Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts

This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher sticks to the object. Given the physical properties of the object, frictional coefficients at contacts and a desired regrasp on the object, we propose a sampling-based planning framework that builds a pushing strategy concatenating different feasible stable pushes to achieve the desired regrasp. An efficient dynamics formulation allows us to plan in-hand manipulations 100-1000 times faster than our previous work which builds upon a complementarity formulation. Experimental observations for the generated plans show that the object precisely moves in the grasp as expected by the planner. Video Summary -- youtu.be/qOTKRJMx6HoComment: IEEE International Conference on Robotics and Automation 201

Prehensile Pushing: In-hand Manipulation with Push-Primitives

This paper explores the manipulation of a grasped object by pushing it against its environment. Relying on precise arm motions and detailed models of frictional contact, prehensile pushing enables dexterous manipulation with simple manipulators, such as those currently available in industrial settings, and those likely affordable by service and field robots. This paper is concerned with the mechanics of the forceful interaction between a gripper, a grasped object, and its environment. In particular, we describe the quasi-dynamic motion of an object held by a set of point, line, or planar rigid frictional contacts and forced by an external pusher (the environment). Our model predicts the force required by the external pusher to “break” the equilibrium of the grasp and estimates the instantaneous motion of the object in the grasp. It also captures interesting behaviors such as the constraining effect of line or planar contacts and the guiding effect of the pusher’s motion on the objects’s motion. We evaluate the algorithm with three primitive prehensile pushing actions—straight sliding, pivoting, and rolling—with the potential to combine into a broader in-hand manipulation capability.National Science Foundation (U.S.). National Robotics Initiative (Award NSF-IIS-1427050)Karl Chang Innovation Fund Awar

FORMULATION AND EVALUATION OF POLYHERBAL CREAM

Objective: Eugenia caryophyllus, Zingiber officinale and Nyctanthes arbor-tristis are medicinal plants; these plants are used traditionally from ancient year in the various herbal medicinal system such as Ayurvedic, Homeopathic and Siddha. The clove buds of Eugenia caryophyllus, rhizomes of Zingiber officinale and dried leaves of Nyctanthes arbor-tristis have anti-inflammatory analgesic activity. The present research was focus on the formulation of polyherbal cream and their evaluation by using various evaluation parameters of the present research are to formulate polyherbal cream and to evaluate the polyherbal cream. Methods: the slab method was used for the preparation of cream. Results: The evaluation parameters are coming under this heading physical parameter like color was slightly white green, the odor was characteristics, consistency was smooth and the state was semisolid. PH of the cream was 6.5; Spreadability was 7.4g. cm/sec time required for this test was 15 sec, Washability was easily washable, the cream was nonirritant, viscosity of the formulated cream was 39010 cps and no phase separation was observed during storage of polyherbal cream. Conclusion: This cream formulation was used in rheumatoid arthritis to reduce joint pains. This cream formulation was o/w type of emulsion; hence this formulation was easily washed with plane water after application

FORMULATION AND EVALUATION OF HERBAL TABLETS CONTAINING NYCTANTHES ARBOR-TRISTS LEAVES

Objective: To formulate arthritic pain relieving tablets and evaluation of tablets. Methods: The preparation of dry powder of Nyctanthes arbor-tristis leaves, 1% Acacia solution, 1%HPMC-10 solution, 1% Sodium alginate solution. The wet granulation method was used for the formulation of herbal tablets. Results: Based on the pre-formulation study, the flow property of granules was good. The physical parameters of compressed tablets color were Greenish white for F1 and F3 batch, Dark greenish-white color for F2batch. The weight variation test, hardness, thickness, friability and disintegration time for F1 batch was found to be [497±5%, 3.3±0.17, 4.00±0.005, 0.81%, 28] respectively, For F2 batch [506±5%, 3.13±0.01, 3.66±0.023, 1.43%, 25] respectively, For F3 batch [502.5±5%, 3.13±0.01, 3.96±0.001, 1.8%, 32] respectively. Conclusion: The formulated herbal tablets were used to manage arthritic pain. Based on the results, it is concluded that the formulation and evaluation of herbal tablets were good

FORMULATION AND EVALUATION OF MULTIPURPOSE HERBAL CREAM

Objective: To formulate and evaluate herbal cream using Aloe Vera gel, dimethyl sulphoxide extracts of Neem (Azadirachta indica) and Tulsi (Ocimumtenuiflorum) to give multipurpose effect. Methods: The cream was prepared by using the cream base that is bee’s wax, liquid paraffin, borax, methylparaben, distilled water, rose oil, Aloe Vera gel, dimethyl sulphoxide extracts of Neem and Tulsi. The cream was prepared by using the slab technique/extemporaneous method for geometric and homogenous mixing of all the excipients and the herbal extracts. By using slab technique, we have developed three batches of our herbal cream, namely F1H, F2H, and F3H. All three batches were evaluated for different parameters like appearance, PH, viscosity, phase separation. Results: All the three formulations F1H, F2H, F3H showed good appearance, PH, adequate viscosity and no phase separation was observed. Also, the formulations F1H, F2H, F3H showed no redness, erythema and irritation during irritancy study and they were easily washable. All the three formulations F1H, F2H, F3H were stable at room temperature. Conclusion: All three herbal ingredients showed significant different activities. Based on the results, we can suggest that all the three formulations F1H, F2H, F3H were stable and can be safely used on the skin

Huge pyometra in a postmenopausal age: a diagnostic dilemma

Pyometra in postmenopausal women is an extremely rare disease that hardly responds to the usual treatment of antibiotics therapy. Our case presented as a postmenopausal woman with a huge pyometra. Pyometra drainage was done with great difficulty after a blind biopsy. Endometrial and cervical biopsy followed by endometrial curettage was done. An intrauterine foley’s catheter was kept for seven days and Histopathological report was suggestive of squamous cell carcinoma of cervix