arXiv subjects

Md. Jobayer Rahman

Publications and source records attributed to Md. Jobayer Rahman.

3 recordsLinked to original sources

arXiv2026

HyDRA Scorpion: A Cost-effective and Modular ROV for Real-Time Underwater Inspection, Intervention, and Object Detection

A Remotely Operated Vehicle (ROV) is a tethered underwater robot used for tasks like inspection and intervention. While essential tools for underwater science, the high cost of commercial ROVs and a persistent gap between mechanically capable platforms and those with integrated intelligence create a significant barrier to access. HyDRA Scorpion differs from conventional systems by addressing these challenges, integrating an advanced, AI-driven perception stack with in-situ measurement capabilities onto a low-cost, locally manufacturable platform. The system combines 4-DoF maneuverability, dual manipulators, and a custom pressure-tested housing. Experimental results validate the system's robustness and performance. Leak-free operation was confirmed through prolonged pressure testing of the electronics housing to 4 bar, equivalent to the pressure of a 304.8-meter water depth approximately in a simulated environment, with no moisture ingress detected. The vehicle also demonstrated stable station-keeping, maintaining its position within a tight tolerance of $$\pm$0.15$ meters under external disturbances. The onboard AI module achieved underwater object detection mean Average Precision (mAP) of 0.89 with real-time inference, length and 3D-mapping based distance measurement. Also, 4-DoF manipulator arm can grip and maintain dual-function manipulator feature which support 360 degree tangle-free rotation.

cs.RO↗

arXiv2025

Bayesian Modeling for Uncertainty Management in Financial Risk Forecasting and Compliance

A Bayesian analytics framework that precisely quantifies uncertainty offers a significant advance for financial risk management. We develop an integrated approach that consistently enhances the handling of risk in market volatility forecasting, fraud detection, and compliance monitoring. Our probabilistic, interpretable models deliver reliable results: We evaluate the performance of one-day-ahead 95% Value-at-Risk (VaR) forecasts on daily S&P 500 returns, with a training period from 2000 to 2019 and an out-of-sample test period spanning 2020 to 2024. Formal tests of unconditional (Kupiec) and conditional (Christoffersen) coverage reveal that an LSTM baseline achieves near-nominal calibration. In contrast, a GARCH(1,1) model with Student-t innovations underestimates tail risk. Our proposed discount-factor DLM model produces a slightly liberal VaR estimate, with evidence of clustered violations. Bayesian logistic regression improves recall and AUC-ROC for fraud detection, and a hierarchical Beta state-space model provides transparent and adaptive compliance risk assessment. The pipeline is distinguished by precise uncertainty quantification, interpretability, and GPU-accelerated analysis, delivering up to 50x speedup. Remaining challenges include sparse fraud data and proxy compliance labels, but the framework enables actionable risk insights. Future expansion will extend feature sets, explore regime-switching priors, and enhance scalable inference.

q-fin.RM↗

arXiv2024

A Bidirectional Siamese Recurrent Neural Network for Accurate Gait Recognition Using Body Landmarks

Gait recognition is a significant biometric technique for person identification, particularly in scenarios where other physiological biometrics are impractical or ineffective. In this paper, we address the challenges associated with gait recognition and present a novel approach to improve its accuracy and reliability. The proposed method leverages advanced techniques, including sequential gait landmarks obtained through the Mediapipe pose estimation model, Procrustes analysis for alignment, and a Siamese biGRU-dualStack Neural Network architecture for capturing temporal dependencies. Extensive experiments were conducted on large-scale cross-view datasets to demonstrate the effectiveness of the approach, achieving high recognition accuracy compared to other models. The model demonstrated accuracies of 95.7%, 94.44%, 87.71%, and 86.6% on CASIA-B, SZU RGB-D, OU-MVLP, and Gait3D datasets respectively. The results highlight the potential applications of the proposed method in various practical domains, indicating its significant contribution to the field of gait recognition.

cs.CV↗