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.

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.

Effect of partially replacing soybean meal with sunflower meal with supplementation of multienzymes on growth performance, carcass characteristics, meat quality, ileal digestibility, digestive enzyme activity and caecal microbiota in broilers

Yaqoob Muhammad Umar,Yousaf Muhammad,Imran Safdar,Hassan Safdar,Iqbal Waqar,Zahid Muhammad Umer,Ahmad Naveed,Wang Minqi 아세아·태평양축산학회 2022 Animal Bioscience Vol.35 No.10

Objective: An experiment was conducted to evaluate the effects of partially replacing soybean meal (SBM) with sunflower meal (SFM) with added exogenous multienzymes (MEs) on various biological parameters in broilers. Methods: One week-old, 400 broiler chicks were randomly divided into four treatments (control, 3SFM, 6SFM, and 9SFM) with 5 replicates/treatment (20 chicks/replicate). Control diet was without SFM and MEs, while diets of 3SFM, 6SFM, and 9SFM treatments were prepared by replacing SBM with SFM at levels of 3%, 6%, and 9%, respectively, and were supplemented with MEs (100 mg/kg). Feeding trial was divided into grower (8 to 21 day) and finisher phases (22 to 35 day). External marker method was used to measure the nutrient digestibility. At the end of trial, twenty birds (one birds per replicate) with similar body weight were slaughtered for samples collection. Results: No significant effect of dietary treatments was found on all parameters of growth performance and carcass characteristics, except relative weight of bursa. Weight (25.0 g) and length (15.80 cm) of duodenum were significantly (p<0.05) higher in 3SFM than control. Lowest (p<0.05) villus height/crypt depth ratio was found in 3SFM and 9SFM than control. Most of meat quality parameters remained unaffected, however, highest pH of breast meat (6.16) and thigh meat (6.44) were observed in 9SFM and 3SFM, respectively. Lowest (p<0.05) cook loss of thigh meat was found in 6SFM (31.76%). Ileal digestibility of crude protein was significantly (p<0.05) higher in 3SFM (72.35%) than control (69.46%). In addition, amylase (16.87 U/mg) and protease (85.18 U/mg) activities were significantly (p<0.05) higher in 3SFM than control. However, cecal microbial count remained unaffected. Conclusion: Partial replacement (up to 9%) of SBM with SFM, with added MEs can help to improve the nutrient digestibility, intestinal morphology, and digestive enzyme activities without affecting cecal microbial count and growth performance in broilers. Objective: An experiment was conducted to evaluate the effects of partially replacing soybean meal (SBM) with sunflower meal (SFM) with added exogenous multienzymes (MEs) on various biological parameters in broilers.Methods: One week-old, 400 broiler chicks were randomly divided into four treatments (control, 3SFM, 6SFM, and 9SFM) with 5 replicates/treatment (20 chicks/replicate). Control diet was without SFM and MEs, while diets of 3SFM, 6SFM, and 9SFM treatments were prepared by replacing SBM with SFM at levels of 3%, 6%, and 9%, respectively, and were supplemented with MEs (100 mg/kg). Feeding trial was divided into grower (8 to 21 day) and finisher phases (22 to 35 day). External marker method was used to measure the nutrient digestibility. At the end of trial, twenty birds (one birds per replicate) with similar body weight were slaughtered for samples collection.Results: No significant effect of dietary treatments was found on all parameters of growth performance and carcass characteristics, except relative weight of bursa. Weight (25.0 g) and length (15.80 cm) of duodenum were significantly (p<0.05) higher in 3SFM than control. Lowest (p<0.05) villus height/crypt depth ratio was found in 3SFM and 9SFM than control. Most of meat quality parameters remained unaffected, however, highest pH of breast meat (6.16) and thigh meat (6.44) were observed in 9SFM and 3SFM, respectively. Lowest (p<0.05) cook loss of thigh meat was found in 6SFM (31.76%). Ileal digestibility of crude protein was significantly (p<0.05) higher in 3SFM (72.35%) than control (69.46%). In addition, amylase (16.87 U/mg) and protease (85.18 U/mg) activities were significantly (p<0.05) higher in 3SFM than control. However, cecal microbial count remained unaffected.Conclusion: Partial replacement (up to 9%) of SBM with SFM, with added MEs can help to improve the nutrient digestibility, intestinal morphology, and digestive enzyme activities without affecting cecal microbial count and growth performance in broilers.

Effect of multi-enzymes supplementation on growth performance, meat quality, ileal digestibility, digestive enzyme activity and caecal microbiota in broilers fed low-metabolizable energy diet

Yaqoob Muhammad Umar,Yousaf Muhammad,Iftikhar Mubashir,Hassan Safdar,Wang Geng,Imran Safdar,Zahid Muhammad Umer,Iqbal Waqar,Wang Minqi 아세아·태평양축산학회 2022 Animal Bioscience Vol.35 No.7

Objective: This study was conducted to evaluate the effect of using low energy diet with multi-enzymes supplementation on different biological parameters in broilers. Methods: Three hundred Arbor Acres broiler chicks were randomly divided into three groups (Cont, standard metabolizable energy(ME); L-ME, ME reduced by 50 kcal/kg without enzyme; and L-ME-MES, L-ME diet was supplemented with multi-enzymes) with five replicates per group (20 chicks per replicate) at the start of second week. Grower and finisher diets were formulated according to breed specific guide and offered with free access in respective phase (two weeks for grower [8 to 21 d]; two weeks for finisher [22 to 35 d]). External marker method was used to measure the nutrient digestibility. After feeding trial, fifteen birds (one bird per replicate) were selected randomly and slaughtered for samples collection. Results: The results exhibited no effect (p>0.05) of dietary treatments on all parameters of growth performance, carcass traits, relative weight of internal organs except bursa and overall parameters of thigh meat quality. Relative weight of bursa was significantly (p<0.05) higher in L-ME than control. Multi-enzymes supplementation in low-ME diet significantly (p<0.05) improved the breast meat pH 24 h, digestibility of crude protein, duodenum weight and length, jejunal morphology, counts of Lactobacillus spp. and Bifidobacterium spp., lipase and protease activities than control. Jejunum length was increased in both L-ME and L-ME-MES treatments than that of the control (p<0.05). Breast meat cooking loss and color lightness was lower in L-ME (p<0.05) than control. Conclusion: It can therefore be concluded that broilers could be reared on low energy diet with supplementation of multi-enzymes without compromising the growth performance. In addition, it is beneficial for other biological parameters of broilers. Objective: This study was conducted to evaluate the effect of using low energy diet with multi-enzymes supplementation on different biological parameters in broilers.Methods: Three hundred Arbor Acres broiler chicks were randomly divided into three groups (Cont, standard metabolizable energy(ME); L-ME, ME reduced by 50 kcal/kg without enzyme; and L-ME-MES, L-ME diet was supplemented with multi-enzymes) with five replicates per group (20 chicks per replicate) at the start of second week. Grower and finisher diets were formulated according to breed specific guide and offered with free access in respective phase (two weeks for grower [8 to 21 d]; two weeks for finisher [22 to 35 d]). External marker method was used to measure the nutrient digestibility. After feeding trial, fifteen birds (one bird per replicate) were selected randomly and slaughtered for samples collection.Results: The results exhibited no effect (p>0.05) of dietary treatments on all parameters of growth performance, carcass traits, relative weight of internal organs except bursa and overall parameters of thigh meat quality. Relative weight of bursa was significantly (p<0.05) higher in L-ME than control. Multi-enzymes supplementation in low-ME diet significantly (p<0.05) improved the breast meat pH 24 h, digestibility of crude protein, duodenum weight and length, jejunal morphology, counts of <i>Lactobacillus</i> spp. and <i>Bifidobacterium</i> spp., lipase and protease activities than control. Jejunum length was increased in both L-ME and L-ME-MES treatments than that of the control (p<0.05). Breast meat cooking loss and color lightness was lower in L-ME (p<0.05) than control.Conclusion: It can therefore be concluded that broilers could be reared on low energy diet with supplementation of multi-enzymes without compromising the growth performance. In addition, it is beneficial for other biological parameters of broilers.

Ultra-thin, conformal, and hydratable color-absorbers using silk protein hydrogel

Umar, Muhammad,Min, Kyungtaek,Jo, Minsik,Kim, Sunghwan Elsevier 2018 Optical materials Vol.80 No.-

<P><B>Abstract</B></P> <P>Planar and multilayered photonic devices offer unprecedented opportunities in biological and chemical sensing due to strong light-matter interactions. However, uses of rigid substances such as semiconductors and dielectrics confront photonic devices with issues of biocompatibility and a mechanical mismatch for their application on humid, uneven, and soft biological surfaces. Here, we report that favorable material traits of natural silk protein led to the fabrication of an ultra-thin, conformal, and water-permeable (hydratable) metal-insulator-metal (MIM) color absorber that was mapped on soft, curved, and hydrated biological interfaces. Strong absorption was induced in the MIM structure and could be tuned by hydration and tilting of the sample. The transferred MIM color absorbers reached the exhibition of a very strong resonant absorption in the visible and near infra-red ranges. In addition, we demonstrated that the conformal resonator could function as a refractometric glucose sensor applied on a contact lens.</P> <P><B>Highlights</B></P> <P> <UL> <LI> An ultra-thin, conformal and hydratable color absorber is prepared using silk protein. </LI> <LI> The color absorber is fully conformed on the wrinkled and soft biological models. </LI> <LI> The color absorber is applied as a RI sensor to assess the glucose concentration. </LI> <LI> Biomaterial-based devices can lead to novel applications in bio–photonics. </LI> </UL> </P>

Description of Neolimothrips binervis (Kobus) (Thripidae: Thysanoptera: Chirothripin) from Pakistan, with a New Locality Record

UMAR, Muhammad,Waseem AKRAM,최종경,이종진 한국곤충학회 2004 Entomological Research Vol.34 No.1

Genus Neolimothrips with a single species N. binervis has been collected, identifiedand described for the first time from Azad Jammu and Kashmir, Pakistan. Redescription andillustration of the key characters of the species are provided. The genus and the only collectedspecies can easily be identified and separated on the basis of head protruding in front of eyes andantennal segments 3-4 with simple sense cones.

Variational Method for High-Fidelity Quantum State Preparation

Muhammad Mustafa Umar Gondel,Ahmad Farooq,Hyundong Shin 한국통신학회 2022 한국통신학회 학술대회논문집 Vol.2022 No.11

Design of a novel 6-DoF robotic system for pituitary tumor removal under MRI guidance

Muhammad Umar Farooq,Kyoungrae Cha,Dae Kyung Sohn,Heon Yoo,Seong Young Ko 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10

Magnetic resonance imaging (MRI) provide superior visuals that might be suitable for complicated surgical procedures in complex parts of the human body like brain and heart. Brain tumor removal is one of the trickiest surgical procedures and the pituitary tumor is one of the most common type of intracranial tumors. In this paper, we present an MRI compatible robotic system for pituitary tumor removal via trans-nasal access to the surgical site. The robotic system is designed to operate in a Siemens® 3T MRI scanner. A 5mm diameter and 6-DOF design specific manipulator is developed to access the pituitary glands and remove the tumor using the commercially available tools. The actuation system is designed to fit inside the MRI bore and operate just above the nasal entry point. The manipulator is designed to work in a 20×20mm workspace of the pituitary gland and this workspace is validated by experiments. The presented robotic system is expected to decrease the complexity by accessing the surgical site through the nasal cavity and improve the quality of tumor removal by providing better image quality under MRI guidance.

Development of Protective Scheme against Collaborative Black Hole Attacks in Mobile Ad hoc Networks

( Muhammad Umar Farooq ),( Xingfu Wang ),( Moizza Sajjad ),( Sara Qaisar ) 한국인터넷정보학회 2018 KSII Transactions on Internet and Information Syst Vol.12 No.3

Mobile Ad hoc Network (MANET) is a collection of nodes or communication devices that wish to communicate without any fixed infrastructure and predetermined organization of available links. The effort has been made by proposing a scheme to overcome the critical security issue in MANET. The insufficiency of security considerations in the design of Ad hoc On-Demand Distance Vector protocol makes it vulnerable to the threats of collaborative black hole attacks, where hacker nodes attack the data packets and drop them instead of forwarding. To secure mobile ad hoc networks from collaborative black hole attacks, we implement our scheme and considered sensor's energy as a key feature with a better packet delivery ratio, less delay time and high throughput. The proposed scheme has offered an improved solution to diminish collaborative black hole attacks with high performance and benchmark results as compared to the existing schemes EDRIAODV and DRIAODV respectively. This paper has shown that throughput and packet delivery ratio increase while the end to end delay decreases as compared to existing schemes. It also reduces the overall energy consumption and network traffic by maintaining accuracy and high detection rate which is more safe and reliable for future work.

Nasolabial and extended nasolabial flaps for reconstruction in oral submucous fibrosis

Muhammad Umar Qayyum,Omer Sefvan Janjua,Ehtesham Ul Haq,Rubbab Zahra 대한구강악안면외과학회 2018 대한구강악안면외과학회지 Vol.44 No.4

Objectives: The objective of the study was to evaluate the results of nasolabial/extended nasolabial flaps as a modality for treatment of oral submucous fibrosis. Materials and Methods: Eleven patients of Stage III or IVa maximum interincisal opening were selected to be operated. Nasolabial/extended nasolabial flaps were done for both the sides. All of the flaps were done in a single stage and were inferiorly based. A similar flap harvest/surgical technique was utilized for all the cases. Results: The preoperative mouth opening ranged from 5 to 16 mm, with a mean of 10.09 mm. At 6 months the mouth opening ranged from 29 to 39 mm. Some of the complications encountered were poor scar, wisdom tooth traumatising the flap, decreased mouth opening due to non compliance and too much bulk. All of theses were managed satisfactorily. Conclusion: The nasolabial flap is a very reliable flap to restore the function of oral cavity. Important adjuvant measures are habit cessation, lifestyle changes, and aggressive physiotherapy.