The Mixing Time of the Dikin Walk in a Polytope - A Simple Proof

We study the mixing time of the Dikin walk in a polytope - a random walk based on the log-barrier from the interior point method literature. This walk, and a close variant, were studied by Narayanan (2016) and Kannan-Narayanan (2012). Bounds on its mixing time are important for algorithms for sampling and optimization over polytopes. Here, we provide a simple proof of their result that this random walk mixes in time O(mn) for an n-dimensional polytope described using m inequalities.Comment: 5 pages, published in Operations Research Letter

COCrIP: Compliant OmniCrawler In-pipeline Robot

This paper presents a modular in-pipeline climbing robot with a novel compliant foldable OmniCrawler mechanism. The circular cross-section of the OmniCrawler module enables a holonomic motion to facilitate the alignment of the robot in the direction of bends. Additionally, the crawler mechanism provides a fair amount of traction, even on slippery surfaces. These advantages of crawler modules have been further supplemented by incorporating active compliance in the module itself which helps to negotiate sharp bends in small diameter pipes. The robot has a series of 3 such compliant foldable modules interconnected by the links via passive joints. For the desirable pipe diameter and curvature of the bends, the spring stiffness value for each passive joint is determined by formulating a constrained optimization problem using the quasi-static model of the robot. Moreover, a minimum friction coefficient value between the module-pipe surface which can be vertically climbed by the robot without slipping is estimated. The numerical simulation results have further been validated by experiments on real robot prototype

Design and optimal springs stiffness estimation of a Modular OmniCrawler in-pipe climbing Robot

This paper discusses the design of a novel compliant in-pipe climbing modular robot for small diameter pipes. The robot consists of a kinematic chain of 3 OmniCrawler modules with a link connected in between 2 adjacent modules via compliant joints. While the tank-like crawler mechanism provides good traction on low friction surfaces, its circular cross-section makes it holonomic. The holonomic motion assists it to re-align in a direction to avoid obstacles during motion as well as overcome turns with a minimal energy posture. Additionally, the modularity enables it to negotiate T-junction without motion singularity. The compliance is realized using 4 torsion springs incorporated in joints joining 3 modules with 2 links. For a desirable pipe diameter (\text{\O} 75mm), the springs' stiffness values are obtained by formulating a constraint optimization problem which has been simulated in ADAMS MSC and further validated on a real robot prototype. In order to negotiate smooth vertical bends and friction coefficient variations in pipes, the design was later modified by replacing springs with series elastic actuators (SEA) at 2 of the 4 joints.Comment: arXiv admin note: text overlap with arXiv:1704.0681

Prognostic role of immune cells in hepatocellular carcinoma

Hepatocellular carcinoma (HCC), with rising incidence rates, is the most commonly occurring malignancy of the liver that exerts a heavy disease burden particularly in developing countries. A dynamic cross-talk between immune cells and malignant cells in tumor microenvironment governs the hepatocarcinogenesis. Monitoring immune contexture as prognostic markers is quite relevant and essential to evaluate clinical outcomes and to envisage response to therapy. In this review, we present an overview of the prognostic value of various tumor infiltrating immune cells and the continually evolving immune checkpoints as novel biomarkers during HCC. Tumor infiltration by immune cells such as T cells, NK cells and dendritic cells is linked with improved prognosis and favorable outcome, while the intra-tumoral presence of regulatory T cells (Tregs) or myeloid derived suppressor cells (MDSCs) on the other hand is associated with poor clinical outcome. In addition to these, the overexpression of negative regulatory molecules on tumor cells also provides inhibitory signals to T cells and is associated with poor prognosis. The limitation of a single marker can be overcome by advanced prognostication models and algorithms that evaluate multiple prognostic factors and ultimately aid the clinician in improving the disease free and overall survival of HCC patients

Zinc-Catalyzed Guanylation Reaction of Amines to Carbodiimides/Isocyanate Leading to of Guanidines/Urea Derivatives Formation

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