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ENERGY UTILIZATION MODELS OF CATTLE GRAZING IN OIL PALM PLANTATIONS II. VALIDATION OF MODELS
Dahlan, I.,Mahyuddin, M.D.,Yamada, Y. Asian Australasian Association of Animal Productio 1995 Animal Bioscience Vol.8 No.1
This study showed that models of energy utilization(EU) developed for grazing cattle in oil palm plantations is valid as the simulated results shows an agreement with actual data of calves and cows body weight changes collected from Brahman x Kedah-Kelantan herd on Pengeli Timor Plantation. Simulation runs on EU models demonstrated that the growth pattern of male and female calves and the weight changes of cows are similar and showed slight variation from the actual data but with no significant difference (p > 0.05). Parameter values such as metabolizability (q), dry matter digestibility(DMD) of herbage and voluntary intake of grazing cattle (VIG) and faecal output/body weight ratio (F) of the animals which were collected from the field are essential in bearing the pattern of body weight changes of the calves and cows in relation to increase in time, physiological status and quality of herbage grazed by these animals in the production system. The EU models is suitable for determining the metabolizable energy requirements and to predict the production of grazing cattle according to quality of the feed on offer.
NUTRITIVE EVALUATION OF SAGO FIBRE
Yadav, D.P.,Mahyuddin, M. Asian Australasian Association of Animal Productio 1991 Animal Bioscience Vol.4 No.2
Nutrient evaluation of sago fibre showed that the fibre has potential and could be utilized as feed for ruminants. However, as a source of nutrients, it has limitations arising from low intake, digestibility, crude protein and minerals content. The present study showed that the sago fibre is low in crude protein (3.3%) and high in neutral detergent fibre (72.5%) and acid detergent lignin (25.8%) contents. Treatment of sago fibre with urea increased the crude protein content from 3.3 to 16.7%. Both urea and sodium hydroxide treatment decreased the neutral detergent fibre level from 72.5 to 59 and 56.5%, respectively. Rumen degradation of sago fibre by nylon bag showed that both urea and sodium hydroxide treatments increased dry matter and organic matter disappearance of the fibre significantly. In vivo digestibility of 2% urea treated sago fibre was 47.5% and intake of the fibre was 1.57% of body weight of the lamb.
ENERGY UTILIZATION MODELS OF CATTLE GRAZING IN OIL PALM PLANTATIONS I. DEVELOPMENT OF MODELS
Dahlan, I.,Yamada, Y.,Mahyuddin, M.D. Asian Australasian Association of Animal Productio 1995 Animal Bioscience Vol.8 No.1
Energy obtained by grazing cattle in oil palm plantations is usually used for maintenance of body functions, the construction of body tissues and pregnancy, the synthesis of milk and the conversion to mechanical energy used for activities such as walking, eating and others. In this study, attempt was made to estimate metabolizable energy (ME) requirement of grazing cattle. Models of ME requirement (MER) for maintenance, gain, pregnancy, lactation and activities were developed. ME system and units were used because of wide recognition. Estimation of ME intake in grazing cattle was expressed as MEVI = $14.58{\times}VI{\times}DMD$, and under grazing condition MEVI = $MER_i$. MER was expressed as a function of net energy(NER, MJ) required for the i'th body function. Coefficient of efficiency for conversion of ME into net energy(ki) was adopted from literatures. Quantifying of ME requirement for Kedah-Kelantan cattle under grazing condition was made by using equation MERM = NEM / kn. The estimated values of MER for Kedah-Kelantan cattle is quite reasonable if compared with other estimates as reported in literatures from stall-fed animals. Dynamic MER models for grazing herd was developed in order to estimate ME requirement for maintenance and productions. These ME requirement models can be used for prediction of energy utilization pattern of the herd in the grazing systems.
Effects of the Fibers on the Properties of High Strength Flowing Concrete
Eethar Thanon Dawood,Mahyuddin Ramli 대한토목학회 2014 KSCE JOURNAL OF CIVIL ENGINEERING Vol.18 No.6
This study first investigates the optimization of different percentages of steel fiber (0-2%) and the hybridization of the steel fiberand palm fiber as 2% volumetric fractions on the high strength flowing concrete and determine the density, compressive strength,flexural strength and toughness indices for the mixes. The results show that the use of 1.0% mono steel fiber increases thecompressive strength by about 10%, while the inclusion of more than 0.5% of palm fiber in hybrid fiber mixes reduces thecompressive strength. The hybrid fibers can be considered as a promising concept and the replacement of a portion of steel fiber withpalm fiber can significantly reduce the density, enhance the flexural strength and toughness. The results also indicates that the use ofhybrid fiber (1.5 steel fiber + 0.5% palm fiber) in specimens increases significantly the toughness indices and thus, the use of hybridfiber combinations in reinforced concrete would enhance their flexural toughness & rigidity and enhance their overall performances.
PERFORMANCE OF LAMB FED UREA TREATED SAGO FIBRE BASED DIET WITH SUPPLEMENTS
Yadav, D.P.,Mahyuddin, M.,Jelan, Z.A. Asian Australasian Association of Animal Productio 1991 Animal Bioscience Vol.4 No.2
Lamb fed 2% urea treated sago fibre and corn at 1.5 : 1 ratio (sago fibre + corn) and supplemented with fishmeal at 0, 50, 100, 150 g/head/day, gained 68.6, 139.6, 158.6 and 166.3 g/day, respectively. A simple feed cost analysis indicated that the sago with supplementation of fishmeal at 50 g/head/day could be an efficient and economic diet for sheep. The result showed that energy and protein supplements are necessary for reasonable performance of the sheep fed on urea treated sago fibre.
A Model-free Deep Reinforcement Learning Approach for Robotic Manipulators Path Planning
Wenxing Liu,Hanlin Niu,Muhammad Nasiruddin Mahyuddin,Guido Herrmann,Joaquin Carrasco 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
Path planning problems have attracted much attention in robotic fields such as manipulators. In this paper, a model-free off-policy actor critic based deep reinforcement learning method is proposed to solve the classical path planning problem of a UR5 robot arm. Unlike standard path planning methods, the reward design of the proposed method contains smoothness reward, which assures smooth trajectory of the UR5 robot arm when accomplishing path planning tasks. Additionally, the proposed method does not rely on any model while the standard path planning method is model-based. The proposed method not only guarantees that the joint angle of the UR5 robotic arm lies within the allowable range each time when it reaches the random target point, but also ensures that the joint angle of the UR5 robotic arm is always within the allowable range during the entire episode of training. A standard path planning method was implemented in Robot Operating System (ROS) and the proposed method was applied in CoppeliaSim to validate the feasibility. It can be inferred from the experiment that the training with the proposed method is successful.