BENCHMARKING MODEL PREDICTIVE CONTROL AND REINFORCEMENT LEARNING FOR LEGGED ROBOT LOCOMOTION

This research delves into the realm of quadrupedal robotics, focusing on the comparative analysis of Model Predictive Control (MPC) and Reinforcement Learning (RL) as predominant control strategies. Through the comprehensive dataset compiled and the insights derived from this analysis, this research aims to serve as a valuable resource for the legged robotics community, guiding researchers and practitioners in the selection and implementation of control strategies. The ultimate goal is to contribute to the advancement of legged robot capabilities and facilitate their successful deployment in real-world applications. In this study, we employ the Unitree Go1 quadrupedal robot as a testbed, subjecting it to a variety of conditions including different terrains and external perturbations to assess the performance of MPC and RL controllers. Our findings reveal that RL exhibits superior force rejection in scenarios involving external forces, albeit relying heavily on torque in a single joint, while MPC provides a balanced torque distribution across all joints. In stumbling scenarios, MPC outperforms RL in recovery time, although both controllers face challenges when the robot falls into a failure state. Furthermore, the generalization capabilities of RL are evaluated across different terrains, demonstrating a performance drop in slippery conditions and uneven terrains compared to flat frictional surfaces. The temporal demands of RL, encompassing optimization and training phases, are contrasted with the real-time operation and parameter flexibility of MPC

Evaluation of comparative clinical efficacy of Vamana and Virechana Karmas in Madhumeha (NIDDM)

Introduction: Even though the scientific world has conducted extensive studies on Madhumeha but couldn’t find a safe and effective therapy or medicine for this disease, in Ayurveda we offer several treatment modalities. In the treatment of Sthoola Madhumeha, Vamana and Virechana therapies are good result oriented, controls the blood sugar level and prevent further complications without any side effects. Vamana and Virechana Karmas are advised in Madhumeha patients having good body strength and those who are Sthoola. Objectives: To evaluate the comparative effect of Vamana and Virechana Karmas in Madhumeha (NIDDM). Methods: This study includes 2 groups, 15 patients in each group. In Group-A, 15 patients received Vamana and in Group-B, 15 patients received Virechana. Results and Conclusion: In Group A (Vamana), 08 patients got Good response (53.33%), 07 patients are got Moderate response (46.66%) and in Group B (Virechana) 03 patients got Good response (20%) and 12 patients got Moderate response (80%), no patient had Poor response in both the groups. Thus both procedures are having good and lasting results

A COMPARATIVE CLINICAL STUDY ON THE EFFECT OF UDVARTANA AND TUMMY TRIMMER IN UDARA- LAMBANATVA W. S. R CENTRAL OBESITY

Now a day’s Obesity/ Sthoulya is a burning issue, but it is not being easy to burn it. Abdominal obesity also known as central obesity. With all kinds of foods becoming readily available at any times while humans are sedentary, intake of higher energy and less energy expenditure. Ayurveda describes Medopachaya as Sthoulya, it is a Santarpanajanya vyadhi said as one among Asthanindita purusha.According to the WHO, obesity is one of the most common, yet among the most neglected, public health problems in both developed and developing countries. Globally 1 in 6 adults is obese and nearly 2.8 million individuals die each year due to overweight or obesity. India is just behind US and China in this global hazard list of top 10 countries with highest number of obese people.The diuretic and purgatives drugs are also used to treat obesity, but the action is for shorter term and the patients again put on weight after cessation of treatment. In Ayurveda we offer several treatment measures to treat obesity. Here is an attempt made with safety management using principles of Panchakarma. 30 Patients were equally divided in 2 groups and treated Udvartana with Kolakulatthadi churna and Tummy trimmer by Sauna shaping belt, their comparative effects in central obesity. On the other hand corporate sectors are selling commercial slimming belts and are being sold out like hotcakes. Comparing both the procedures, Udvartana has given better result than Tummy trimmer

Performance Study of Cryptography based Dynamic Multi-Keyword Searchable Security Algorithm in Cloud Using CRSA /B+ Tree

Today, Cloud computing is a buzz word in IT industry. Cloud, a shared pool of computing resources, allows access to needed resources on demand through internet and web applications. Since data is outsourced to third party, user needs to maintain the accountability of their data in cloud. Hence preserving the confidentiality and securing the sensitive data in cloud is a major concern. Many cryptographic techniques have been proposed by researchers to assure the confidentiality of the user2019;s data in cloud. But, the challenging task is to provide the secure search over this preserved data which has been encrypted so as to retrieve the effective data. Hence, we are proposing a system to have a secure search over the encrypted data on the cloud which preserves its confidentiality. In our system, a noble approach has been made using the Commutative-RSA algorithm, a cryptographic technique where the dual encryption takes place thus reducing the overall computation overhead. The search operation over the encrypted data is based on the tree search algorithm which supports multi-keyword search. Based on the relevance score, the more appropriate data is retrieved on the search operation. Using this approach, the information is not leaked when the encrypted data is searched by users and also the queries are handled in an efficient way. Finally, we demonstrate the effectiveness and efficiency of the proposed schemes through extensive experimental evaluation

Application of Vishesha Siddhanta in the management of Janusandhigata Vata w.s.r. to Janubasti with Devadaru Baladi Taila - Clinical study

Ayurveda is the science of life. It defines any disturbance in the equilibrium of Dhatus (Dosha, Dhatu, Mala) is known as disease and on other hand the state of their equilibrium is health. Attainment of equilibrium is achieved by Samanya and Vishesa siddhanta. Vishesha has great role in Ayurveda like Samanya for being the Chikitsa Siddhanta. Sandhigatavata is a one among the Vataja Nanatmaja Vyadhis, with clinical symptoms like Sandhishula, Shotha, Prasaranaakunchana Vedana etc. According to WHO, Osteoarthritis is most common musculoskeletal problem in world (30%). Most pharmacological approaches for pain management are considered temporarily effective and not very safe. In Vatavyadhi - Snehana, Swedana and Basti karma are considered as the prime line of treatment. Bahya Snehana and Swedana effects will be achieved in Janubasti. Results and Conclusion: Out of 30, 12 patients (40%) had got Good response, 17 patients (56.66%) had Moderate response and 1 patient (3.33) had Mild response. Thus, Janubasti with Devadarubaladi Taila is having good result in subsiding the symptoms of Janusandhigatavata. Snigdha, Ushna and Guru Guna of Sneha will counteract with the Rooksha, Sheeta and Laghu Guna of Vata and hence controls the symptoms

Evaluate the efficacy of comparative study of Aavapa Dravya Triovasti and Somavalkala Kashaya Yogabasti in Madhumeha (NIDDM)

Background: Madhumeha has become a burning issue in day today life. The term Prameha has broader connotations indicating the increased quantity and quality of urination. Where as Madhumeha, is the condition where patient passes urine like honey. Madhumeha vis-à-vis Diabetes mellitus is a group of metabolic disorder characterized by Hyperglycaemia resulting from defects in Insulin secretion or its Action. In classics the prime importance has been given to Basti among Panchakarma and even termed as Ardhachikitsa or complete Chikitsa, as it produces multi-dimensional effect. Objectives: To evaluate the efficacy of the Vasti in Trio-vasti pattern and also to evaluate the efficacy of the Avapadravya in Vasti in Madhumeha, Methodology: 30 patients were selected for the study and equally divided in three groups. Group-A: 10 patients received Somavalka Kashaya Niruha Yoga Basti. Group-B: 10 patients received Somavalka Kashaya with Aavapa Dravya Niruha Yoga Basti. Group-C: 10 patients received Somavalka Kashaya Niruha Yoga Basti in Trio-vasti pattern. Results and Conclusion: After proper administration of Somavalka Kashaya Yogabasti in all the groups the results were noted that, it gives immediate and lasting results, both symptomatically and in sugar levels. Among 30 patients, 7 patients (23.33%) showed mild response, 12 Patients (40%) showed moderate response, 11 patients (36.66%) showed marked response. In mild and moderate type of Madhumeha patients, Somavalka Kashaya given in Trio-Basti helps to control it. Along with Bastikarma, administration of Patya Aahara- Vihara and Shamanoushadis may give better effect

A COMPARATIVE CLINICAL STUDY ON PATRA PINDA SWEDA AND NADI SWEDA IN THE PAIN MANAGEMENT OF GRIDHRASI W.S.R. TO SCIATICA

Gridhrasi as mentioned in Ayurveda explains a disorder where in pain starts from Sphik pradesha and radiates downwards to Kati, Prusta, Uru, Janu, Jangha and Pada, Due to this, the patient is unable to walk properly. Gridhrasi can be compared with Sciatica. Sciatica is a relatively common condition with a life time incidence varying from 13% to 40%. The corresponding annual incidence of an episode of Sciatica ranges from 1 to 5%. The incidence of Sciatica is related to age. It is rarely seen before the age of 20. Incidence peaks in fifth decade declines thereafter.Snehana and Swedana are considered as a general line of treatment for Vata Vyadhi which can be taken as a line of treatment for Gridhrasi also. Patra pinda Sweda (Vatashamak) and Nadi sweda (Vata Kapha shamak) is one such treatment modality comes under Snehana and Swedana is known for relieving the symptoms. Murchita Tila Taila due to its Vata Shamaka has been taken for the Sthanik abhyanga.30 patients of Gridhrasi were randomly selected and divided into 2 groups. Group A: 15 patients received Patra pinda sweda and Group B: 15 patients received Nadi sweda up to Samyak Swinna lakshana. Overall assessment of both groups, out of 30 patients, 2 (6.67%) got complete remission, 13 (43.34%) patients got marked response, 6 (20%) patients got moderate response and 9 patients got mild response

TO EVALUATE THE COMPARATIVE EFFICACY OF SVALPAMASHA TAILA NASYA AND PARINATA KERIKSHEERADI NASYA IN AVABAHUKA (FROZEN SHOULDER)

Avabahuka is a condition in which vitiated Vata lodges in Amsa Pradesha and by contracting leads to the Shosha of the muscles of the shoulder and upper arm. This disease disturbs the day to day activities of an individual and makes him dependent and very much depressed. Ayurveda has a great role to manage this disease successfully. Nasya Karma is one of the prime treatments of Avabahuka. It is especially indicated for the diseases of the parts in and above the shoulders. In Nasya Phalasruti it is mentioned that the skin, shoulders, neck, face, chest become well developed. So Nasya helps in developing strength of muscles in shoulder region. Objective of the study: To evaluate the efficacy of Svalpamasha taila Parinata keriksheeradi taila and comparative efficacy of Svalpamasha taila Nasya and Parinata Keriksheeradi Nasya in Avabahuka. Methods: 30 patients of Avabahuka, were randomly divided into two groups, Group A received Nasya Karma with Svalpamasha Taila for 14 days and the Group B received Nasya Karma with Parinata keriksheeradi taila nasya for 14 days. With help of assessment tools and gradation of symptoms, the findings of research work were statistically analyzed. Results: Results of this study shows that group A (Svaplamashataila) was more effective in reliving the symptoms of Avabahuka than Group B (Parinata keriksheeradi taila). So Group A is statistically significant than Group B

Technical analysis of content placement algorithms for content delivery network in cloud

Content placement algorithm is an integral part of the cloud-based content de-livery network. They are responsible for selecting a precise content to be re-posited over the surrogate servers distributed over a geographical region. Although various works are being already carried out in this sector, there are loopholes connected to most of the work, which doesn't have much disclosure. It is already known that quality of service, quality of experience, and the cost is always an essential objective targeting to be improved in existing work. Still, there are various other aspects and underlying reasons which are equally important from the design aspect. Therefore, this paper contributes towards reviewing the existing approaches of content placement algorithm over cloud-based content delivery network targeting to explore open-end re-search issues

Effect of Bindu Ghrita on external application over Nabhi in Vibandha w.r.t. Constipation - A Case Series

Vibandha as both the terminologies have similar features like Purish Nigraha (obstruction of stool), Pakvashaya Shoola (pain abdomen), Parikartika (pain during defecation) etc. Constipation can occur at any age and is more common among individuals who resist the urge to move their bowels at their body's signal. Body is originally composed of Dosas, Dhatus and Malas. In Ayurveda there are so many preparations and Karmas to treat the constipation. By the application of Bindu Ghrita on Nabhi by penetrating into skin it enters Pakwashaya through Srotas due to Virya of the drug it expels the Dosha through Adhobhagahara and it expels Mala only in two external applications over Nabhi. By application over Nabhi expel the Dosha through Pakwashaya and relives the Vibandha