Hardware realization and PID control of multi-degree of freedom articulated robotic arm

A robotic manipulator is the most important component in an industrial environment for autonomous execution of tasks. Given the repoted fact that a PID (Proportional-Integral-Derivative) will continue to be the main workhorse in the automation sector, the present paper deals with designing and realizing this control law. A custom-developed pseudo-industrial platform AUTAREP (AUTonomous Articulated Robotic Educational Platform) centered on a 6DOF (Six Degree of Freedom) manipulator is considered. The derived kinematic and dynamic models of the arm form the basis of MATLAB-based control simulation. The control law after discretization is also implemented on embedded hardware. When subject to various inputs, result of trajectory tracking in the form of output responses, demonstrate superior performance in transient as well as steady state. The stability and convergent behavior of the outputs is also observed, thus highlighting efficacy of proposed approach

Socio-economic analysis of the interventions aimed at improving water and sanitation condition of rural community

Present research has been aimed to assess the socio-economic analysis of the water and sanitation interventions made by the government in rural areas of District Abbottabad, KPK, Pakistan. A cross-sectional study design was employed to collect data from the relevant actors with the help of interviews, questionnaires and focus group discussions. Respondents were satisfied with the cost of the water delivery at home and the quality of water was also appreciable. Majority of the people described the strengthened pardha system (Privacy), as major advantage of the interventions. In terms of economic benefits by the interventions it was quiet good. But still top down approach is used for implementation of water supplies schemes and sanitation interventions by the government which is not satisfactory indicator for maximizing the benefits. Keywords: Water and sanitation, Rural, Interventions, , socio-economi

Save water and safe water: Evaluation of design and storage period on water quality of rainwater harvesting system

The present research has been aimed to assess the appropriateness of different aspects of rooftop rainwater harvesting system as an alternative of ground water installed at Chitra Topi. 25 households were purposively selected for the collection of relevant data with the help of interview schedules, focus group discussions, and water sampling. Average rooftop area of surveyed households was 100 m2. Ideal storage system and proper management of surplus during peak seasons can ensure water availability throughout the year. From quality perspective, there are few issues in the physical, chemical and microbiological parameters. But by the introduction of simple components there problems can be rectified to a large extent. Based on results, it is concluded that rain water harvesting systems were shown to be a relatively low cost option for improving a households’ geographical and temporal access to a water source, increasing convenience and decreasing collection times. Keywords: Rainwater, Harvesting, Design, Water qualit

Structural Breaks and Volatility Spillover in South Asian Economies

Purpose - This study examines the volatility spillovers in the presence of structural breaks with specific reference to South Asian Capital markets. The global financial crisis of 2007-2009 has compelled policymakers to realize that financial instability has the potential to threaten economic stability and growth; therefore, managing the financial crisis is inevitable. To manage the impact of financial crises, understanding the dynamics of volatility spillover across various markets is imperative. This study has investigated the possible emergence of structural breaks in risk patterns after global financial crises in south Asian markets. Methodology - Using the data from July 2002 to June 2016, employing the Exponential GARCH methodology. Findings - This study finds a significant volatility spillover after the financial crisis of 2007-09. Therefore, the existence of a structural break in the risk pattern of south Asian capital markets cannot be fully rejected. Policy Implications - This conclusion is of prime importance to policymakers in devising policy guidelines concerning financial crises

Women\u27s beliefs regarding food restrictions during common childhood illnesses: a hospital based study

Background: Malnutrition continues to be a major problem in Pakistan. Inadequate nutrition contributes substantially to childhood death and disease. Restriction of diet during common childhood illnesses further compromises the nutritional status of the child. The present study aims to determine the beliefs and practices regarding food restrictions during common childhood illnesses.Methods: A cross-sectional survey was conducted at Community Health Centre (CHC), of The Aga Khan University Hospital, Karachi to understand the beliefs and practices regarding food restrictions in common childhood illnesses. Four hundred adult females were interviewed from July-September 2000. A self-administered questionnaire was filled by the respondent.Results: Major sources of information about restriction of various foods during different illnesses were relatives. Sixty five percent of the respondents believed that heavy food should be restricted during diarrhoea and oily food during jaundice. Sixty six percent of the respondents believed that cold food should be restricted during cold/cough and twenty three percent believed that oily food should be restricted during typhoid.CONCLUSION: Beliefs\u27 regarding food restrictions during illnesses plays a very important role on the nutrition status. Surprisingly, medical doctors and other health care givers were also the source of information for advising food restrictions in certain childhood illnesses. Therefore there is a need for educating the physicians and other health care workers along with the mothers about food concepts and feeding practices during health and diseases. Protein energy malnutrition can be reduced to some extent if wrong dietary beliefs about child feeding practices in a community can be removed with health education programme

Game chromatic number of Cartesian and corona product graphs

The game chromatic number $\chi_g$ is investigated for Cartesian product $G\square H$ and corona product $G\circ H$ of two graphs $G$ and $H$. The exact values for the game chromatic number of Cartesian product graph of $S_{3}\square S_{n}$ is found, where $S_n$ is a star graph of order $n+1$. This extends previous results of Bartnicki et al. [1] and Sia [5] on the game chromatic number of Cartesian product graphs. Let $P_m$ be the path graph on $m$ vertices and $C_n$ be the cycle graph on $n$ vertices. We have determined the exact values for the game chromatic number of corona product graphs $P_{m}\circ K_{1}$ and $P_{m}\circ C_{n}$

Modeling and computed torque control of a 6 degree of freedom robotic arm

This paper presents modelling and control design of ED 7220C - a vertical articulated serial arm having 5 revolute joints with 6 Degree Of Freedom. Both the direct and inverse kinematic models have been developed. For analysis of forces and to facilitate the controller design, svstem dvnamics have been formulated. A non-linear control technique, Computed Torque Control (CTC) has been presented. The algorithm, implemented in MATLAB/Simulink, utilizes the derived dynamics as well as linear control techniques. Simulation results dearly demonstrate the efficacy of the presented approach in terms of traiectory tracking Various responses of the arm joints have been recorded to characterize the performance of the control algorithm. The research finds its applications in simulation of advance nonlinear and robust control techniques as well as their implementation on the physical platform. © 2014 IEEE

Effectiveness of thrombolytic therapy in patients with acute myocardial infarction within 12 hours of symptoms

Background: Atherosclerotic coronary artery disease particularly myocardial infarction is the leading cause of morbidity and mortality all over the world and its incidence is also on the rise in Pakistan. This study was done to assess the effectiveness of thrombolytic therapy in patients with acute myocardial infarction and comparison between diabetics and non- diabetics.Methods: This cross sectional study was conducted at Department of Cardiology, Bahawal Victoria Hospital, Bahawalpur from January to June 2019. Total 380 patients of aged 30-70 years either male or female with diagnosis of acute ST-elevation myocardial infarction presenting within 12 hours of the onset of chest pain were selected. Patients were given thrombolytic therapy with Streptokinase 1.5 MIU over 1 hour and post therapy, efficacy was assessed.Results: Mean age of the patients was 51.37±10.08 years. Mean duration of diabetes mellitus was 5.99±3.47 years. Duration of chest pain ranged from 1 hour to 12 hours with mean duration of 4.66±2.98 hours. Out of 380 patients of MI, treatment was found effective in 202 (53.2%) patients. Female gender, type of MI, and duration of chest pain were significantly associated with reduced efficacy (p value 0.05) while patients having diabetes had significantly reduced efficacy (p value < 0.001).Conclusions: There is reduced effectiveness of thrombolytic therapy in diabetic patients with ST elevation myocardial infarction