Study and Analysis of Design Optimization and Synthesis of Robotic ARM

A robot is a mechanical or virtual artificial agent, usually an electro-mechanical machine that is guided by a computer program or electronic circuitry. Robots can be autonomous or semi-autonomous. In this thesis, design optimization strategies and synthesis for robotic arm are studied. In the design process, novel optimization methods have been developed to reduce the mass of the whole robotic arm. The optimization of the robotic arm is conducted at three different levels, with the main objective to minimize the robot mass. At the first level, only the drive-train of the robotic arm is optimized. The design process of a robotic arm is decomposed into selection of components for the drive-train to reduce the weight At the second level, kinematic data is combined with the drive-train in the optimization. For this purpose, a dynamic model of the robot is required. Constraints are formulated on the motors, gearboxes and kinematic performance At the third level, a systematic optimization approach is developed, which contains design variables of structural dimensions, geometric dimensions and drive-train composes. Constraints are formulated on the stiffness and deformation. The stiffness and deformation of the arm are calculated through FEA simulation. The main objective of the thesis is to design optimization and synthesis analysis of robotic arm. The corresponding deflections, stresses and strains for that load will be find out by suing the method of finite element analysis

Optimal Trajectory Planning for the Design Optimization of the Robotic Arm

This paper presents a synthetical approach for the design optimization and the trajectory of the robotic arm, angular velocity and acceleration of the robotic arm. The optimization of the robotic arm trajectory is a frequent design problem. Because of the complexity of this task in the past, many of the proposed approaches entailed only a suboptimal solution. The main problem in trajectory generation and tracking of robotic arm motions is to plan the trajectory and compute the required joint angles. Inverse kinematics modeling is usually adopted, though sometimes other approaches are needed due to the lack of reliability and accuracy of analytical methods. Due to that reason, previously, several authors have used evolutionary algorithms. Rana and Zalzala (1997) applied EA to the collision-free path planning of the robotic arm. In Garg & Kumar (2002), the formulation and application of Genetic Algorithm and Simulated Annealing for the determination of an optimal trajectory of a multiple robotic configuration is presented

Characterization of High Porous PZT Piezoelectric Ceramics by different Techniques

Ultimate properties of a porous ceramic is highly process dependent. In this study, prevalent porous ceramics fabrication methods (Freeze casting, Foam reticulation and Burnable Plastic Sphere (BURPS) method) have been compared by fabricating the porous lead zirconate titanate (PZT) based piezoelectric ceramics. Field Emission Scanning electron microscopy (FESEM) studies were carried out to study the pore size and distribution of the ceramics. Hydrostatic co-efficients increased tremendously on incorporation of porosity which led to Hydrostatic Figure of Merit of 7480 in Foam reticulation samples (porosity 86%). The three dimensionally interconnected networks in the freeze casted samples led to lowest acoustic impedance (6 MRayls) despite not having the lowest density

Strategic selection of white maize inbred lines for tropical adaptation and their utilization in developing stable, medium to long duration maize hybrids

White maize plays an important role in human diet, especially in traditional crop growing regions of northern hill region, north-eastern states and central-western parts of India. Breeding efforts to enhance the genetic potential of white maize was not so prominent as compared to yellow maize in the country. As a result, genetic base of the material utilized in white maize breeding program in India is very narrow and majorly contains indigenous germplasm and few introductions. Hence, efforts were made to use 365 white maize inbred lines from CIMMYT, Mexico, for breeding program. These new inbred lines were grown at winter nursery center, Indian Institute of Maize Research, New Delhi for its tropical adaptation. After preliminary evaluation, a total 47 inbred lines were selected and evaluated in randomized complete block design with two replications at Regional Maize Research and Seed Production Centre, Begusarai, Bihar, during rabi 2014. Out of this top performing 12 inbred lines viz, CML 47, CML 95, CML 314, CML 319, CML 377, CML 488, CML 494, CML 504, CML 517, CML 522, CML 531 and CML 538 were selected and were crossed in diallel manner to obtain 66 medium to long duration experimental hybrids. Stability analysis using AMMI model was done to identify adaptive hybrids with high yielding potentiality. According to the ASVi value obtained, the hybrid G38 appeared to be stable followed by G50 and G44. On the other hand, the hybrid G25 appeared as location specific hybrid suitable for high input conditions

Cellular signalling pathways mediating the pathogenesis of chronic inflammatory respiratory diseases: an update

Respiratory disorders, especially non-communicable, chronic inflammatory diseases, are amongst the leading causes of mortality and morbidity worldwide. Respiratory diseases involve multiple pulmonary components, including airways and lungs that lead to their abnormal physiological functioning. Several signaling pathways have been reported to play an important role in the pathophysiology of respiratory diseases. These pathways, in addition, become the compounding factors contributing to the clinical outcomes in respiratory diseases. A range of signaling components such as Notch, Hedgehog, Wingless/Wnt, bone morphogenetic proteins, epidermal growth factor and fibroblast growth factor is primarily employed by these pathways in the eventual cascade of events. The different aberrations in such cell-signaling processes trigger the onset of respiratory diseases making the conventional therapeutic modalities ineffective. These challenges have prompted us to explore novel and effective approaches for the prevention and/or treatment of respiratory diseases. In this review, we have attempted to deliberate on the current literature describing the role of major cell signaling pathways in the pathogenesis of pulmonary diseases and discuss promising advances in the field of therapeutics that could lead to novel clinical therapies capable of preventing or reversing pulmonary vascular pathology in such patients

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Not AvailableGlobally, maize is an important cereal food crop with the highest production and productivity. Among the biotic constraints that limit the productivity of maize, the recent invasion of fall armyworm (FAW) in India is a concern. The first line of strategy available for FAW management is to evaluate and exploit resistant genotypes for inclusion in an IPM schedule. Screening for resistant maize genotypes against FAW is in its infancy in India, considering its recent occurrence in the country. The present work attempts to optimize screening techniques suited to Indian conditions, which involve the description of leaf damage rating (LDR) by comparing injury levels among maize genotypes and to validate the result obtained from the optimized screening technique by identification of lines potentially resistant to FAW under artificial infestation. Exposure to 20 neonate FAW larvae at the V 5 phenological stage coupled with the adoption of LDR on a 1–9 scale aided in preliminary characterize maize rize maize genotypes as potentially resistant, moderately resistant, and susceptible. The LDR varies with genotype, neonate counts, and days after infestation. The genotypes, viz., DMRE 63, DML-163-1, CML 71, CML 141, CML 337, CML 346, and wild ancestor Zea mays ssp. parviglumis recorded lower LDR ratings against FAW and can be exploited for resistance breeding in maize.ICAR-NAS

Idiosyncratic behaviour of (Na0.495K0.455Li0.05)(Nb0.95Ta0.05)O3–La2O3 ceramics: Synergistically improved thermal stability, ageing, and fatigue properties

Abstract La2O3 doped (Na0.495K0.455Li0.05)(Nb0.95Ta0.05)O3 ceramics are prepared using modified milling process, and the influences of La2O3 on ferroelectric behaviour, ageing characteristics, thermal stability, electrical stability, crystal structure, microstructure, dielectric and piezoelectric properties were reported. La2O3 addition improved the ferroelectric characteristic substantially, and obtained remnant polarization (P r) and maximum strain (S max) around 34.3 C/cm2 and 0.13% respectively. La2O3 doped ceramics improved the thermal stability and were stable up to 180 °C compared to undoped ceramics (120 °C). The Rietveld refinement along with the high-temperature X-ray diffraction studies suggested the presence of monoclinic phase in La doped compositions, which is responsible for their idiosyncratic behaviour. The maximum values were obtained around 179 pC/N and 0.385 for piezoelectric constant (d33) and electromechanical coupling factor (k p) respectively in La2O3 doped samples (0.02 wt%), which also exhibited the lowest ageing rate and stable electrical fatigue behaviour

A study of aerosol optical depth in the central Indian region (17.3-8.6 degrees N) during ISRO-GBP field campaign

We present the ground-based, clear-sky daytime measurements of column aerosol optical depths (AODs) at different wavelengths and the mixing height of atmospheric boundary layers at various locations, conducted during ISRO-GBP aerosol-radiation-trace gases measurements campaign in the central Indian region (17.3-28.6 degrees N and 77.2 degrees-78.2 degrees E) from Delhi to Hyderabad and back, in the month of February 2004. The measurements show AOD variation at 500 nm in the range of 0.2-0.5 and Angstrom exponent in the range of 1.0-1.4 throughout the region. The entire experimental region has been classified into four categories depending upon their locations and surroundings, viz., forest, rural, semi-urban, and rural-dusty. The volume size distribution of the aerosol particles at all these categories showed a bi-modal distribution with fine mode dominating around 0.23 mu m effective radius and the coarse mode dominating around 1 mu m. The forest site showed minimum AOD and alpha values with an equal contribution of aerosol particles in the fine and coarse mode. As the fine-mode particle concentration relatively increased at other regions, the alpha value also went on increasing, along with the increase in AOD. The AOD also showed a latitudinal variation with a minimum occurring at about 23.5 degrees N. During the whole campaign, the average mixing height of planetary boundary layer (PBL) during the daytime was found to be between 650 and 950 m

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Not AvailableMaize (Zea mays L) being of a protean nature crop acclimate facilely to a wide range of production environments. Maize is the highest contributor of more than 1046 million tonne (FAOSTAT, 2018) annually to the global food basket among the cereal food crops out of which India shares around 2.2% with production of 26.26 MT from 10.20 million hectare. The projected demand for maize in India is expected to be 45 Mn MT of Maize by the year 2022. To meet this demand, there is need to develop high yielding and highly stable single cross hybrid varieties. The phenotype of the hybrid is the result of Genotype (G) x Environment (E), such G x E interaction effect poses problem to the breeder while selecting a genotype with consistent performance across different environments. Multi-location testing of cultivars plays a key role in any breeding programme. Hence, looking into the above facts, multilocation testing of thirty two newly crossed hybrids along with four checks DHM-117, BIO-9544, P- 3396 & DKC-9081 was made across six environments i.e. three locations viz. Begusarai, Sabour & Dholi and two seasons (rabi 2017-18 & rabi 2018-19) in the Bihar, India using GGE biplot & AMMI model to analyze and interpret the complex GEI in MLT data. The objectives of the study was to estimate the G×E of hybrids, identify high yielding single cross maize hybrids with high stability and partition of testing location into mega environments. Analysis of variance clearly showed the significant effect of G, E and GE for all the traits studied. It was observed that environment was the most important source of variation for all the traits. For trait grain yield, environment contributed for 77.84% of the variation while 16.31% and 5.72% contribution of the total variation was made by the genotype and GE respectively. Performance and stability of the genotypes were visualized graphically through GGE biplot. The first two PC (Principal component) explained 71.92% variation for grain yield, 86.6%, 64.49% & 98.48% for the traits grain filling duration, ear height & anthesis silking interval respectively. Hybrids IMHSBM-28 & IMHSBM36 was observed as the high yielding as well as highly stable across the location. Which won where graph showed that IMHSBM-1 was winning genotype in Begusarai environment for both the seasons while genotype IMHSBM-17 & IMHSBM-24 was winning in both Sabour & Dholi environment for the trait grain yield.ICAR-IIM