Dynamic Motion Planning for Aerial Surveillance on a Fixed-Wing UAV

We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and updating environment. A Voronoi bias is introduced in the probabilistic roadmap building phase to identify certain critical milestones for maximal surveillance of the search space. A kinematically feasible but coarse tour connecting these milestones is generated by the global path planner. A local path planner then generates smooth motion primitives between consecutive nodes of the global path based on UAV as a Dubins vehicle and taking into account any impending obstacles. A Markov Decision Process (MDP) models the control policy for the UAV and determines the optimal action to be undertaken for evading the obstacles in the vicinity with minimal deviation from current path. The efficacy of the proposed algorithm is evaluated in an updating simulation environment with dynamic and static obstacles.Comment: Accepted at International Conference on Unmanned Aircraft Systems 201

CONTINUOUS INCREASE IN POPULATION OF INDIAN SARUS CRANE GRUS ANTIGONE ANTIGONE IN AND AROUND ALWARA LAKE OF DISTRICT KAUSHAMBI (U.P.)

The Indian sarus crane Grus antigone antigone is the world's graceful and tallest flying bird. It is a nonmigratory and only resident breeding crane of Indian sub continent. It has been declared as 'State Bird' by Government of Uttar Pradesh. Pairing of the bird for life long and legendry marital devotion of the species has earned its global popularity. Ecological and environmental condition of this lake is quite supportive for the survival of this vulnerable species. The present study deals with the distribution and conservation of this vulnerable species in and around the Alwara lake of district Kaushambi, Uttar Pradesh. A total of 335 cranes were actually observed in 2012, 425 in 2013, 510 in 2014 and 537 in 2015, although more cranes were claimed to exist in this area by the local people. This communication is clearly depicting continuous increasing trend in population of Indian sarus crane during their exploration from 2012-2015 in the area studied, although its population is decreasing at global level

Discription on a new species of Elasmus westwood (Hymenoptera:Chalcidoidea) with notes on host-parasitic relationship of some Indian species

A new Indian species of Elasmus in described in the sub family Elasminae Eulophidae from Bareilly district (U.P.), with a host parasite list of some species reared from plant hosts such as fig receptacles, fruits and galls. The parasites emerged from galls made by insects mostly belonged to family Encentidae, Aphelimidae, Eulopidae and Brachonidae. Host parasite list in compiled from the catalogue (Verma and Hayat, 1986)

IOT Security Against Network Anomalies through Ensemble of Classifiers Approach

The use of IoT networks to monitor critical environments of all types where the volume of data transferred has greatly expanded in recent years due to a large rise in all forms of data. Since so many devices are connected to the Internet of Things (IoT), network and device security is of paramount importance. Network dynamics and complexity are still the biggest challenges to detecting IOT attacks. The dynamic nature of the network makes it challenging to categorise them using a single classifier. To identify the abnormalities, we therefore suggested an ensemble classifier in this study. The proposed ensemble classifier combines the independent classifiers ELM, Nave Byes (NB), and the k-nearest neighbour (KNN) in bagging and boosting configurations. The proposed technique is evaluated and compared using the MQTTset, a dataset focused on the MQTT protocol, which is frequently utilised in IoT networks. The analysis demonstrates that the proposed classifier outperforms the baseline classifiers in terms of classification accuracy, precision, recall, and F-score

High Density Impulse Noise Detection using Fuzzy C-means Algorithm

A new technique for detecting the high density impulse noise from corrupted images using Fuzzy C-means algorithm is proposed. The algorithm is iterative in nature and preserves more image details in high noise environment. Fuzzy C-means is initially used to cluster the image data. The application of Fuzzy C-means algorithm in the detection phase provides an optimum classification of noisy data and uncorrupted image data so that the pictorial information remains well preserved. Experimental results show that the proposed algorithm significantly outperforms existing well-known techniques. Results show that with the increase in percentage of noise density, the performance of the algorithm is not degraded. Furthermore, the varying window size in the two detection stages provides more efficient results in terms of low false alarm rate and miss detection rate. The simple structure of the algorithm to detect impulse noise makes it useful for various applications like satellite imaging, remote sensing, medical imaging diagnosis and military survillance. After the efficient detection of noise, the existing filtering techniques can be used for the removal of noise.

Functional outcome of proximal humerus fracture treated with proximal humerus interlocking system plating

Background: Proximal humerus fractures account for 4-5% of all fractures. They are the commonest fractures in elderly population, which ranks the third, after hip and distal radius fractures respectively. Displaced fractures treated by pinning, cancellous screws, intra-medullary nails, proximal humeral plates and hemiarthroplasty. The proximal humerus interlocking system (PHILOS) plate is anatomically contoured and the threaded screw heads are locked into the threaded plate holes which allow early rehabilitation. The aim of this study is to evaluate results and complication of PHILOS.Methods: This a prospective study, conducted at JLN Medical College, Ajmer from 1st January 2017 to 31st July 2018. 36 patients of displaced proximal humerus fractures were included and operated at hospital with PHILOS plating. We evaluate Intra-operative events, post-operative radiological evaluations and bony union by NEER’S score and complications.Results: Functional results according to NEER’S score were found that out of 36 patients, 11 patients (30.5%) had excellent outcome, 19 patients (52.7%) have satisfactory outcome, 3 patients (8.33%) had unsatisfactory outcome and 3 patients (8.33%) had poor outcome.Conclusions: Internal fixation of proximal humerus fractures with use of PHILOS yields reliable results when utilized correctly. To achieve gold standard results, early physiotherapy is must which can only be done by stable fixation, ORIF with PHILOS provides more stable construct with anatomical reduction

Intensity preserving cast removal in color images using particle swarm optimization

In this paper, we present an optimal image enhancement technique for color cast images by preserving their intensity. There are methods which improves the appearance of the affected images under different cast like red, green, blue etc but up to some extent. The proposed color cast method is corrected by using transformation function based on gamma values. These optimal values of gamma are obtained through particle swarm optimization (PSO). This technique preserves the image intensity and maintains the originality of color by satisfying the modified gray world assumptions. For the performance analysis, the image distance metric criteria of CIELAB color space is used. The effectiveness of the proposed approach is illustrated by testing the proposed method on color cast images. It has been found that distance between the reference image and the corrected proposed image is negligible. The calculated value of image distance depicts that the enhanced image results of the proposed algorithm are closer to the reference images in comparison with other existing methods

Ayurveda considerations on Infectious diseases and their preventive measures w.s.r. to current pandemic situation

Ayurveda described term “Sankramaka Roga” for communicable diseases which mainly occurs due to the microbial transmissions. These diseases can transmit from one to anther through physical, chemical and biological means. The pathogenesis of such diseases arises due to the effect of microbial toxins inside the body. Antibiotics, lifestyle modification, immune-therapy, natural drugs, ayurveda formulations and purification measures, etc. are some approaches of various medical field which utilizes to prevent and treat Sankramaka Roga. The mass destruction of population by Sankramaka Roga termed as Janapadodhwamsa which resembles pandemic of modern science. Good immune system play vital role towards the prevention of Sankramaka Roga. Ayurveda concept of Ahara-Vihara helps greatly to boost immunity thus maintains good health status and enhances resistance against infectious diseases. This article explores Ayurveda view on Sankramaka Roga and their management through natural ways of healing