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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.
Ahmad, Subhan,Umar, Arshad,Masood, Amjad,Nayeem, Mohammad Techno-Press 2019 Advances in concrete construction Vol.7 No.1
This paper evaluates the workability and hardened properties of self-compacting concrete (SCC) containing silica fume as the partial replacement of cement. SCC mixtures with 0, 2, 4, 6, 8 and 10% silica fume were tested for fresh and hardened properties. Slump flow with $T_{500}$ time, L-box and V-funnel tests were performed for evaluating the workability properties of SCC mixtures. Compressive strength, splitting tensile strength and modulus of rupture were performed on hardened SCC mixtures. Experiments revealed that replacement of cement by silica fume equal to and more than 4% reduced the slump flow diameter and increased the $T_{500}$ and V-funnel time linearly. Compressive strength, splitting tensile strength and modulus of rupture increased with increasing the replacement level of cement by silica fume and were found to be maximum for SCC mixture with 10% silica fume. Further, residual hardened properties of SCC mixture yielding maximum strengths (i.e., SCC with 10% silica fume) were determined experimentally after heating the concrete samples up to 200, 400, 600 and $800^{\circ}C$. Reductions in hardened properties up to $200^{\circ}C$ were found to be very close to normal vibrated concrete (NVC). For 400 and $600^{\circ}C$ reductions in hardened properties of SCC were found to be more than NVC of the same strength. Explosive spalling occurred in concrete specimens before reaching $800^{\circ}C$.
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.
Development of FPGA-based system for control of an Unmanned Ground Vehicle with 5-DOF Robotic Arm
Abdullah Afaq,Mohammad Ahmed,Ahmed Kamal,Umar Masood,Muhammad Shahzaib,Nasir Rashid,Mohsin Tiwana,Javaid Iqbal,Asadullah Awan 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This paper discusses the development of a customizable FPGA based system for implementing control algorithms on an Unmanned Ground Vehicle (UGV) and its 5 Degree of Freedom (DOF) manipulator. The compact RIO-9012 is used as a controller which is a reconfigurable embedded control and acquisition system using LabVIEW as the programming platform. The developed system enables the control of UGV and its manipulator using a remote joystick controller via Wi-Fi communication. Apart from Joystick, the system can also be controlled optionally using a keyboard. Accuracy of Joystick control has been enhanced by using point to point mapping technique. A user friendly GUI has been developed to view live video feedback obtained from the onboard cameras to control the UGV accordingly. Different features of UGV like path tracker (tracks its path on Google Maps), variable speed modes, battery indicator, camera switch and selector etc. are also managed in the GUI. The system has been developed so that, in future, it can easily be extended to a fully autonomous system.
Azeem Ullah,Sana Ullah,Tanzeel Areeb,Muhammad Umar,Phan Duy Nam,Rashid Masood,Soonjee Park,김익수 한국섬유공학회 2020 Fibers and polymers Vol.21 No.11
Polysaccharides from different sources have found their applications in the wound care for their inherent abilitiesof gelling, biocompatibility, biodegradability, and antibacterial activity. Considering the low cost, ease of processing,abundance in nature and therapeutic benefits of the polysaccharides we developed psyllium, alginate and chitosan (PAC)composite fibers and modelled their physical properties namely; tenacity, linear density and absorption in both distilled waterand saline solution; using Box-Behnken (BB) technique of Response Surface Methodology (RSM). The PAC fibers wereproduced using an in house developed wet spinning module; briefly the dope solutions containing psyllium and alginate wereextruded into a hydrolyzed chitosan and CaCl2. The produced fibers were acetone washed to remove the polar solvent; in thiscase water; and later dried in air. The present work aimed at the development of statistical models for physical properties:linear density, tenacity, antibacterial efficacy and liquid absorption; of the composite PAC fibers. The factors underconsideration were the raw material concentration namely; alginate and psyllium in dope solution and calcium chloride(CaCl2) and hydrolysed chitosan in the coagulation bath. The experimental work was designed and analyzed using Minitab®17 statistical software. Regression models using the under consideration factors were successfully developed.
Hayat Alvina,Anas Muhammad,Shaheen Zeenat,Falak Aliza,Quraishi Umar Masood 한국작물학회 2024 Journal of crop science and biotechnology Vol.27 No.2
Cadmium (Cd) is a water-soluble heavy metal. It has adverse effects on rivers and underground water in developing countries. Rice is a hydrophilic crop grown by extensive utilization of water. Presence of Cd in paddy water can lead to destruction of both quality and quantity of rice. To access the variation in impact of Cd on two elite rice cultivars of Pakistan i.e., indica (Super Basmati) and japonica (JP-5), a pot experiment with three replicates was carried out in completely randomized design. To induce stress conditions, both cultivars were subjected to elevated levels of Cd (50 mg/kg) as cadmium chloride. The results indicated that Cd stress had a high impact on morpho-physiological traits such as grain yield, thousand grain weight and tiller number in Supper Basmati compared to JP-5. This was due to high accumulation of the reactive oxygen species and lower levels of enzymatic antioxidants including peroxidase, catalase, carotenoids, glutathione, ascorbate peroxidase, glutathione peroxidase, and phenols in Super basmati. The Cd translocation from roots to leaf and subsequently grains was higher in Super Basmati compared to JP-5. Nutritional profiling of grains showed low level of carbohydrates and proteins in Super Basmati compared to JP-5 which shows that JP-5 is more tolerant, nutritious, and high-yielding under Cd-stress conditions. JP-5 is thus recommended to be cultivated in Cd-stressed areas in future and breeders can further use it to improve crop performance in Cd-stress soil and ensure sustainable food production around the world