Mathematical modeling and kinematic analysis of 5 degrees of freedom serial link manipulator for online real-time pick and place applications

Modeling and kinematic analysis are crucial jobs in robotics that entail identifying the position of the robot’s joints in order to accomplish particular tasks. This article uses an algebraic approach to model the kinematics of a serial link, 5 degrees of freedom (DOF) manipulator. The analytical method is compared to an optimization strategy known as sequential least squares programming (SLSQP). Using an Intel RealSense 3D camera, the colored object is picked up and placed using vision-based technology, and the pixel location of the object is translated into robot coordinates. The LOBOT LX15D serial bus servo controller was used to transmit these coordinates to the robotic arm. Python3 programming language was used throughout the entire analysis. The findings demonstrated that both analytical and optimized inverse kinematic solutions correctly identified colored objects and positioned them in their appropriate goal points

FDG PET/CT in the Evaluation of Late Manifestation of Adrenal Metastasis after Radical Nephrectomy in Patients with Renal Cell Carcinoma: A Report of Four Cases and Review of Literature

Purpose: Presence of distant metastasis is a strong independent predictor of poor survival in patients with renal cell carcinoma (RCC). Positron emission tomography using F-18 fluorodeoxyglucose (FDG) has been reported to be superior to conventional anatomic imaging modalities for detecting distant metastases from RCC. Methods: The authors report the findings of four patients who underwent FDG positron emission tomography / computed tomography (PET/CT) at varying periods after radical nephrectomy for RCC.Results: FDG PET/CT detected increased tracer concentration in the adrenal glands in all four patients and subsequent fine needle aspiration confirmed metastatic RCC. While the adrenal was the only site of metastasis in one patient, additional metastases were detected in lymph nodes and lungs in the others. Conclusions: RCC metastatic to the adrenal gland is usually a vascular tumour and there is an intrinsic risk of haemorrhage during CT-guided needle biopsy. This small series of cases suggests that FDG PET/CT is a useful non-invasive investigation in identifying malignant adrenal lesions in patients with RCC presenting after nephrectomy

FDG PET/CT in the Evaluation of Late Manifestation of Adrenal Metastasis after Radical Nephrectomy in Patients with Renal Cell Carcinoma: A Report of Four Cases and Review of Literature

 Purpose: Presence of distant metastasis is a strong independent predictor of poor survival in patients with renal cell carcinoma (RCC). Positron emission tomography using F-18 fluorodeoxyglucose (FDG) has been reported to be superior to conventional anatomic imaging modalities for detecting distant metastases from RCC.  Methods: The authors report the findings of four patients who underwent FDG positron emission tomography / computed tomography (PET/CT) at varying periods after radical nephrectomy for RCC.  Results: FDG PET/CT detected increased tracer concentration in the adrenal glands in all four patients and subsequent fine needle aspiration confirmed metastatic RCC. While the adrenal was the only site of metastasis in one patient, additional metastases were detected in lymph nodes and lungs in the others.  Conclusions: RCC metastatic to the adrenal gland is usually a vascular tumour and there is an intrinsic risk of haemorrhage during CT-guided needle biopsy. This small series of cases suggests that FDG PET/CT is a useful non-invasive investigation in identifying malignant adrenal lesions in patients with RCC presenting after nephrectomy

A study of menstrual hygiene practices and associated environmental & social factors among adolescent girls in rural Puducherry

Introduction. Adolescent females were prevented from receiving the appropriate knowledge due to social restrictions and traditional beliefs, which in turn led to poor hygiene habits. Material and methods. A community-based descriptive cross-sectional study employing a semi-structured questionnaire was carried out in the rural field practice region of MGMCRI, Puducherry, between the 15th of March 2019 and the 31st of April 2021. The study was done in Puducherry. The comprehensive enumeration yielded a total of 528 countable teenage females. Results. The vast majority of the teenage females (89.2%) reported using sanitary pads, whereas just 6.6% and 4.2%, respectively, reported using fresh or reused towels. 65.3% of the girls changed their wet absorbent between two and five times during the day. The vast majority of the girls, or 60.8% of them, disposed of their spent absorbent by either burying it or burning it. 67.9% of the girls were cleansing their genitalia when they were urinating. 54.4% of people cleaned their hands using soap and water, whereas 1.4% utilized ash soil, muddy dirt, or other types of soil. There was a statistically significant correlation between the style of housing and the availability of sanitary latrines (p<0.005) in relation to menstrual hygiene behaviors. Conclusions. This research also highlighted the absence of sanitary toilet facilities in the majority of residences, which negatively impacted the girls' ability to maintain their privacy and led to bad practices around menstruation hygiene

Spatial epidemiology of acute respiratory infections in children under 5 years and associated risk factors in India: District-level analysis of health, household, and environmental datasets

BackgroundIn India, acute respiratory infections (ARIs) are a leading cause of mortality in children under 5 years. Mapping the hotspots of ARIs and the associated risk factors can help understand their association at the district level across India.MethodsData on ARIs in children under 5 years and household variables (unclean fuel, improved sanitation, mean maternal BMI, mean household size, mean number of children, median months of breastfeeding the children, percentage of poor households, diarrhea in children, low birth weight, tobacco use, and immunization status of children) were obtained from the National Family Health Survey-4. Surface and ground-monitored PM2.5 and PM10 datasets were collected from the Global Estimates and National Ambient Air Quality Monitoring Programme. Population density and illiteracy data were extracted from the Census of India. The geographic information system was used for mapping, and ARI hotspots were identified using the Getis-Ord Gi* spatial statistic. The quasi-Poisson regression model was used to estimate the association between ARI and household, children, maternal, environmental, and demographic factors.ResultsAcute respiratory infections hotspots were predominantly seen in the north Indian states/UTs of Uttar Pradesh, Bihar, Delhi, Haryana, Punjab, and Chandigarh, and also in the border districts of Uttarakhand, Himachal Pradesh, and Jammu and Kashmir. There is a substantial overlap among PM2.5, PM10, population density, tobacco smoking, and unclean fuel use with hotspots of ARI. The quasi-Poisson regression analysis showed that PM2.5, illiteracy levels, diarrhea in children, and maternal body mass index were associated with ARI.ConclusionTo decrease ARI in children, urgent interventions are required to reduce the levels of PM2.5 and PM10 (major environmental pollutants) in the hotspot districts. Furthermore, improving sanitation, literacy levels, using clean cooking fuel, and curbing indoor smoking may minimize the risk of ARI in children

A Multi-Data Geospatial Approach for Understanding Flood Risk in the Coastal Plains of Tamil Nadu, India

The coastal plains of Tamil Nadu, India, are prone to floods, the most common disaster experienced in this region almost every year. This research aims to identify flood risks in the coastal plain region of Tamil Nadu, delineated through a watershed approach with 5020 micro-administrative units covering an area of about 26,000 sq. km. A comprehensive flood risk assessment covering hazard, vulnerability, and exposure parameters was carried out using multiple datasets derived from field surveys, satellite data, and secondary data sources. The flood hazard layer was prepared on a probability scale (0−1) with the help of Sentinel-1 Synthetic Aperture Radar data coupled with GIS-based water rise modelling using Shuttle Radar Topography Mission Digital Elevation Model (SRTM-DEM) and reports of the District Disaster Management Plans of 13 coastal districts. In addition, the National Resources Conservation Service-Curve Number (NRCS-CN) method was adopted to estimate surface runoff potential for identifying low probability flood-prone regions. The vulnerability and exposure of the population to flood hazards were determined using census and household data-based indicators. The different categories of built-up areas were delineated and intersected with the flood hazard layer to estimate elements at flood risk. An exhaustive field survey was conducted at 514 locations of the study area, targeting deprived communities of all major settlements to validate the flood hazard layer and understand the public perceptions. The amalgamation of results shows that very high flood risk prevails in the northern parts of coastal Tamil Nadu, especially the stretch between Chennai and Cuddalore. In addition, to provide baseline datasets for the first time at micro-administrative units for the entire coastal plains of Tamil Nadu, the study offers a pragmatic methodology for determining location-specific flood risks for policy interventions

A Comprehensive Assessment of Climate Change and Coastal Inundation through Satellite-Derived Datasets: A Case Study of Sabang Island, Indonesia

Climate-change-induced hazards are negatively affecting the small islands across Indonesia. Sabang Island is one of the most vulnerable small islands due to the rising sea levels and increasing coastal inundation which threaten the low-lying coastal areas with and without coastal defences. However, there is still a lack of studies concerning the long-term trends in climatic variables and, consequently, sea level changes in the region. Accordingly, the current study attempts to comprehensively assess sea level changes and coastal inundation through satellite-derived datasets and model-based products around Sabang Island, Indonesia. The findings of the study show that the temperature (both minimum and maximum) and rainfall of the island are increasing by ~0.01 °C and ~11.5 mm per year, respectively. The trends of temperature and rainfall are closely associated with vegetative growth; an upward trend in the dense forest is noticed through the enhanced vegetation index (EVI). The trend analysis of satellite altimeter datasets shows that the sea level is increasing at a rate of 6.6 mm/year. The DEM-based modelling shows that sea level rise poses the greatest threat to coastal habitations and has significantly increased in recent years, accentuated by urbanisation. The GIS-based model results predict that about half of the coastal settlements (2.5 sq km) will be submerged completely within the next 30 years, provided the same sea level rise continues. The risk of coastal inundation is particularly severe in Sabang, the largest town on the island. The results allow regional, sub-regional, and local comparisons that can assess variations in climate change, sea level rise, coastal inundation, and associated vulnerabilitie

Broadband Multi-wavelength Properties of M87 during the 2017 Event Horizon Telescope Campaign

Abstract: In 2017, the Event Horizon Telescope (EHT) Collaboration succeeded in capturing the first direct image of the center of the M87 galaxy. The asymmetric ring morphology and size are consistent with theoretical expectations for a weakly accreting supermassive black hole of mass ∼6.5 × 109 M ⊙. The EHTC also partnered with several international facilities in space and on the ground, to arrange an extensive, quasi-simultaneous multi-wavelength campaign. This Letter presents the results and analysis of this campaign, as well as the multi-wavelength data as a legacy data repository. We captured M87 in a historically low state, and the core flux dominates over HST-1 at high energies, making it possible to combine core flux constraints with the more spatially precise very long baseline interferometry data. We present the most complete simultaneous multi-wavelength spectrum of the active nucleus to date, and discuss the complexity and caveats of combining data from different spatial scales into one broadband spectrum. We apply two heuristic, isotropic leptonic single-zone models to provide insight into the basic source properties, but conclude that a structured jet is necessary to explain M87’s spectrum. We can exclude that the simultaneous γ-ray emission is produced via inverse Compton emission in the same region producing the EHT mm-band emission, and further conclude that the γ-rays can only be produced in the inner jets (inward of HST-1) if there are strongly particle-dominated regions. Direct synchrotron emission from accelerated protons and secondaries cannot yet be excluded

Uniform ultimate bounded robust model reference adaptive PID control scheme for visual servoing

\u3cp\u3eThis paper proposes a uniform ultimate bounded (UUB) controller framework using model reference adaptive control for visual servoing of the ball on plate system. To address the major challenges in designing a control scheme for visual servoing applications including inter-axis coupling, exogenous disturbances, and plant perturbations due to modelling errors, a robust model reference adaptive PID control scheme using e \u3csub\u3e1\u3c/sub\u3e modification method is put forward. The key advantage of this methodology is its ability to yield asymptotic stability of the closed loop system without prior information on the plant perturbations. Moreover, exploiting the Erzberger's perfect model following condition, the algorithm obtains the pseudo inverse of the system to make the system track different test trajectories. The stability and convergence of the proposed scheme are proved using Schwarz's inequality condition and Frobenius norms. To evaluate the tracking performance, two test cases namely reference following during exogenous disturbance and tracking under plant perturbations are validated. Simulation results accentuate that the proposed scheme yields satisfactory tracking response even during plant perturbation and exogenous disturbances.\u3c/p\u3

Notes on <i>Caralluma adscendens</i> (Roxb.) Haw. var. <i>attenuata</i> (Wight) Grav. and Mayur. (Apocynaceae: Asclepiadoideae)

Caralluma adscendens var. attenuata (Wight) Grav.and Mayur. is a wild growing leafless succulent xerophytic herb in southern India, belonging to the family Apocynaceae. The taxonomic status of this taxa is still unsettled due to the great variability in morphological and floral characters including shape of corolla, hairiness pattern on corolla lobes, shape of corona and position of pollinarium insertion. Morphological and reproductive variation were investigated in 10 different sites of Tamil Nadu State in southern India with about 210 individuals. The collected specimens represented the Caralluma adscendens var. attenuata and its taxonomy is not treated in the same way as in many local floras. Based on a morphometric analysis the present study has variants that were recognized within the four different classes of subpopulations in Tamil Nadu