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Integrated Tracking and Accident Avoidance System for Mobile Robots
Irfan Ullah,Furqan Ullah,Qurban Ullah,신서용 제어·로봇·시스템학회 2013 International Journal of Control, Automation, and Vol.11 No.6
In the intelligent transportation field, various accident avoidance techniques have been applied. One of the most common issues with these is the collision, which remains an unsolved problem. To this end, we developed a Collision Warning and Avoidance System (CWAS), which was implemented in the wheeled mobile robot. Path planning is crucial for a mobile robot to perform a given task correctly. Here, a tracking system for mobile robots that follow an object is presented. Thus, we implemented an integrated tracking system and CWAS in a mobile robot. Both systems can be activated independently. Using the CWAS, the robot is controlled through a remotely controlled device, and collision warning and avoidance functions are performed. Using the tracking system, the robot performs tasks autonomously and maintains a constant distance from the followed object. Information on the surroundings is obtained through range sensors, and the control functions are performed through the microcontroller. The front, left, and right sensors are activated to track the object, and all the sensors are used for the CWAS. The proposed system was tested using the binary logic controller and the Fuzzy Logic Controller (FLC). The efficiency of the robot was improved by increasing the smoothness of motion via the FLC, achieving accuracy in tracking and increasing the safety of the CWAS. Finally, simulations and experimental outcomes have shown the usefulness of the system.
( Muhammad Abubakar ),( Shumaila Manzoor ),( Qurban Ali ) 한국동물자원과학회(구 한국축산학회) 2015 한국축산학회지 Vol.57 No.2
Among the main intimidation to the sheep and goat population, PPR outbreaks are causing huge losses especially in endemic areas. During recent times, six outbreaks of PPR were confirmed at semi-organized goat farms/herds in various regions of Punjab province and Islamabad capital territory (ICT), Pakistan. The disease started after introduction of new animals at these farms with no history of previous PPR vaccination. The clinical signs appeared affecting respiratory and enteric systems and spread quickly. Disease caused mortality of 10-20% and morbidity of 20-40% within a time period of four weeks. Morbidity and mortality rates were 30.38% (86/283) and 15.55% (44/283), respectively. Three treatment regimes were executed to demonstrate the role of vaccination during outbreak at these farms. First was to use only the broad spectrum antibiotics (Penicillin & Streptomycin and/ or Trimethoprim and Sulfadiazine) at two farms (Texilla and Attock). Second treatment regime was to use the same broad spectrum antibiotic along with extensive fluid therapy (Farms at ICT-1 and ICT-2). The third regime was to use of broad spectrum antibiotic plus fluid therapy along with vaccinating the herd against PPR during first week of outbreak (ICT-3 and ICT-4). The third scheme of treatment gave the better results as there was no mortality in third week post-outbreak. Therefore, it is suggested to give proper importance to PPR vaccination along with conventional symptomatic treatment when dealing the PPR outbreaks in endemic disease conditions.
Abubakar, Muhammad,Manzoor, Shumaila,Ali, Qurban Korean Society of Animal Science and Technology 2015 한국축산학회지 Vol.57 No.1
Among the main intimidation to the sheep and goat population, PPR outbreaks are causing huge losses especially in endemic areas. During recent times, six outbreaks of PPR were confirmed at semi-organized goat farms/herds in various regions of Punjab province and Islamabad capital territory (ICT), Pakistan. The disease started after introduction of new animals at these farms with no history of previous PPR vaccination. The clinical signs appeared affecting respiratory and enteric systems and spread quickly. Disease caused mortality of 10-20% and morbidity of 20-40% within a time period of four weeks. Morbidity and mortality rates were 30.38% (86/283) and 15.55% (44/283), respectively. Three treatment regimes were executed to demonstrate the role of vaccination during outbreak at these farms. First was to use only the broad spectrum antibiotics (Penicillin & Streptomycin and/or Trimethoprim and Sulfadiazine) at two farms (Texilla and Attock). Second treatment regime was to use the same broad spectrum antibiotic along with extensive fluid therapy (Farms at ICT-1 and ICT-2). The third regime was to use of broad spectrum antibiotic plus fluid therapy along with vaccinating the herd against PPR during first week of outbreak (ICT-3 and ICT-4). The third scheme of treatment gave the better results as there was no mortality in third week post-outbreak. Therefore, it is suggested to give proper importance to PPR vaccination along with conventional symptomatic treatment when dealing the PPR outbreaks in endemic disease conditions.