Optimal, Multi-Modal Control with Applications in Robotics

The objective of this dissertation is to incorporate the concept of optimality to multi-modal control and apply the theoretical results to obtain successful navigation strategies for autonomous mobile robots. The main idea in multi-modal control is to breakup a complex control task into simpler tasks. In particular, number of control modes are constructed, each with respect to a particular task, and these modes are combined according to some supervisory control logic in order to complete the overall control task. This way of modularizing the control task lends itself particularly well to the control of autonomous mobile robot, as evidenced by the success of behavior-based robotics. Many challenging and interesting research issues arise when employing multi-modal control. This thesis aims to address these issues within an optimal control framework. In particular, the contributions of this dissertation are as follows: We first addressed the problem of inferring global behaviors from a collection of local rules (i.e., feedback control laws). Next, we addressed the issue of adaptively varying the multi-modal control system to further improve performance. Inspired by adaptive multi-modal control, we presented a constructivist framework for the learning from example problem. This framework was applied to the DARPA sponsored Learning Applied to Ground Robots (LAGR) project. Next, we addressed the optimal control of multi-modal systems with infinite dimensional constraints. These constraints are formulated as multi-modal, multi-dimensional (M3D) systems, where the dimensions of the state and control spaces change between modes to account for the constraints, to ease the computational burdens associated with traditional methods. Finally, we used multi-modal control strategies to develop effective navigation strategies for autonomous mobile robots. The theoretical results presented in this thesis are verified by conducting simulated experiments using Matlab and actual experiments using the Magellan Pro robot platform and the LAGR robot. In closing, the main strength of multi-modal control lies in breaking up complex control task into simpler tasks. This divide-and-conquer approach helps modularize the control system. This has the same effect on complex control systems that object-oriented programming has for large-scale computer programs, namely it allows greater simplicity, flexibility, and adaptability.Ph.D.Committee Chair: Egerstedt, Magnus; Committee Member: Ferri, Bonnie; Committee Member: Lee, Chin-Hui; Committee Member: Reveliotis, Spyros; Committee Member: Yezzi, Anthon

Treatment outcome of tuberculosis patients under directly observed treatment short-course and factors affecting the outcome in tertiary care hospital

Background: Revised National Tuberculosis Control Programme (RNTCP) based on Directly Observed Treatment Short-course (DOTS) strategy has been made available in entire country by March 2006. Given high rate of unfavourable treatment outcomes reported in some provinces, there is a need to analyse outcomes and identify possible trends and associated risk factors that can help for improvement in RNTCP.Methods: After getting Institutional Ethics Committee (IEC) approval, total of 76 cases diagnosed and treated for Tuberculosis (TB) under Category I of RNTCP were recruited from January to March 2017. All patients were followed up for six months from date of initiating the treatment. The data was obtained from TB treatment register, by patient visit and regular follow-up. The information collected include age and gender of patient, category of treatment, date of treatment initiation, initial sputum conversion, outcome of treatment and date of outcome.Results: Out of total 76 patients, 64 (84.21%) were cured, 5 (6.57%) were lost to follow-up, 4 (5.26%) were failed to treat, 1 (1.32%) patient was died, 1 (1.32%) patient had completed treatment but status was unknown and 1 (1.32%) patient was not evaluated because of transfer. Overall treatment outcome of TB patients under DOTS was matching goal of RNTCP with cure rate of 84.21%.Conclusions: Efforts by DOT providers, adequate patient education, motivating ones in need can bring positive outcomes. In this region, DOTS center is at good working condition in terms of functionality as well as ethically. Gender, age group, residence and initial culture colony did not significantly affect treatment outcome

A Review on Sneha Kalpana in Ayurveda

Ayurveda the science of life, uses natural resources to fulfill the fundamental objectives i.e. Swasthya Rakshanam and Vyadhi Prashamanam. Ayurveda has been given the greatest emphasis to comprehensive knowledge of drugs. This science of manufacturing drugs is divided under two branches as Rasashastra and Bhaishajya Kalpana. Bhaishajya means medicine and Kalpana means forms. Hence Bhaishajya Kalpana means branch of Ayurvedic medicine which deals with preparation of medicines by the use of herbal drugs. Bhaishajya Kalpana includes Panchavidha Kashaya Kalpana as Swarasa, Kalka, Kwatha, Hima and Phanta. Bhaishajya Kalpana also includes preparation of various forms of medicine such as Churna, Guti, Vati, Ghruta Paka, Tail Paka, Lepa, Asava, Arishta etc. Sneha Kalpana is a group of products of medicated Taila and Ghruta. Quality and quantity of lipid soluble extract of medicinal ingredients varies, as per methods, types of material and ratio of material with reference to Sneha Dravya. That is why various methods of Sneha Paka are described in classical texts of Ayurveda. Classically these formulations are having a longer shelf life in comparison to other Ayurvedic herbal medication form. It is only Kalpana which is used through all four modes of administration of such formulations i.e. Pana, Abhyanga, Nasaya and Basti. So to review all these methods at a glance is main aim of this article

CORRELATION OF TWO PYRAZOLINE MOIETY IN A SINGLE MOLECULE VIA N-LINKAGE CONTAINING FLUORINE ATOM AS A SUBSTITUENT AND THEIR BIOLOGICAL SIGNIFICANCE

Objective: The aim of the present invention is to synthesize and find out the biological importance of the series of the designed pyrazoline compounds. Methods: A series of 3-[3'-(2â€,4â€-dichloro-5â€-fluorophenyl)-5'-(2â€-furyl)-4', 5'-dihydro-1H-pyrazol-1'-yl]-5-substituted phenyl-2-pyrazolines (2a-j) and 1-Nitroso-3-[3'-(2â€,4â€-dichloro-5â€-fluorophenyl)-5'-(2â€-furyl)-4', 5'-dihydro-1H-pyrazol-1'-yl]-5-substituted phenyl-2-pyrazolines (3a-j) were prepared in moderate yields. The structures of both pyrazoline and N-nitroso pyrazoline derivatives have been characterized on the basis of physical properties of the molecule and satisfactory spectral (IR, 1H NMR) data. The antimicrobial activity of the compounds against some Gram (+) and Gram (–) bacteria is reported. Results: The Moderate yield of the proposed compounds was obtained. Spectral analysis showed the structural confirmation of the synthesized compounds. Some of the compounds showed lower to moderate level of drug-like properties. Conclusion: From the results of spectral data and microbial activity it has been concluded that the compounds were found to exhibit some functional lead properties; hence these compounds are worth to be considered as potential lead molecules for further study

Prospective study on outcome of post-partum intrauterine contraceptive device insertion at tertiary level rural health institute of Gujarat, India

Background: This study was conducted to evaluate the acceptance, safety, efficacy, complications and expulsion rate of post-partum intrauterine contraceptive device (PPIUCD) insertion among post-partum pregnant women in a rural tertiary care center. Objective of this study was assessment of the efficacy and safety of post-partum IUCD insertion. Comparing the complications and client satisfaction in both groups (intra caesarean insertion versus vaginal route of insertion).Methods: This is a prospective study conducted at one of the rural tertiary care teaching institution. A total of 150 patients with caesarean or vaginal deliveries had PPIUCD insertions and they were followed up for a period of one year. The outcome measures analyzed were menstrual irregularities, vaginal discharge, pelvic infection and perforation and efficacy measures - failure, expulsion and removal. Data are expressed in frequency and percentage. Chi square test was used for comparison and P value <0.05 was considered significant.Results: The study shows that PPIUCD is an effective intervention in both caesarean and vaginal delivery with non-significant differences in safety and efficacy depending on the route of insertion. There was no case of perforation and no significant risk of infection in either caesareans or delivery. Spontaneous expulsion occurred in two cases inserted by vaginal route. Missing string incidence is high in the caesarean group compared to vaginal insertion.Conclusions: PPIUCD is a safe, effective and long term reversible method of contraception and should be encouraged by public awareness and community acceptance

Exploring the toxigenicity and genetic similarity of Detroit Reservoir’s recurring cyanobacterial bloom in 2017 and 2018

In order to understand the ability of Detroit Reservoir’s recurring cyanobacterial bloom to produce toxins, and determine the genetic similarity of the bloom from year to year, environmental samples were taken from the Detroit Reservoir bloom biomass in the summers of 2017 and 2018. DNA from these samples was sequenced, assembled, binned, error corrected, and annotated. Both samples were aligned to each other to determine their genetic similarity between the years, and both samples were aligned individually to a group of known cylindrospermopsin-producing toxin genes from a well-studied Aphanizomenon sp. 10E6 genome to determine their toxigenicity. The 2018 sample genome was completed and sent to the NCBI for confirmation and annotation. After alignment, the 2017 and 2018 samples were found to be 99.99% identical organisms, and both were found to contain toxin-producing genes on plasmids within their larger genome structures.Key Words: Cyanobacterial harmful algal blooms, Genome assembly, annotation, alignmen

Takayasu arteritis in pregnancy: a case report, and clinical lessons learnt

A case report of known case of Takayasu arteritis (known to the woman in case report) in a primigravida, but unrevealed to the obstetrician till advanced stage of pregnancy is reported. The authors share the lessons learnt by them from this case which would improve diagnosis, evaluation and management of pregnancy hypertension. A brief account on clinical manifestations and diagnosis of Takayasu arteritis is also included