Design and Development of a Semi-Autonomous Stair Climbing Robotic Platform For Rough Terrains

Muhammad Umar Masood,Muhammad Ahsan Sami,Haris Sohail,Muhammad Mujtaba,Muhammad Abubakar Siddique,Hashir Akram,Nasir Rashid,Mohsin I. Tiwana,Javaid Iqbal 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10

This paper presents the design of a stair climbing fixed flipper unmanned ground vehicle (UGV) for urban search and rescue purposes. Mobile flippers are being used in certain UGVs for enhanced mobility in rough terrains, however, the control algorithm of these platforms is complex. To add this enhanced mobility in the UGV and to reduce the intricacy of the control algorithm, anterior end of the tracks are lifted up which enables the UGV to pass over obstacles with relative ease. To prevent the rollover of UGV while moving on an inclined surface, an image processing algorithm was developed which halts the motion of UGV if the calculated slope exceeds the threshold value with a maximum error of about 8%. Furthermore, left and right track velocities along with the turn radius were also calculated.

Object Tracking With A Robotic Manipulator Mounted On Ground Vehicle Using Image Based Visual Servoing

Muhammad Ahsan Sami,Muhammad Umar Masood,Muhammad Waqar,Muhammad Mujtaba,Abrahim Ali Shah,Nasir Rashid,Mohsin I. Tiwana,Javaid Iqbal,Adnan Shujah 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10

This paper presents an application of a novel approach for detecting and tracking an object with a 2 DOF robotic manipulator which can be equipped with an array of electrically controlled actuators. The said approach utilizes the Image Based Visual Servoing (IBVS) technique. The developed system is able to determine the object pose in real time from features in the image. Object is detected using shaped based approach algorithms of image processing. The position and orientation of the world coordinates of the object being tracked are calculated from the coordinates of the object in image plane using camera’s intrinsic and extrinsic parameters. Experimental results demonstrate the effectiveness of this proposed approach.

Removal of nutrients and COD through co-culturing activated sludge and immobilized <i>Chlorella vulgaris</i>

Mujtaba, Ghulam,Rizwan, Muhammad,Kim, Garam,Lee, Kisay Elsevier 2018 CHEMICAL ENGINEERING JOURNAL -LAUSANNE- Vol.343 No.-

<P><B>Abstract</B></P> <P>Simultaneous removal of inorganic nutrients (nitrogen and phosphorus) and organic carbon (glucose) was realized from synthetically-made municipal wastewater using co-culture of suspended activated sludge and immobilized <I>Chlorella vulgaris</I> in a single reactor. Use of immobilized microalgae and suspended activated sludge can help in separating microalgae biomass from the culture broth at the end of treatment. Efficient removal of nutrients and COD was achieved by the symbiotic co-culture than stand-alone cultures of <I>C. vulgaris</I> and activated sludge after 2-d of retention time. By decreasing inoculum ratio of suspended activated sludge to immobilized <I>Chlorella vulgaris</I> (from 5.0 to 0.2), the performance of nutrients removal was enhanced significantly, and the co-culture at 0.5 inoculum ratio accomplished highest removal of nitrogen (99.8%) and phosphorus (100%) within 2 days of incubation. In the case for the removal of COD, co-culture with different inoculum ratios demonstrated virtually similar performance (showing 90–95% removal after 2-d treatment) which is indicating that there was no robust association between carbon degradation and inoculum ratio. The maximum growth of microalgae (0.76 from initial 0.4 g L<SUP>−1</SUP>) was obtained from the co-culture having 0.5 inoculum ratio indicating significance of proper inoculation. Co-culture at 0.5 inoculum ratio of suspended activated sludge and immobilized <I>C. vulgaris</I> was advanced in the semi-continuous mode treatment. By repeating batch cycles for three times, the co-culture considerably eliminated 98–100% nitrogen, 92–100% phosphorus, and 94–96% COD and accumulated 2.2 g L<SUP>−1</SUP> of biomass production confirming the stability of the current co-culture system in municipal wastewater medium.</P> <P><B>Highlights</B></P> <P> <UL> <LI> The current co-culture exhibited simultaneous removal of nutrients and COD in two days. </LI> <LI> Removal efficiency was increased by decreasing the inoculum ratio from 5.0 to 0.5. </LI> <LI> The co-culture system demonstrated stability up to three repeated batch operations. </LI> </UL> </P> <P><B>Graphical abstract</B></P> <P>[DISPLAY OMISSION]</P>

A Survey : Data Warehouse Architecture

Muhammad Arif,Ghulam Mujtaba 보안공학연구지원센터 2015 International Journal of Hybrid Information Techno Vol.8 No.5

Influence of Organic Carbon Sources on Growth and Lipid Content of Marine Green Alga Dunaliella tertiolecta

Muhammad Rizwan,Ghulam Mujtaba,Kisay Lee 한국해양바이오학회 2014 한국해양바이오학회지 Vol.6 No.2

This study investigated the potential use of various organic carbon sources (glucose, glycerol and acetate) and different concentrations of CO₂ for culturing marine microalga Dunaliella tertiolecta. Cell growth and lipid production were monitored under heterotrophic, mixotrophic and photoautotrophic modes of cultivation. D. tertiolecta showed the ability to grow under mixotrophic (acetate and glucose), heterotrophic (glucose) and photoautotrophic condition under high CO₂ concentration (15%). With all the organic carbon sources (glucose, glycerol and acetate) tested in this study, 1~5% acetate enhanced cell growth rate and lipid content, while higher concentrations of acetate (10% and 15%) were inhibitory and resulted in cell death.

Enhanced Lipid and Carbohydrate Contents in Dunaliella tertiolecta in Limitation of Salts and Nitrogen

Muhammad Rizwan,Ghulam Mujtaba,Kisay Lee 대한환경공학회 2013 대한환경공학회 학술발표논문집 Vol.2013 No.6

Effects of Iron Sources on the Growth and Lipid/Carbohydrate Production of Marine Microalga Dunaliella tertiolecta

Muhammad Rizwan,Ghulam Mujtaba,이기세 한국생물공학회 2017 Biotechnology and Bioprocess Engineering Vol.22 No.1

The effects of iron sources with different speciation and anionic moieties (ferric chloride, ferrous chloride, ferric EDTA, ferrous EDTA, ferric ammonium sulfate, and ferrous ammonium sulfate) on the cell growth and the production of energy storage (lipid and carbohydrate) from Dunaliella tertiolecta were investigated. The influence of iron dosage was also compared in the range from 0.65 mg/L (1X) to 6.5 mg/L (10X) as Fe concentration. Best cell growth rate was achieved when ferrous ammonium sulfate was used. Ferric EDTA resulted in higher lipid content than other iron sources, while ferrous ammonium sulfate favored the accumulation of carbohydrate among six iron sources. The accumulations of lipid and carbohydrate as energy storage competed each other and thus both contents did not increase together. In the presence of ferric EDTA, lipid content is increasing, while carbohydrate content is decreasing. On the contrary, lipid content is decreasing while carbohydrate is increasing in the presence of ferric ammonium sulfate. Because the overall carbohydrate content was larger than that of lipid, bioethanol production would be more advantageous than biodiesel production with the present D. tertiolecta strain if the carbohydrate in D. tertiolecta contains a high fraction of glucose with a good saccharification yield.

Taxonomy of Different Data Warehouse Architectures & Need for Optimized Data Warehouse

Muhammad Arif,Ghulam Mujtaba 보안공학연구지원센터 2015 International Journal of u- and e- Service, Scienc Vol.8 No.5

Different architectures have been proposed for Data Warehouse. This paper gives a survey of the various architecture techniques used and justifies why there is still a need for optimized data warehouse architecture which overcomes the limitations or challenges of the existing techniques. Survey includes OLAM architecture (combination of Data mining and OLAP), complex Data Warehouse architecture, Real Time storage Architecture, Data Ware House Architecture through view point of information system and Model Driven approach for Data Warehouse. Ultimate goal of this paper is to propose an architecture which is fault tolerant, has less resource consumption and user friendly.

해양 미세조류 Dunaliella tertiolecta에서 철 공급을 포함한 다중스트레스 인자가 세포성장 및 지질생산에 미치는 영향

리즈완무하마드 ( Muhammad Rizwan ),무지타바굴람 ( Ghulam Mujtaba ),이기세 ( Kisay Lee ) 한국공업화학회 2017 공업화학 Vol.28 No.3

해양 미세조류 Dunaliella tertiolecta에서 바이오디젤 원료인 지질생산을 위하여 철 함량 변화 및 빛 공급과 CO₂ 공급에 의한 다중스트레스 인자의 조합이 세포성장 및 지질함량의 변화에 미치는 영향을 조사하였다. 1차 스트레스 인자로 정상보다 높거나 부족한 철 함량 조건이 지질 합성을 유도할 수 있음을 확인하였다. 2차 스트레스 인자로 빛 또는 CO₂ 공급이 제한될 때 지질함량이 증가하였지만 오랜 시간 배양할 때 세포성장이 감소하는 단점이 있었다. 이와 같이 스트레스 조건에서 세포의 성장과 지질생산이 서로 다른 경향을 보이면 단일 배양기에서 지질생산성을 높이기 어려우므로, 세포성장과 지질생산을 분리한 2단계 배양 전략을 적용하였다. 1단계 배양에서는 성장 위주의 조건으로 고농도배양을 얻은 후, 2단계에서 지질생산을 유도하는 스트레스 조건을 부여하는 것이다. 암소 조건이 다른 조건에 비해 세포농도 감소폭이 작고 지질함량이 높아졌기 때문에, 세포 2 g/L의 고농도로 접종한 2단계에서 5X 철 농도(3.25 mg/L as Fe) 및 암소 조건을 사용하여 12 h의 짧은 배양을 통하여 1.44 g/L/d의 높은 지질생산성을 얻을 수 있었다. Changes in the cell growth and lipid accumulation of marine microalga Dunaliella tertiolecta were investigated in response to the combination of different stress factors including the variation of iron supply as a primary stress factor and different options in light irradiation and CO₂ supply as a secondary stress factor. High or limited Fe conditions could act as a stress for lipid synthesis. As a secondary stress factor, non-CO₂ condition was good for lipid accumulation, but the overall cell growth was sacrificed significantly after a long-time cultivation. Dark condition as a secondary stress factor also favored lipid accumulation and the extent of cell density reduction at the early period in the dark was small compared to other stress conditions. The two-stage cultivation strategy was necessary to maximize lipid production because tendencies of the cell growth and lipid content were not identical under the chosen stress condition. The first stage was for preparing a high cell density under the normal growth-favoring condition and the second stage was the stress condition to induce lipid accumulation in a short time. The short-term (12 h) incubation under the 5X Fe (3.25 mg/L) and dark conditions resulted in the best lipid productivity of 1.44 g/L/d providing 2 g/L inoculum at the second stage.

Wastewater treatment from synthetic wastewater by immobilized Chlorella vulgaris and suspended activated sludge: effects of different ratios

( Ghulam Mujtaba ),( Rizwan Muhammad ),이기세 한국공업화학회 2015 한국공업화학회 연구논문 초록집 Vol.2015 No.1

The co-culture system, composed of microalgae and bacteria, is considered as an alternative biosystem that can sustainably be used to remove inorganic nutrients (nitrogen and phosphorous) and COD. Immobilized C. vulgaris and suspended activated sludge were used in 1-L bubble column photobioreactors with 600 mL culture volume for the removal of nutrients. Three different ratios of C. vulgaris and activated sludge (such as, 1:1, 1:2, and 2:1) were applied to check the relative performance. Co-culture system, in any given ratio, removed significantly more nitrogen, phosphorous, and COD as compared to conventional system (activated sludge only). There was no significant difference in removing phosphorous and COD under three respected ratios. However, comparatively, most nitrogen was reduced in 2:1 of C. vulgaris and activated sludge. Both the C. vulgaris and bacteria present in activated sludge were increased during the treatment time.