Combining depth and intensity images to produce enhanced object detection for use in a robotic colony

Robotic colonies that can communicate with each other and interact with their ambient environments can be utilized for a wide range of research and industrial applications. However amongst the problems that these colonies face is that of the isolating objects within an environment. Robotic colonies that can isolate objects within the environment can not only map that environment in de-tail, but interact with that ambient space. Many object recognition techniques ex-ist, however these are often complex and computationally expensive, leading to overly complex implementations. In this paper a simple model is proposed to isolate objects, these can then be recognize and tagged. The model will be using 2D and 3D perspectives of the perceptual data to produce a probability map of the outline of an object, therefore addressing the defects that exist with 2D and 3D image techniques. Some of the defects that will be addressed are; low level illumination and objects at similar depths. These issues may not be completely solved, however, the model provided will provide results confident enough for use in a robotic colony

Desiccation induced physiological and biochemical changes of Gymnacranthera canarica (King.) Warb. seeds in the Myristica swamp forests, Southern Western Ghats, India

Gymnacranthera canarica (King.) Warb. is an endemic tree species that dominates the Myristica swamp ecosystem of southern Western Ghats. This tropical tree species has become more threatened due to limited natural seed germination and habitat loss. Mature seeds were collected from the myristica swamp ecosystem subjected to desiccation study. This research evaluated the physiological (moisture content, tetrazolium reduction, lipid peroxidation, electrolyte leakage) and biochemical response of seeds during different desiccation treatments. Results showed that G. canarica seeds are highly sensitive to desiccation and total viability loss was seen within 15 days following harvest indicating the active seed metabolism of mature seeds showing absence of metabolic arrest. Desiccation enhanced malondialdehyde and electrolyte leakage while reducing formazan formation. Seed desiccation increases protease activity, which peaks when viability is lost. Desiccation reduced the quantity of phenol and starch, whereas proline, fat, sucrose and total soluble carbohydrates increased. The early viability loss in G. canarica seeds could be due to loss of membrane integrity, which was linked to ROS formation and associated lipid peroxidation products indicating seeds are truly recalcitrant

Embryo maturation, dormancy and seed storage behaviour of Gymnacranthera canarica (King) Warb., a threatened endemic tree species of Southern Western Ghats

Gymnacranthera canarica is a severely endangered endemic tree species found in the Myristica swamps of the Southern Western Ghats. Seed storage behaviour is an essential factor to consider when developing effective conservation methods for plant genetic resources whose ex-situ preservation is unclear. The seed storage behaviour, seed dormancy state, dormancy breaking treatments, germination, and phytohormonal analysis of G. canarica were explored in this work. G. canarica seed moisture at shedding was 28.86%, germinated to 34% at 25ºC, and had a low germination rate in natural conditions. Germination was considerably aided by Gibberellic acid pretreatment and drying stratification. G. canarica seeds may have non-deep simple morphophysiological dormancy, as evidenced by the fact that their embryos grew at temperatures between 20 and 25ºC (MPD). Seeds can be stored for up to 60 days at 20ºC after being desiccated to 19.37% suggest that G. canarica seeds are recalcitrant, with non-deep simple morphophysiological dormancy, and that seed pretreatment with Gibberellic acid prior to germination could be a viable approach for mass propagation and long term ex-situ conservation could be the potential storage of this critically endangered species

HCIFR: Hierarchical Clustering and Iterative Filtering Routing Algorithm for Wireless Sensor Networks

The hierarchical clustering and iterative filtering algorithms are combined to form an energy efficient routing algorithm which supports in improved performance, efficient routing at the time of link failure, collusion robust and secure data aggregation. The idea of combining these two algorithms which may lead to improved performance. Initially clusters are formed by neighborhood. The cluster is a combination of one clusterhead, two deputy clusterheads and cluster members. This system uses a Hierarchical clustering algorithm for efficient data transmission to their clusterhead by cluster members. The clusterhead aggregate the collected data and check for trustworthiness. The data is aggregated by clusterhead using the iterative filtering algorithm and resistant to collusion attacks. Simulation results depict the average energy consumption, throughput, packet drops and packet delivery under the influence of proposed algorithm

Regional Flood Frequency Analysis Using Computer Simulations

Different probability distribution methods were employed to determine the flood frequency analysis using computer simulations. Many probability distributions including Gumbel, lognormal, log-Pearson type iii, General Extreme value have been tried to fit the data. The length of record for most of the stations is over 10 years (chosen from 1956 0nwards). The data was procured from J.R.M.Hosking for various project sites. The common time period of 1956 onwards has been chosen only to avoid the effect of interception of basin due to construction of storage reservoir and was also subject of flood data. The best fitting distribution works out to be General Extreme Value Distribution. Gumbel's distribution ranks poorly among different probability distributions. A trial version of probability software is used to evaluate the best fit distribution and parameters of distribution

Brain-scale Theta Band Functional Connectivity As A Signature of Slow Breathing and Breath-hold Phases

The study reported herein attempts to understand the neural mechanisms engaged in the conscious control of breathing and breath-hold. The variations in the electroencephalogram (EEG) based functional connectivity (FC) of the human brain during consciously controlled breathing at 2 cycles per minute (cpm), and breath-hold have been investigated and reported here. An experimental protocol involving controlled breathing and breath-hold sessions, synchronized to a visual metronome, was designed and administered to 20 healthy subjects (9 females and 11 males). EEG data were collected during these sessions using the 61-channel eego mylab system from ANT Neuro. Further, FC was estimated for all possible pairs of EEG time series data, for 7 EEG bands. Feature selection using a genetic algorithm (GA) was performed to identify a subset of functional connections that would best distinguish the inhale, exhale, inhale-hold, and exhale-hold phases using a random committee classifier. The best accuracy of 93.36 % was obtained when 1161 theta-band functional connections were fed as input to the classifier, highlighting the efficacy of the theta-band functional connectome in distinguishing these phases of the respiratory cycle. This functional network was further characterized using graph measures, and observations illustrated a statistically significant difference in the efficiency of information exchange through the network during different respiratory phases

Maternal and neonatal outcome in second stage cesarean section versus first stage: a comparative study

Background: Cesarean Section is the most commonly performed abdominal operation in women all over the world. Variable rates of cesarean section are reported between and within countries. Cesarean section at full cervical dilatation with an impacted fetal head can be technically difficult and is associated with increased trauma to the lower uterine segment and adjacent structures, as well as increased hemorrhage and infection.Methods: This is a comparative cross-sectional study comparing maternal and neonatal outcome between first stage and second stage cesarean section performed at Govt Medical College Thrissur.Results: In present study out of 90 cesarean sections 30 were performed in second stage and 60 in first stage.74 % were primigravida in second stage cs group. Arrest due to malposition was major indication for second stage (76% of cases). The most important complication among second stage cs group was PPH (76.7%) and majority of them needed blood transfusion. These complications were less in first stage cs group. Other Complications like increased duration of surgery (mean=53.3 min), post op fever (36% post op Wound infection (13.3%) was seen in second stage group. Fetal complications like low APGAR scores were seen in 16.7% of cases compared to first stage group and most of them needed resuscitation.Conclusions: Women undergoing cesarean section in second stage of labour had increased maternal and fetal morbidity. They required special care and hence Operation should ideally perform and supervised by an experienced obstetrician. Timely decision for cesarean section should be made especially when risk factors for failure to progress are present

Xanthogranulomatous oophoritis presenting as a pseudotumor of the ovary: a clinical dilemma

Background: Inflammatory Pseudotumor of ovary is a distinct benign entity characterized by the presence of spindle cells mixed with variable amount of lymphocytes and plasma cells. Female genital tract is an unusual location for xanthogranulomatous inflammation and if present usually involves the endometrium. xanthogranulomatous oophoritis is rare and only a handful of cases have been reported.Methods: At The Gujarat Cancer and Research Institute, Ahmedabad; a Regional Cancer Centre we came across two cases of Xanthogranulomatous oophoritis, a rare clinical condition. In view of the rarity of the clinical entity, the cases are summarized and discussed.Results: Xanthogranulomatous oophoritis is a rare clinical entity with very few reported cases. Its pathogenesis involves chronic inflammatory process of unknown origin. Pre-operative diagnosis has been challenging due to non-specific presenting symptoms and radiological imaging. Characteristic microscopic picture includes presence of well-differentiated spindle cells with variable amount of collagenous stroma and presence of inflammatory changes. Immunohistochemistry performed at our institute was found to be positive for CD 68, Vimentin and S-100 for xanthogranulomatous oophoritis.Conclusions: Data from radiological imaging for extra genital xanthogranulomatous inflammation is being extrapolated to determine a pre-operative diagnosis for xanthogranulomatous oophoritis of the genital tract. However, no pathognomic radiological findings are defined at present making histopathological diagnosis the mainstay for diagnosis of this condition. Immunohistochemistry panel markers play a helpful role in the diagnosis when in doubt. Surgery is the definitive mode of treatment providing a good prognosis post operatively

Synthesis and in vitro evaluation of hydrazinyl phthalazines against malaria parasite, Plasmodium falciparum.

In this report, we describe the synthesis of 1-(Phthalazin-4-yl)-hydrazine using bronsted acidic ionic liquids and demonstrate their ability to inhibit asexual stage development of human malaria parasite, Plasmodium falciparum. Through computational studies, we short-listed chemical scaffolds with potential binding affinity to an essential parasite protein, dihydroorotate dehydrogenase (DHODH). Further, these compounds were synthesized in the lab and tested against P. falciparum. Several compounds from our library showed inhibitory activity at low micro-molar concentrations with minimal cytotoxic effects. These results indicate the potential of hydralazine derivatives as reference scaffolds to develop novel antimalarials