven underwater vehicle that can navigate in shallow water for the purpose of monitoring water quality and demonstrating vehicle control algorithms is presented. The vehicle is operated by an onboard micro-controller, and the sensor payload comprises a turbidity sensor for determining the quality of the water, a depth sensor, and a 9-axis inertial measurement unit. The developed vehicle is an open frame remotely operated vehicle (ROV) with a small footprint and a modular physical and electrical architecture. With a net weight of 1.6 kg, a maximum depth rating of 20 meters, and a development cost of around $80, the ROV frame is composed of polyvinyl chloride tubes and has a length of 0.35 meters. As a ground station, a dedicated laptop shows crucial vehicle data in real time and can send commands to the vehicle. Initial testing in the pool demonstrates that the vehicle is completely operational and effectively complies with pilot commands.

   @inproceedings{tanveer2023desigo,
     title = {Design of a Low-Cost Prototype Underwater Vehicle},
     author = {Tanveer, Ahsan and Ahmad, Sarvat Mushtaq},
     booktitle = {5th Pak-Turk International Conference on Emerging Technologies in the field of Sciences and Engineering},
     year = {2022},
     pages = {1--4},
     doi = {10.48550/arXiv.2303.13063}
   }

5. ICEANS

   Unmanned Surface Vehicle: Yaw Modeling and Identification

   Ahsan Tanveer and Sarvat Mushtaq Ahmad

   In 2nd International Conference on Engineering and Applied Natural Sciences, 2022

   Abs DOI Bib

   In this article, a simplified modeling and system identification procedure for yaw motion of an unmanned surface vehicle (USV) is presented. Two thrusters that allow for both speed and direction control propel the USV. The outputs of the vehicle under inquiry include parameters that define the mobility of the USV in horizontal plane, such as yaw angle and yaw rate. A linear second order model is first developed, and the unknown coefficients are then determined using data from pool trials. Finally, simulations are carried out to verify the model so that it may be used in a later study to implement various control algorithms.

   @inproceedings{tanveer2023unmanned,
     title = {Unmanned Surface Vehicle: Yaw Modeling and Identification},
     author = {Tanveer, Ahsan and Ahmad, Sarvat Mushtaq},
     booktitle = {2nd International Conference on Engineering and Applied Natural Sciences},
     year = {2022},
     pages = {1--4},
     doi = {10.48550/arXiv.2303.13064}
   }

6. IBCAST

   System Identification and Yaw Control of an Inspection Class ROV

   Ahsan Tanveer and Sarvat Mushtaq Ahmad

   In 2022 19th International Bhurban Conference on Applied Sciences and Technology (IBCAST), 2022

   Abs DOI Bib

   This work describes the design and real-time implementation of a yaw controller for a custom-built underwater vehicle. As opposed to the traditional mathematical-based modeling methodology, system identification approach is used for the purpose of dynamic characterization of the ROV. A proportional-integral controller is developed based on the resultant vehicle model. A unique root-locus approach is used for controller tuning. The proposed technique aids in analyzing the impact of simultaneous change in more than one parameter on the response of the system. Simulations followed by real-time experiments in pool settings demonstrate the effectiveness of the modeling and proposed control scheme employed.

   @inproceedings{tanveer2022system,
     title = {System Identification and Yaw Control of an Inspection Class ROV},
     author = {Tanveer, Ahsan and Ahmad, Sarvat Mushtaq},
     booktitle = {2022 19th International Bhurban Conference on Applied Sciences and Technology (IBCAST)},
     pages = {899--904},
     year = {2022},
     organization = {IEEE},
     doi = {10.1109/IBCAST54850.2022.9990510}
   }

2021

1. ICRAI

   Heave Modeling and Control of a micro-ROV

   Ahsan Tanveer and Sarvat Mushtaq Ahmad

   In 2021 International Conference on Robotics and Automation in Industry (ICRAI), 2021

   Abs DOI Bib

   In contrast to the classical mathematical-based modeling technique, this paper describes a black box system identification method for dynamic characterization of an underwater vehicle in heave. The vehicle is a custom-built inspection class micro-ROV. The model obtained is employed in the design of a proportional-integral (PI) depth controller. A novel multi-parameter root locus (MPRL) technique is proposed for controller tuning. The proposed method helps analyze the effect of varying multiple control parameters on the system’s response. Simulations and pool experiments demonstrate the effectiveness of the followed model-based control design scheme for ROV’s station-keeping.

   @inproceedings{tanveer2021heave,
     title = {Heave Modeling and Control of a micro-ROV},
     author = {Tanveer, Ahsan and Ahmad, Sarvat Mushtaq},
     booktitle = {2021 International Conference on Robotics and Automation in Industry (ICRAI)},
     pages = {1--5},
     year = {2021},
     organization = {IEEE},
     doi = {10.1109/ICRAI54018.2021.9651465}
   }