A magneto-sensitive skin for robots in space

The development of a robot arm proximity sensing skin that can sense intruding objects is described. The purpose of the sensor would be to prevent the robot from colliding with objects in space including human beings. Eventually a tri-mode system in envisioned including proximity, tactile, and thermal. To date the primary emphasis was on the proximity sensor which evolved from one based on magneto-inductive principles to the current design which is based on a capacitive-reflector system. The capacitive sensing element, backed by a reflector driven at the same voltage and in phase with the sensor, is used to reflect field lines away from the grounded robot toward the intruding object. This results in an increased sensing range of up to 12 in. with the reflector on compared with only 1 in. with it off. It is believed that this design advances the state-of-the-art in capacitive sensor performance

Magneto-inductive skin sensor for robot collision avoidance: A new development

Safety is a primary concern for robots operating in space. The tri-mode sensor addresses that concern by employing a collision avoidance/management skin around the robot arms. This rf-based skin sensor is at present a dual mode (proximity and tactile). The third mode, pyroelectric, will complement the other two. The proximity mode permits the robot to sense an intruding object, to range the object, and to detect the edges of the object. The tactile mode permits the robot to sense when it has contacted an object, where on the arm it has made contact, and provides a three-dimensional image of the shape of the contact impression. The pyroelectric mode will be added to permit the robot arm to detect the proximity of a hot object and to add sensing redundancy to the two other modes. The rf-modes of the sensing skin are presented. These modes employ a highly efficient magnetic material (amorphous metal) in a sensing technique. This results in a flexible sensor array which uses a primarily inductive configuration to permit both capacitive and magnetoinductive sensing of object; thus optimizing performance in both proximity and tactile modes with the same sensing skin. The fundamental operating principles, design particulars, and theoretical models are provided to aid in the description and understanding of this sensor. Test results are also given

Effect of epidural analgesia on the duration of labour and pains: a comparative study

Background: Epidural analgesia is regional anaesthesia that blocks pain in a particular region of the body. The use of Epidural Analgesia (EA) in labor is widespread in modern labor ward practice, and its benefits in terms of pain relief are well-recognized. Objective of this study was to study the effect of epidural analgesia on the duration of labour and pains.Methods: The present study was conducted on 60 women in the department of obstetrics and gynecology at Topiwala National Medical College, Mumbai during a period from October 2014 to January 2017. The women requesting EA were assigned as the study group (Group A - 30 cases) and women not receiving EA were included in the control group (Group B - 30 cases).Results: The duration of active phase of first and second stage of labour was found to be prolonged in patients who received EA as compared to control group. An increase in number of caesarean sections and requirement of oxytocin augmentation was found to be more in Group A as compared to Group B. There was no statistically significant difference in Apgar score of newborns at 1 min and 5 min in both the groups. The patients demanding epidural drug had better pain relief during labour. In Group A, 17% of patients and in Group B, 7% of patients had nausea and vomiting. Other side effects were minimal.Conclusions: Epidural analgesia is not a totally free of disadvantages, it is the most effective mode of pain relief available compared with other techniques. The addition of patient-controlled epidural analgesia and innovations using new technologies enhance patient satisfaction

Human-leopard conflict in Mandi district, Himachal Pradesh, India

Kumar, D., Chauhan, N.P.S

Factors affecting the ecological habitat of Benthic macro-invertebrate assemblages in Asan wetland, Dehradun in Garhwal Himalaya

The Himalayan region has several freshwater resources, such as rivers, lakes, and wetlands. These freshwater resources have been adversely affected by environmental factors. Freshwater biological systems are defenseless against outcomes of environmental changes that might prompt the irreversible disintegration of these natural surroundings. The present study aimed to investigate the effect of biotic and abiotic factors on the Benthic macro-invertebrate assemblages of the Asan wetland, Dehradun in Garhwal Himalaya. A determination of the physico-chemical health status of the Asan wetland viz., electrical conductivity (EC), total dissolved solids (TDS), biochemical oxygen demand (BOD), and nutrients parameters like nitrogen, potassium, and phosphorus were investigated during this study. Three sampling sites (Site 1, Site 2 and Site 3) of wetland were selected and the water samples were collected seasonally, i.e., summer, winter, and monsoon from April 2021-March 2022. Maximum values of EC(163.75 µS/cm), TDS (232.78 (mg/l),  alkalinity (141.20 mg/l)  and pH(7.8)  were recorded in the monsoon season (June-September) and minimum values of EC( 135.80µS/cm), TDS (196.80 (mg/l),  alkalinity (119.80mg/l)  and pH(7.2) were recorded in the winter season (November–February). An overall total of 18 macrobenthos genera belonging to four classes was identified. Maximum communities of macrobenthos were observed during the winter and minimum communities during the monsoon season. Canonical correspondence analysis (CCA) was used to determine whether microbenthic genera and habitat ecological parameters and showed a positive or negative correlation. Thus, the present study contributed to the status of various factors and their impacts on the Benthic macro-invertebrate structure of the Asan wetland.        

Evaluation of Power Quality Issues in grid Connected PV Systems

This paper deals with the evaluation of power quality issues in grid connected PV systems. This paper also presents  complete simulation, modeling and control of three phase grid connected solar PV module with Maximum Power Point Tracking. Perturb and Observe (P&O) method has been used for Maximum Power Point Tracking. In the proposed model DC bus voltage control , harmonic mitigation and power factor control are discussed as power quality issues. The simulation results are shown in the graphical waveforms and simulation is performed in MATLAB using SIMULINK environment and PSB toolboxes.

The Real Time Hardware Design and simulation of moving message Display System Integrated with PLCC Modem

This paper serves as a general and technical orientation on the one of application of  "Power line Carrier (PLC) Communication Systems" with scrolling message on LED/LCD with keyboard facility in real time with the presentation of a widespread and detailed analysis on the standards, characteristics, technologies, products and development associated and currently being deployed in the PLC communication systems. Since the developments and research on the subject had been relatively new in India and information scattered, the lack of collective information had been the primary Initiative behind this research. Power Line Carrier (PLC) is still widely used to provide real-time communications for protection of high voltage transmission lines. This PLCC module provides bi-directional half-duplex communication over the mains of any voltage up to (220-250)V AC and for frequency 50 Hz or 60 Hz. Usually modules is in receiving mode all the time attending to incoming communication on the power line. This application gives serial data to transmit on its RX-IN pin, it switches over to transmit and transmits the data through power line. Once transmit process is complete it switches back to receive mode. During transmission of data by Red LED indicates user that data is transmitting. At the receiving end receipt data  indicated by Green LED which is on TX out pin itself. Data communication of the modules is clear to user’s data terminals and protocol self-determining; as a result, multiple units can be connected to the mains without affecting the operation of the others. In this we can connect the PLC modem to the Atmega 16 controller and then program it and simulated with ISP connector and then at last connect PLC system to the AC power plug.   Keywords :  PLCC Modem ,LED Panels, Keyboard decode