Hybrid Model for Passive Locomotion Control of a Biped Humanoid:The Artificial Neural Network Approach

Developing a correct model for a biped robot locomotion is extremely challenging due to its inherently unstable structure because of the passive joint located at the unilateral foot-ground contact and varying configurations throughout the gait cycle, resulting variation of dynamic descriptions and control laws from phase to phase. The present research describes the development of a hybrid biped model using an Open Dynamics Engine (ODE) based analytical three link leg model as a base model and, on top of it, an Artificial Neural Network based learning model which ensures better adaptability, better limits cycle behaviors and better generalization while negotiating along a down slope. The base model has been configured according to the individual subjects and data have been collected using a novel technique through an android app from those subjects while walking down a slope. The pattern between the deviation of the actual trajectories and the base model generated trajectories has been found using a back propagation based artificial neural network architecture. It has been observed that this base model with learning based compensation enables the biped to better adapt in a real walking environment, showing better limit cycle behaviors. We also observed the bounded nature of deviation which led us to conclude that the strategy for biped locomotion control is generic in nature and largely dominated by learning

Broadband Spectro-temporal Study on Blazar TXS 1700+685

We attempt to present a multiwavelength variability and correlation study as well as detailed multi-waveband spectral characteristics of the May 2021 $\gamma$-ray flare of the blazar source TXS 1700+685. The multi-wavelength observation from \textit{Fermi}-LAT, \textit{Swift}-XRT/UVOT as well as radio archival data are used for our spectro-temporal investigation. We estimate the variability time-scale of the source from the flux doubling time in different flaring regions detected in \textit{Fermi}-LAT observation and the shortest variability time is used to put a constraint on the minimum Doppler factor and on the size of the emission region. We have detected a statistically significant quasi-periodic oscillation feature (QPO) at $\sim$ 17 days. The broad-band emission is satisfactorily represented during its flaring state with a leptonic synchrotron and inverse Compton component. From the broadband spectral modeling, we observe the external Comptonization of the seed photons originating in the broad line region to be dominant compared to the dusty torus. This is further supported by the fact that the emission region is also found to be residing within the BLR. The equipartition value implies the energy density of the magnetic field in the jet comoving frame is weak, and that is also reflected in the magnetic field and low power corresponding to the magnetic field component of the jet. In order to produce the high energy hump, we need the injection of a large population of high energy electrons and/or the presence of strong magnetic field; and we observe the later component to be sub-dominant in our case. The flat rising and steep falling profile in the $\gamma$-ray SED as well as the break or spectral curvature at $\sim$ 1 GeV are in commensuration with the flat-spectrum radio quasar (FSRQ) nature of the source

Understanding the chemical coupling between ground-level ozone and oxides of nitrogen in ambient air at industrial and commercial sites in central India

This study investigates the hourly concentrations of Ground-level Ozone (O3), Nitric Oxide (NO), Nitrogen Dioxide (NO2), and Oxides of Nitrogen (NOx) in ambient air, along with the various meteorological parameters viz., ambient temperature, relative humidity, wind speed, and solar radiation over one year, from August 2020 to July 2021 for an industrial and commercial site in Madhya Pradesh, a central state in India. We also analyze the chemical coupling between the O3 and ambient NO, NO2, and NOx at both sites during the daytime. We focus on understanding how the concentration of the oxidant OX (a combination of ozone and nitrogen dioxide) changes in relation to levels of NOx (a combination of nitrogen oxides) to determine whether the atmospheric sources of OX are dependent on the NOx-independent or regional contributions and NOx-dependent or local contributions. We also observe a significant positive correlation of O3 with ambient temperature and solar radiation but a strong negative correlation with relative humidity for the considered period. We found the monthly variations of the pollutants' concentrations show a strong seasonality dependence. O3 concentration becomes highest/lowest during summer/monsoon for both sites. In contrast, NOx exhibits the maximum and minimum concentration during monsoon and summer for both sites. The daily variation shows the opposite trend for O3 and NOx. O3 reaches a peak at mid-day around 14: 00 Hrs when ambient temperature also goes to maximum and has the minimum value at night time due to lack of sunlight.Comment: 14 pages, 8 figures, 2 table

Directional hearing: from biophysical binaural cues to directional hearing outdoors

We report the cyclization of 3-substituted <i>N</i>-acetylindoles for the straightforward synthesis of 3,3-spiroindolines via the Friedel–Crafts reaction of an appended aryl group or the formal [2 + 2] cycloaddition of an appended alkene. Our strategy involves an Umpolung of the C2C3 bond of the indole nucleus during FeCl₃-mediated hydroarylation or annulation reactions

Farm parent and youth aspirations on the generational succession of farming: Evidence from South India

Agriculture remains vital in ensuring the food security of developing economies like India, yet increasing rural-urban migration, an aging farm population, and waning interest of rural youth in agriculture are emerging concerns. This paper focuses on the aspirations of farm parents and their children in agriculture, the challenges they confront, and potential solutions. We draw on qualitative data from two rural sites in Southern India, different from each other in their agro-ecological and social contexts, to point to the material, social, relational, and structural factors shaping aspirations. First, agrarian distress, resulting from climate variability and market uncertainty, affects farm households' socioeconomic status, resulting in farmers' aspiration failure in agriculture. Farm parents then focus on educating their children, aspiring for secure non-farm jobs for their sons, and finding suitable marriage partners, also in non-farm employment, for their daughters. While this steer from parents discourages youth from aspiring to careers in agriculture, in reality, there is a wide gap in the achievement of aspirations, and a majority of youth, especially young women, do end up working on their family farms. For the future development of agriculture and sustainable food systems, it is essential to protect young farmers from aspiration failures and innovate through appropriate policies

Potential of Synthetic and Natural Compounds as Novel Histone Deacetylase Inhibitors for the Treatment of Hematological Malignancies

Histone deacetylases (HDACs) and histone acetyltransferases (HATs) are enzymes that remove or add acetyl groups to lysine residues of histones, respectively. Histone deacetylation causes DNA to more snugly encircle histones and decreases gene expression, whereas acetylation has the opposite effect. Through these small alterations in chemical structure, HATs and HDACs regulate DNA expression. Recent research indicates histone deacetylase inhibitors (HDACis) may be used to treat malignancies, including leukemia, B-cell lymphoma, virus-associated tumors, and multiple myeloma. These data suggest that HDACis may boost the production of immune-related molecules, resulting in the growth of CD8-positive T-cells and the recognition of nonreactive tumor cells by the immune system, thereby diminishing tumor immunity. The argument for employing epigenetic drugs in the treatment of acute myeloid leukemia (AML) patients is supported by evidence that both epigenetic changes and mutations in the epigenetic machinery contribute to AML etiology. Although hypomethylating drugs have been licensed for use in AML, additional epigenetic inhibitors, such as HDACis, are now being tested in humans. Preclinical studies evaluating the efficacy of HDACis against AML have shown the ability of specific agents, such as anobinostat, vorinostat, and tricostatin A, to induce growth arrest, apoptosis, autophagy and cell death. However, these inhibitors do not seem to be successful as monotherapies, but instead achieve results when used in conjunction with other medications. In this article, we discuss the mounting evidence that HDACis promote extensive histone acetylation, as well as substantial increases in reactive oxygen species and DNA damage in hematological malignant cells. We also evaluate the potential of various natural product-based HDACis as therapeutic agents to combat hematological malignancies

Global burden of 369 diseases and injuries in 204 countries and territories, 1990–2019: a systematic analysis for the Global Burden of Disease Study 2019

Background: In an era of shifting global agendas and expanded emphasis on non-communicable diseases and injuries along with communicable diseases, sound evidence on trends by cause at the national level is essential. The Global Burden of Diseases, Injuries, and Risk Factors Study (GBD) provides a systematic scientific assessment of published, publicly available, and contributed data on incidence, prevalence, and mortality for a mutually exclusive and collectively exhaustive list of diseases and injuries. Methods: GBD estimates incidence, prevalence, mortality, years of life lost (YLLs), years lived with disability (YLDs), and disability-adjusted life-years (DALYs) due to 369 diseases and injuries, for two sexes, and for 204 countries and territories. Input data were extracted from censuses, household surveys, civil registration and vital statistics, disease registries, health service use, air pollution monitors, satellite imaging, disease notifications, and other sources. Cause-specific death rates and cause fractions were calculated using the Cause of Death Ensemble model and spatiotemporal Gaussian process regression. Cause-specific deaths were adjusted to match the total all-cause deaths calculated as part of the GBD population, fertility, and mortality estimates. Deaths were multiplied by standard life expectancy at each age to calculate YLLs. A Bayesian meta-regression modelling tool, DisMod-MR 2.1, was used to ensure consistency between incidence, prevalence, remission, excess mortality, and cause-specific mortality for most causes. Prevalence estimates were multiplied by disability weights for mutually exclusive sequelae of diseases and injuries to calculate YLDs. We considered results in the context of the Socio-demographic Index (SDI), a composite indicator of income per capita, years of schooling, and fertility rate in females younger than 25 years. Uncertainty intervals (UIs) were generated for every metric using the 25th and 975th ordered 1000 draw values of the posterior distribution. Findings: Global health has steadily improved over the past 30 years as measured by age-standardised DALY rates. After taking into account population growth and ageing, the absolute number of DALYs has remained stable. Since 2010, the pace of decline in global age-standardised DALY rates has accelerated in age groups younger than 50 years compared with the 1990–2010 time period, with the greatest annualised rate of decline occurring in the 0–9-year age group. Six infectious diseases were among the top ten causes of DALYs in children younger than 10 years in 2019: lower respiratory infections (ranked second), diarrhoeal diseases (third), malaria (fifth), meningitis (sixth), whooping cough (ninth), and sexually transmitted infections (which, in this age group, is fully accounted for by congenital syphilis; ranked tenth). In adolescents aged 10–24 years, three injury causes were among the top causes of DALYs: road injuries (ranked first), self-harm (third), and interpersonal violence (fifth). Five of the causes that were in the top ten for ages 10–24 years were also in the top ten in the 25–49-year age group: road injuries (ranked first), HIV/AIDS (second), low back pain (fourth), headache disorders (fifth), and depressive disorders (sixth). In 2019, ischaemic heart disease and stroke were the top-ranked causes of DALYs in both the 50–74-year and 75-years-and-older age groups. Since 1990, there has been a marked shift towards a greater proportion of burden due to YLDs from non-communicable diseases and injuries. In 2019, there were 11 countries where non-communicable disease and injury YLDs constituted more than half of all disease burden. Decreases in age-standardised DALY rates have accelerated over the past decade in countries at the lower end of the SDI range, while improvements have started to stagnate or even reverse in countries with higher SDI. Interpretation: As disability becomes an increasingly large component of disease burden and a larger component of health expenditure, greater research and developm nt investment is needed to identify new, more effective intervention strategies. With a rapidly ageing global population, the demands on health services to deal with disabling outcomes, which increase with age, will require policy makers to anticipate these changes. The mix of universal and more geographically specific influences on health reinforces the need for regular reporting on population health in detail and by underlying cause to help decision makers to identify success stories of disease control to emulate, as well as opportunities to improve. Funding: Bill & Melinda Gates Foundation. © 2020 The Author(s). Published by Elsevier Ltd. This is an Open Access article under the CC BY 4.0 licens

Hybrid Model for Passive Locomotion Control of a Biped Humanoid: The Artificial Neural Network Approach

Developing a correct model for a biped robot locomotion is extremely challenging due to its inherently unstable structure because of the passive joint located at the unilateral foot-ground contact and varying configurations throughout the gait cycle, resulting variation of dynamic descriptions and control laws from phase to phase. The present research describes the development of a hybrid biped model using an Open Dynamics Engine (ODE) based analytical three link leg model as a base model and, on top of it, an Artificial Neural Network based learning model which ensures better adaptability, better limits cycle behaviors and better generalization while negotiating along a down slope. The base model has been configured according to the individual subjects and data have been collected using a novel technique through an android app from those subjects while walking down a slope. The pattern between the deviation of the actual trajectories and the base model generated trajectories has been found using a back propagation based artificial neural network architecture. It has been observed that this base model with learning based compensation enables the biped to better adapt in a real walking environment, showing better limit cycle behaviors. We also observed the bounded nature of deviation which led us to conclude that the strategy for biped locomotion control is generic in nature and largely dominated by learning