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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.
( Asim Shamim ),( Murtaz Ul Hassan ),( Arfan Yousaf ),( Muhammad Farooq Iqbal ),( Muhammad Arif Zafar ),( Rao Muhammad Siddique ),( Muhammad Abubakar ) 한국동물자원과학회(구 한국축산학회) 2015 한국축산학회지 Vol.57 No.41
The present study was intended to determine the prevalence and identification of species involved causing coccidiosis in broilers rearing under traditional farming system in Mirpur, Azad Kashmir, Pakistan. For the current study, a convenient sampling technique was carried out. A total of 7814 broilers (aged 1 to 6 weeks) were submitted to the Disease Diagnostic Laboratory of Livestock and Animal husbandry Department Mirpur, Azad Kashmir. Results: From the total screened, 750 were found positive for coccidiosis representing an overall prevalence of 9.59 %. Age-wise highest prevalence (10.88 %) recorded in the middle age birds (0 to 3 week old) were found more susceptible to infection than those aged above 3 weeks. Higher prevalence (12.49 %) of coccidiosis in broilers was observed in spring as compared with 6.60 % in summer season. In this study two main coccidiosis causing species, Emeria tenella and Emeria maxima were identified on the basis of their morphological feature and habitat (caeca and intestine), However, E. tenella was dominant compared to E. maxima. Conclusion: The study provides an insight to the occurrence of Emeria species which must be taken into consideration when rearing the broilers.
Occurrence and identification of Emeria species in broiler rearing under traditional system
Shamim, Asim,Hassan, Murtaz ul,Yousaf, Arfan,Iqbal, Muhammad Farooq,Zafar, Muhammad Arif,Siddique, Rao Muhammad,Abubakar, Muhammad Korean Society of Animal Sciences and Technology 2015 한국축산학회지 Vol.57 No.12
Background: The present study was intended to determine the prevalence and identification of species involved causing coccidiosis in broilers rearing under traditional farming system in Mirpur, Azad Kashmir, Pakistan. For the current study, a convenient sampling technique was carried out. A total of 7814 broilers (aged 1 to 6 weeks) were submitted to the Disease Diagnostic Laboratory of Livestock and Animal husbandry Department Mirpur, Azad Kashmir. Results: From the total screened, 750 were found positive for coccidiosis representing an overall prevalence of 9.59 %. Age-wise highest prevalence (10.88 %) recorded in the middle age birds (0 to 3 week old) were found more susceptible to infection than those aged above 3 weeks. Higher prevalence (12.49 %) of coccidiosis in broilers was observed in spring as compared with 6.60 % in summer season. In this study two main coccidiosis causing species, Emeria tenella and Emeria maxima were identified on the basis of their morphological feature and habitat (caeca and intestine), However, E. tenella was dominant compared to E. maxima. Conclusion: The study provides an insight to the occurrence of Emeria species which must be taken into consideration when rearing the broilers.