A Comprehensive Study on Modelling and Control of Autonomous Underwater Vehicle

Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design and development of the AUV involving hydrodynamics and control systems need to be designed in detail. This book chapter presents a study on the modelling and robust control of a research vehicle in the presence of uncertainties. The vehicle's dynamic behaviour is modelled using a 6-degree-of-freedom approach, considering the effect of ocean currents. The level flight requirements for different speeds are derived, and the resulting model is decomposed into horizontal and vertical subsystems for linear analysis. The simulation results presented focus on the efficacy of linear controllers within three key subsystems: depth, yaw, and speed. Moreover, level-flight outcomes are demonstrated for a speed of 4 knots. The nonlinear control strategies employed in this study encompass conventional and sliding-mode control (SMC) methodologies. To ensure accurate tracking performance, the controller design considers the vehicle's dynamics with various uncertainties such as ocean currents, parameter uncertainty, CG (Center of Gravity) deviation and buoyancy variation. Both conventional and nonlinear SMC controllers' outcomes are showcased with a lawn-mowing manoeuvre scenario. A systematic comparison is drawn between the robustness of SMC against disturbances and parameter fluctuations in contrast to conventional controllers. Importantly, these results underscore the trade-off that accompanies SMC's robustness, as it necessitates a higher level of complexity in terms of controller design, intricate implementation intricacies, and the management of chattering phenomena.Comment: Accepted for publication in Assistive Robotics, CRC Press, Taylor & Francis, USA. This is the preprint version of the book chapte

Economic evaluation of Integrated Farming Systems (IFS) in Jagtial district of Telangana

The study was initiated during 2019-20 to evaluate the economic viability, input utilization patterns and constraints of major Integrated Farming Systems (IFS) in the Jagtial district of Telangana. Using a cluster sampling technique, two mandals and four villages were purposively selected and a random sampling technique was employed to choose 120 farmers for the study. Data was analyzed using tabular analysis, financial analytical tools and Garrett ranking techniques. The findings revealed that the Crop + Dairy + Small Ruminants system was the most profitable and financially feasible, with a net returns of Rs 120004 and return per rupee of investment of 1.77. The integration of two buffaloes, three sheep and one goat with crops emerged as the optimal module for maximizing farm returns. It was followed by the crop + dairy system with net returns of of Rs 100427.86 and the return per rupee spent rose to 1.69. It was also found that small ruminant’s enterprise was highly profitable as indicated by Net present value of 3.21 and Internal Rate of Return (IRR) of 220.02. The garrette ranking technique identified non-availability of labour in peak time for crop production as a significant challenge for most farmers The results emphasize the importance of promoting integrated farming systems among farmers through strengthened extension efforts. Recommendations include adopting the crop + dairy + small ruminants module to enhance income generation and sustainability. This study contributes to understanding IFS role in increasing farmers\u27 incomes and achieving agricultural sustainability in the study area

Dynamics of Cropping Pattern in Karimnagar District of Telangana – A Markov Chain Approach

The assessment of shift in cropping pattern in several regions is crucial for a much better insight into the agricultural development method. The present study was undertaken to examine the dynamics of cropping pattern in Karimnagar district of Telangana. The data was collected from Directorate of Economics and Statistics, Government of Telangana from 1966-67 to 2016-17 and it was analysed with the help of Markov chain by decade wise and for last decade, analysed for five periods. The major findings from the study revealed that any set of crops did not retain its area in Karimnagar, but the acreage of the crops was continuously shifting from one set of crops to another set throughout the period. The cereals area was observed to be more stable while the loss of area from cereals towards commercial crops like cotton and turmeric etc. Indicated that the cropping pattern of the region moves towards diversification in northern Telangana zone. There is a larger scope for deciding within the choice of crops to place the agriculture on the pedestal of property growth that has to be thought-about in analysis and extension programmes

Hematologic havoc: haemoglobins link to hypertensive pregnancy outcomes

Background: Hypertensive disorders of pregnancy (HDP), such as preeclampsia and eclampsia, significantly threaten maternal and perinatal health. This study explores the impact of hemoglobin levels on pregnancy outcomes in women with HDP, aiming to identify potential predictors of adverse outcomes. Methods: A retrospective analysis was conducted on 233 pregnant women diagnosed with HDP at Sapthagiri Hospital, Bengaluru, from June 2022 to June 2024. Data on patient demographics, hemoglobin levels, and maternal and perinatal outcomes were collected. Statistical analysis was performed using SPSS to examine associations between hemoglobin levels and clinical outcomes. Results: The study found that low hemoglobin levels (<11 gm%) were associated with a significantly higher incidence of maternal complications (37.8%) compared to normal (15.1%) and high hemoglobin levels (>13 gm%) (35.5%). Eclampsia was more prevalent in women with both low and high hemoglobin levels (17.4% and 17.8%, respectively) compared to those with normal levels. Adverse perinatal outcomes, including increased NICU admissions, stillbirths, and intrauterine fetal demise (IUFD), were also more common in these groups. Conclusions: The study underscores the importance of maintaining optimal hemoglobin levels during pregnancy to reduce the risk of severe maternal and perinatal complications in women with HDP. Both low and high hemoglobin levels are linked to adverse outcomes, highlighting the need for vigilant monitoring and management throughout pregnancy

The generation of influenza-specific humoral responses is impaired in ST6Gal I-deficient mice.

Posttranslational modification of proteins, such as glycosylation, can impact cell signaling and function. ST6Gal I, a glycosyltransferase expressed by B cells, catalyzes the addition of alpha-2,6 sialic acid to galactose, a modification found on N-linked glycoproteins such as CD22, a negative regulator of B cell activation. We show that SNA lectin, which binds alpha-2,6 sialic acid linked to galactose, shows high binding on plasma blasts and germinal center B cells following viral infection, suggesting ST6Gal I expression remains high on activated B cells in vivo. To understand the relevance of this modification on the antiviral B cell immune response, we infected ST6Gal I(-/-) mice with influenza A/HKx31. We demonstrate that the loss of ST6Gal I expression results in similar influenza infectivity in the lung, but significantly reduced early influenza-specific IgM and IgG levels in the serum, as well as significantly reduced numbers of early viral-specific Ab-secreting cells. At later memory time points, ST6Gal I(-/-) mice show comparable numbers of IgG influenza-specific memory B cells and long-lived plasma cells, with similarly high antiviral IgG titers, with the exception of IgG2c. Finally, we adoptively transfer purified B cells from wild-type or ST6Gal I(-/-) mice into B cell-deficient (microMT(-/-)) mice. Recipient mice that received ST6Gal I(-/-) B cells demonstrated reduced influenza-specific IgM levels, but similar levels of influenza-specific IgG, compared with mice that received wild-type B cells. These data suggest that a B cell intrinsic defect partially contributes to the impaired antiviral humoral response

Ctcf haploinsufficiency mediates intron retention in a tissue-specific manner

CTCF is a master regulator of gene transcription and chromatin organisation with occupancy at thousands of DNA target sites genome-wide. While CTCF is essential for cell survival, CTCF haploinsufficiency is associated with tumour development and hypermethylation. Increasing evidence demonstrates CTCF as a key player in several mechanisms regulating alternative splicing (AS), however, the genome-wide impact of Ctcf dosage on AS has not been investigated. We examined the effect of Ctcf haploinsufficiency on gene expression and AS in five tissues from Ctcf hemizygous (Ctcf+/-) mice. Reduced Ctcf levels caused distinct tissue-specific differences in gene expression and AS in all tissues. An increase in intron retention (IR) was observed in Ctcf+/- liver and kidney. In liver, this specifically impacted genes associated with cytoskeletal organisation, splicing and metabolism. Strikingly, most differentially retained introns were short, with a high GC content and enriched in Ctcf binding sites in their proximal upstream genomic region. This study provides new insights into the effects of CTCF haploinsufficiency on organ transcriptomes and the role of CTCF in AS regulation

Loss of miRNA biogenesis induces p19Arf-p53 signaling and senescence in primary cells

Dicer, an enzyme involved in microRNA (miRNA) maturation, is required for proper cell differentiation and embryogenesis in mammals. Recent evidence indicates that Dicer and miRNA may also regulate tumorigenesis. To better characterize the role of miRNA in primary cell growth, we generated Dicer-conditional mice. Ablation of Dicer and loss of mature miRNAs in embryonic fibroblasts up-regulated p19Arf and p53 levels, inhibited cell proliferation, and induced a premature senescence phenotype that was also observed in vivo after Dicer ablation in the developing limb and in adult skin. Furthermore, deletion of the Ink4a/Arf or p53 locus could rescue fibroblasts from premature senescence induced by Dicer ablation. Although levels of Ras and Myc oncoproteins appeared unaltered, loss of Dicer resulted in increased DNA damage and p53 activity in these cells. These results reveal that loss of miRNA biogenesis activates a DNA damage checkpoint, up-regulates p19Arf-p53 signaling, and induces senescence in primary cells

Cellulosic fiber based hybrid composites: A comparative investigation into their structurally influencing mechanical properties

This paper focuses on hybrid and twisted hybrid Indian mallow/roselle cellulosic fiber yarn mat reinforced polyester composites and effects of their wood sawdust filler. The composite materials were fabricated using compression molding technique. There were four different combinations of hybrid yarn mat composite samples used, while the twisted hybrids were six. An evaluation of the hybrid and twisted hybrid mechanical properties for the single and double layer cases of the yarn mat was done with and without wood sawdust filler effects. The samples were tested at both warp and weft directions. From the results obtained at warp direction, it was observed that for the hybrid double layer case, longitudinal yarn mat with wood sawdust (filler) composite sample exhibited better tensile, impact and flexural strength properties in comparison with other related composites of hybrid type reported in literature. Moreover, the modified twisted hybrid double layer composites with longitudinal yarn mat and wood sawdust filler sample recorded significantly greater improvement on the mechanical properties at warp direction, when compared with the hybrid double layer longitudinal yarn mat composites with wood sawdust filler and other reported similar hybrid composite materials. Scanning electron microscopy (SEM) technique was utilized to evaluate morphological internal damage (cracks) and fractured surfaces of the various tested composite samples. Based on their mechanical performances and for further practical evidence, these two types of eco-composites were used to effectively fabricate tri-wheeler auto-wheel hubs and ceiling fan blades, as applicable to automobile and electronics industries, respectively.Peer reviewedFinal Accepted Versio

Protocol for the insight study: a randomised controlled trial of single-dose tocilizumab in patients with depression and low-grade inflammation.

INTRODUCTION: Observational studies indicate a potentially causal role for interleukin 6 (IL-6), a proinflammatory cytokine, in pathogenesis of depression, but interventional studies based on patients with depression have not been conducted. Tocilizumab, anti-inflammatory drug, is a humanised monoclonal antibody that inhibits IL-6 signalling and is licensed in the UK for treatment of rheumatoid arthritis. The main objectives of this study are to test whether IL-6 contributes to the pathogenesis of depression and to examine potential mechanisms by which IL-6 affects mood and cognition. A secondary objective is to compare depressed participants with and without evidence of low-grade systemic inflammation. METHODS AND ANALYSIS: This is a proof-of-concept, randomised, parallel-group, double-blind, placebo-controlled clinical trial. Approximately 50 participants with International Classification of Diseases 10th revision (ICD-10) diagnosis of depression who have evidence of low-grade inflammation, defined as serum high-sensitivity C reactive protein (hs-CRP) level ≥3 mg/L, will receive either a single intravenous infusion of tocilizumab or normal saline. Blood samples, behavioural and cognitive measures will be collected at baseline and after infusion around day 7, 14 and 28. The primary outcome is somatic symptoms score around day 14 postinfusion. In addition, approximately, 50 depressed participants without low-grade inflammation (serum hs-CRP level <3 mg/L) will complete the same baseline assessments as the randomised cohort. ETHICS AND DISSEMINATION: The study has been approved by the South Central-Oxford B Research Ethics Committee (REC) (Reference: 18/SC/0118). Study findings will be published in peer-review journals. Findings will be also disseminated by conference/departmental presentations and by social and traditional media. TRIAL REGISTRATION NUMBER: ISRCTN16942542; Pre-results