Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs

This paper presents a novel method for directly incorporating user-defined control input saturations into the calculation of a control Lyapunov function (CLF)-based walking controller for a biped robot. Previous work by the authors has demonstrated the effectiveness of CLF controllers for stabilizing periodic gaits for biped walkers, and the current work expands on those results by providing a more effective means for handling control saturations. The new approach, based on a convex optimization routine running at a 1 kHz control update rate, is useful not only for handling torque saturations but also for incorporating a whole family of user-defined constraints into the online computation of a CLF controller. The paper concludes with an experimental implementation of the main results on the bipedal robot MABEL

Management of female infertility presenting with low AMH and AFC count - A Case Study

Diminishing ovarian reserve is the most important cause for poor ovarian response (POR). It is distinct from menopause and premature ovarian failure. It is often noted in women in their mid to late thirties and it may also affect younger females also. DOR is a common term refers to three different but related parameters like reduction in oocyte quantity, reduction in oocyte quality and reduction in oocyte reproductive potential. The AMH (Anti mullerian hormone) and AFC (antral follicular count) are the most reliable markers to assess the ovarian reserve. A lady aged 29 years came to my op, complaining of low AMH (1.2ng/ml) and AFC 3 on right ovary and 4 on left ovary. DOR can be done with Dhatukshaya Vandya explained in Harita Samhita.[1] Dhatukshaya Vandhya, occurs due to depletion of Dhatus or due to inadequate formation of Dhatus, especially Arthava and Sukradhatu which in turn leads to reduction in fertility potential and ultimately Anapathyatha. Agnideepana, Srothoshodhaka and Dhathuposhana line of management was adopted and the patient got UPT positive on 10thfeb 2019 and delivered a healthy male baby on 20/10/2019

Postoperative outcome in thoracolumbar spinal tuberculosis: a retrospective study

Background: Spinal tuberculosis is the most common location of extra pulmonary tuberculosis. ATT alone may not be suitable in all situations, especially when treating patients with risk of instability, progression of neurologic deficit, and failure of medical treatment. Surgical intervention is a major treatment modality for symptom relief in spinal tuberculosis.Methods: The aim of this study was to assess the immediate post-operative outcome in surgically treated patients with dorsolumbar spine tuberculosis at Department of Neurosurgery Government Medical College, Thrissur. All operated patients of dorsolumbar spinal tuberculosis during 2014 September to 2019 august were included under study.Results: A total of 57 patients were included in the study. The mean age of the patient was 42.77 years. There were 40 males (70.2%) and 17 females (29.8%). 55 (96.5%) out of 57 patients were having sensory symptoms. 41 (71.9%) out of 57 patients were having motor symptoms. Bladder involvement 23 (40.4%) and bowel involvement 15 (26.3%) were also noted in the study. Sensory symptoms improvement in post-operative period was noted in 46 (80.7%). Motor symptoms improvement was observed in 23 (56.1%) out of 41. Bladder symptoms improved in 6 (26.1%) out of 23. There is improvement in clinical symptoms, neurological function immediately after surgery. Surgical patients have faster improvement and can be mobilized earlier. Improvement in sensory symptoms (96.5%), motor symptoms (56.1%) and bladder symptoms (26.1%) were noted in our study in the immediate post-operative period.Conclusions: There was significant immediate relief in symptoms and morbidity of patients undergoing surgical treatment for dorsolumbar spine tuberculosis

In vitro multiplication of Coffea arabica F1 hybrid (S.2800) and its performance in the field

See the pdf file here http://indsocplantationcrops.in/journal.php

Plankton Productivity in Lagoons of Agatti and Bangaram Atolls of Lakshadweep Archipelago, India

Phytoplankters and zooplankters function as important links in the food chain and form the food of a large number of organisms in the aquatic ecosystem. As plankters play an important role in the health of an aquatic ecosystem, the study on these resources in the productive aquatic ecosystems of Lakshadweep is significant. Earlier studies carried out earlier from Agatti and Bangaram are by Pratap et al. (1977), Achuthankutty et al. (1989) and Casanova & Nair (1999). No recent reports are available on plankters from Agatti and Bangaram. Hence, an attempt is made to study the qualitative and quantitative abundance of phytoplankters and zooplankters in the selected lagoons of Lakshadweep