Model Predictive Control for Autonomous Driving Based on Time Scaled Collision Cone

In this paper, we present a Model Predictive Control (MPC) framework based on path velocity decomposition paradigm for autonomous driving. The optimization underlying the MPC has a two layer structure wherein first, an appropriate path is computed for the vehicle followed by the computation of optimal forward velocity along it. The very nature of the proposed path velocity decomposition allows for seamless compatibility between the two layers of the optimization. A key feature of the proposed work is that it offloads most of the responsibility of collision avoidance to velocity optimization layer for which computationally efficient formulations can be derived. In particular, we extend our previously developed concept of time scaled collision cone (TSCC) constraints and formulate the forward velocity optimization layer as a convex quadratic programming problem. We perform validation on autonomous driving scenarios wherein proposed MPC repeatedly solves both the optimization layers in receding horizon manner to compute lane change, overtaking and merging maneuvers among multiple dynamic obstacles.Comment: 6 page

Role of induced sputum with hypertonic saline in the early diagnosis of no / inadequate sputum or sputum smear negative suspected cases of pulmonary tuberculosis

Background: Pulmonary Tuberculosis is one of the common infections in the world, especially in developing countries like India and is a leading cause of morbidity and mortality worldwide. Therefore, early diagnosis and microbiological confirmation of pulmonary TB is important. This study was done to assess the role of induced sputum with hypertonic saline in suspected pulmonary TB patients who produce no or inadequate sputum or who are sputum for AFB smear negative.Methods: 100 patients with clinical and radiological evidence of pulmonary TB with no or inadequate sputum or who are smear negative with spontaneous sputum were included in the study. Sputum was induced with 5ml of 3% hypertonic saline delivered through nebulizer and then was sent for Ziehl Neelsen staining examination.Results: 96 patients could produce adequate sputum after sputum induction. In 47 patients, sputum for AFB smear was found positive after induction.Conclusions: Sputum induction is a safe, cheap and non-invasive procedure and offers an alternative or additional approach in the diagnosis of sputum smear-negative suspected pulmonary tuberculosis patients and would enhance sensitivity for the diagnosis of tuberculosis.

IoT: Green Data Center Strategies

With the rapid development of science and technology, the world is becoming ��smart��. Living in such a smart world, people will be automatically and collaboratively served by the smart devices (e.g., watches, mobile phones, computers), smart transportation (e.g., cars, buses, trains), smart environments (e.g., homes, offices, factories), etc. The volume of data that will travel around the world will increase enormously in the near future. Data center IP traffic will grow at a CAGR of 27% between 2015 and 2020 to 15.3 zettabytes(1021bytes) per annum according to Cisco�s 2015 Global Cloud Index, and there will also be as many as 25 billion devices connected to the IoT generating as much as 50 zettabytes of data. Thus, an autonomous vehicle can be seen as a data centre in its own right, although connected to a control data centre for some elements of its operation and programming. The energy use and environmental impact of data centers has recently become a significant issue for both operators and policy makers. More than 50 per cent of the power being expended is directed to powering the necessary cooling systems that keep processors from overheating. This presents, potentially, a big opportunity for the �greening� of data centers. This paper aims at studying the need of green data centers to synchronize the upcoming IoT trends and its effect on the environment, along with better energy efficient strategies. Green data centers thus aims at reducing the carbon footprints required or generated by the computer technology.[14] For any data centre today being energy efficient is a must. PUE can provide a basis for measuring energy efficiency and is very important for creating a sustainable green data center. By reducing carbon footprints and increasing the utilization of individual servers, the goals of PUE and ROI optimization can be achieved

GRAPHENE CONJUGATED USNIC ACID NANO-FORMULATION FOR THE TREATMENT OF TOPICAL FUNGAL INFECTION:

Objective: The study aims to investigate the antifungal response of the dug usnic acid with the carrier graphene. Methods: Nano-precipitation method by sonication was adopted to formulate the conjugate. SEM test was performed to check the shape and average size of the conjugate. FTIR test was performed for the chemical interaction between the drug and the carrier. Ointment was prepared by the fusion method and the viscosity test was performed by Brookfield viscometer. Spreadability test was performed by slide method. Animal activity was performed to confirm the antifungal effect of the formulated nano-conjugate. Statistical analysis was done by Anova. Results: SEM study shows that the conjugate is in the nano range and possess a spherical shape. FTIR study shows no interaction between the drug and the carrier. The result of in vitro drug release study shows that the conjugate posses a higher drug release rate as compared to the drug alone. Topical drug administration is more suitable for the treatment of the fungal infection, so the nano-conjugate was incorporated into the ointment by geometric mixing. The viscosity and the spreadability test were performed on the different formulations of the ointment and the suitable one was selected for the topical administration. Anti-fungal study had been performed on the Wistar albino rats for 6 d. Skin culture of rats was performed for the formation of the fungal colonies. Statistical analysis by Anova gives p<0.001. It was found that the normal form of usnic acid, graphene and the nano form both possess anti-fungal activity as 3/6 and 2/6 experimental animals are cured by normal formulation and nano-formulation. Conclusion: The present anti-fungal study revealed that the nano-form of the conjugate possess higher anti-fungal activity than the normal formulation of usnic acid with graphene

HYPOGLYCEMIC AND ANTIHYPERLIPIDEMIC EFFECTS OF ADIANTUM CAUDATUM IN ALLOXAN INDUCED DIABETES IN RATS

ABSTRACTObjective: To investigate the hypoglycemic and antihyperlipidemic effect of a successive ethanolic extract of Adiantum caudatum (EEAC) whole plantin alloxan induced diabetic rats.Methods: Diabetes was induced in Wistar albino rats by the administration of alloxan (140 mg/kg b. w., i.p.). EEAC (200 mg/kg b. w., p.o.) wasadministered to diabetic rats for 21 days in alloxan induced diabetic rats. The effect of EEAC on blood glucose and body weight was studied in alloxaninduced diabetic rats. All these effects were compared with glibenclamide (10 mg/kg b. w., p.o.) as a reference antidiabetic drug.Results: The administration of EEAC (200 mg/kg b. w., p.o.) resulted in a significant decrease in blood glucose level and a significant increase in bodyweight in alloxan induced diabetic rats. Furthermore, EEAC showed antihyperlipidemic activity as evidenced by a significant decrease in serum totalcholesterol and triglyceride levels in alloxan induced diabetic rats.Conclusion: The results suggest that the EEAC possess a promising hypoglycemic effect in alloxan induced diabetic rats.Keywords: Hypoglycemic, Antihyperlipidemic, Adiantum caudatum, Alloxan, Diabetes

Identifying and Forecasting Potential Biophysical Risk Areas within a Tropical Mangrove Ecosystem Using Multi-Sensor Data

Mangroves are one of the most productive ecosystems known for provisioning of various ecosystem goods and services. They help in sequestering large amounts of carbon, protecting coastline against erosion, and reducing impacts of natural disasters such as hurricanes. Bhitarkanika Wildlife Sanctuary in Odisha harbors the second largest mangrove ecosystem in India. This study used Terra, Landsat and Sentinel-1 satellite data for spatio-temporal monitoring of mangrove forest within Bhitarkanika Wildlife Sanctuary between 2000 and 2016. Three biophysical parameters were used to assess mangrove ecosystem health: leaf chlorophyll (CHL), Leaf Area Index (LAI), and Gross Primary Productivity (GPP). A long-term analysis of meteorological data such as precipitation and temperature was performed to determine an association between these parameters and mangrove biophysical characteristics. The correlation between meteorological parameters and mangrove biophysical characteristics enabled forecasting of mangrove health and productivity for year 2050 by incorporating IPCC projected climate data. A historical analysis of land cover maps was also performed using Landsat 5 and 8 data to determine changes in mangrove area estimates in years 1995, 2004 and 2017. There was a decrease in dense mangrove extent with an increase in open mangroves and agricultural area. Despite conservation efforts, the current extent of dense mangrove is projected to decrease up to 10% by the year 2050. All three biophysical characteristics including GPP, LAI and CHL, are projected to experience a net decrease of 7.7%, 20.83% and 25.96% respectively by 2050 compared to the mean annual value in 2016. This study will help the Forest Department, Government of Odisha in managing and taking appropriate decisions for conserving and sustaining the remaining mangrove forest under the changing climate and developmental activities

Prevalence of tuberculosis in silicosis patients in southern part of Rajasthan

Background: Silicosis is an occupational lung disease which commonly occurs in workers involved in quarrying, mining, sandblasting etc. Tuberculosis (TB) in silicosis is more common. In southern part of Rajasthan, near Udaipur a lot of mining areas are there and workers are exposed to silica dust. The main objective of carrying out this study is to bring in focus the increasing prevalence of silicosis patients and its complications in mining areas around Udaipur in southern Rajasthan, so that the necessary prophylactic and preventive measures can be taken for the workers in future.Methods: 150 patients of silicosis and old treated case of silicotuberculosis patient with respiratory symptoms were included in the study. In all the patients, sputum was sent for routine acid fast bacilli (AFB) smear examination and if it came negative then sputum was sent for GeneXpert multidrug resistant tuberculosis (MTB) and also for AFB culture examination wherever needed.Results: The mean duration of exposure to silica particles was 10 years (5 to 15 years). Tuberculosis was diagnosed by microbiological examination in 40 cases, while 25 cases which were previously treated for tuberculosis were found negative on microbiological examination. So, the overall prevalence of TB (both old treated and new or relapse microbiologically confirmed cases) among patients of silicosis was found to be 44%.Conclusions: Our study showed an increased prevalence of tuberculosis in silicosis patients. So, there should be regular health check up educational programme for all silica mines workers and all should use prophylactic measures.

Antibiotic Sensitivity in Post Cesarean Surgical Site Infection at a Tertiary Care Centre in Eastern Nepal

Introduction: Post cesarean surgical site infection (SSI) is one of the common complications diagnosed in 2.5%-16% of the cases and is associated with significant increase in maternal morbidity, hospital stay, costs, and psychological stress to the new parents. This study was designed to study the incidence of SSI and the antimicrobial resistance pattern in our hospital. Methods: This was a prospective observational study conducted from July 2015 to December 2015, in which all patients who were admitted with post cesarean SSI or developed SSI during their stay were included.  Wound specimens were collected and susceptibility testing was carried out using disc diffusion technique. Results: The incidence of post cesarean SSI was 6.07% (47/774). Out of the 47 patients who had SSI, 35 (74.75%) had positive swab culture. The most important organism isolated was Staphylococcus aureus (82.85%) out of which 17 (58.62%) were MRSA strain. The resistance of Staphylococcus to penicillin was 84.6% whereas amikacin was found to be highly sensitive (>96%). Among the MRSA strain, resistance to ciprofloxacin, which is the currently used drug for prophylaxis, was 94%. Resistance to penicillins, cephalosporins, and clavulanate was also high. Resistance to vancomycin was also high (53%). Amikacin and chloramphenicol were found to be highly sensitive  (94% and 90% respectively) in the MRSA group. Conclusion: MRSA is the leading cause of post cesarean SSI and is a matter of great concern. Amikacin and chloramphenicol were found to be highly sensitive in this group but unlike other studies, resistance of vancomycin was showing an increasing trend

Physico-chemical attributes of humic acid extracted from tropical pect

Basic research conducted on humic acid (HA) in tropical soils is limited. A study was conducted to characterize HA extracted from tropical peat by elemental and functional group analyses, infrared (IR) spectra and by direct examination on HA using scanning electron microscopy (SEM). From the elemental analysis it was found that C ranged from 40.26 - 53.26%, H 4.84 - 6.36%,038.39 - 51.62%, N 1.51- 2.64%, and P 0.02 - 0.06%. Studies of functional groups indicated that the carboxyl group present in HA of tropical peat was about twice as high as that of phenolic hydroxyl groups. From IR spectra, the HA had an aromatic character. Results of IR analysis also exhibited consistently similar spectra, demonstrating that regardless of place of origin, the extracted humic compound had a similar structure and was composed of the same functional groups. Electron microscopic examination of dried HA showed a sub-angular blocky shape which varied in size. All extracted HA exhibited similar form

Congo red dye agar test as an indicator test for detection of invasive bovine Escherichia coli

Congo red dye agar test (CR test) has been used to differentiate invasive and non invasive E. coli in poultry. This simple test was used to detect enteroinvasive E. coli of bovine origin, isolated from cases of neonatal calf diarrhoea. Out of 97 isolates tested 46 showed CR-positive reaction, while 51 were CR negative. Upon confirmation with the Sereny test, a standard test for detection of invasiveness, CR test was found 100% specific and 58.89% sensitive. This test can be used for primary screening of non invasive E. coli from potentially invasive E. coli