Kinematic analysis of wheeled mobile robot

The thesis deals with the problem associated with the path constraints and kinematic constraints of wheeled mobile robots. It also deals with the analysis of kinematic characteristics of the wheeled mobile robots and developing a kinematic model, including the path constraints and kinematic constraints equations. From the analysis of established kinematic model some factors which affect the path tracking problem for a wheeled mobile robot, are taking into account. Considering the analysis of Fuzzy Logic, the path followed by the autonomous wheeled mobile robot determine. And from the Fuzzy Logic graph the left wheel velocity and right wheel velocity are determined. A robot arena has been devised by a MATLAB program to determine the path that the robot should follow avoiding all obstacles to reach its target

Use of del nido cardioplegia versus St. thomas solution 2 in adult mitral valve replacement surgery at a tertiary care hospital in Kolkata, India

Background: del Nido cardioplegia has been historically used in paediatric cardiac surgery. However it’s use in adults has also been documented. It has the advantage of 90 minutes of cardiac inactivity over St. Thomas solution no.-2, which requires repeated dosing at 20 minutes interval. Aim of this study to find out whether del Nido cardioplegia with longer duration of arrest is advantageous over St. Thomas solution no. 2 in adult mitral valve replacement.Methods: Total 60 patients of severe mixed mitral valve disease of comparable patient profiles, underwent mitral valve replacement with preservation of anterolateral and posteromedial chordae. Half the patients received del Nido cardioplegia and other half received St. Thomas solution no 2. (ST-2). The two groups were compared.Results: del Nido group had lesser CPB time (70.73±12.15min) as compared to ST-2 group (81.76±20.03min) with  p=0.01 ; lesser Cross clamp time (del Nido- 68.8±10.64min; ST-2- 75.83±14.00min) with p=0.02; lesser time taken to arrest heart  (del Nido- 21.58±13.37 sec; ST-2- 25.26±5.27 sec) with p=0.04 & lesser time taken for normal ECG activity to manifest after release of cross clamp (del Nido- 19.86±6.10 min; ST-2- 31.03±5.28min) with p=0.02. All other parameters did not reach statistical significance.Conclusions: del Nido cardioplegia group of patients required significantly less CPB time; Cross-clamp time; Mean time taken to arrest the heart; as well as that taken to manifest normal ECG morphology when compared to ST-2 group

Refractance Window and Conduction Dryings of Mango Pulp

Mango pulp (2 mm thickness) was dried by Refractance Window (RW) technique using Mylar sheet with water bath temperature fixed at 95 °C and the product temperature varying with time to obtain a popular Indian intermediate moisture product known as mango leather (pestil) through good manufacturing practice.  Conduction drying was the major mode for drying of mango pulp on Aluminium sheet and foil.  Drying kinetics, water activity and color change were determined and the results were compared between mango pulp dried on Mylar sheet (MS), Aluminium sheet (AS) and Aluminium foil (AF), all placed on the top surface of hot water. The recommended moisture content for intermediate moisture food like mango leather, which is 18-33% dry basis (db) was achieved within 12 minutes using RW dryer with Mylar and for conduction drying on Aluminium sheets and Aluminium foil the duration was only 10 minutes. A final moisture content of 2.5% (db) was achieved in RW drying after 35 minutes of drying for both sheets and foil, as well.  After 25 minutes of drying, water activity of the product was 0.4 with corresponding equilibrium moisture content (EMC) value of 0.25 kg water/kg dry matter at 30.2ºC. The maximum moisture diffusivity of RW dried sample on Mylar sheet was (9 ± 2) × 10 -9 m2 s -1. The same values for drying on the Aluminium sheet and foil were (1.05 ± 0.25) ⤫ 10 -8 m2 s -1 and (1.2 ± 0.4) ⤫ 10 -8 m2 s -1, respectively.  Measurement of colour values L*, a* and b* revealed that around 20 minutes time there is a distinct break in the ∆L*, ∆a* and ∆b*values indicating the pulp layer going through darkening to reach mango leather properties.

Holt-Oram Syndrome in Adult Presenting with Heart Failure: A Rare Presentation

Holt-Oram syndrome is a rare inherited disorder involving the hands, arms, and the heart. The defects involve carpal bones of the wrist and the thumb and the associated cardiac anomalies like atrial or ventricular septal defects. Congenital cardiac and upper-limb malformations frequently occur together and are classified as heart-hand syndromes. The most common amongst the heart-hand disorders is the Holt-Oram syndrome, which is characterized by septal defects of the heart and preaxial radial ray abnormalities. Its incidence is one in 100,000 live births. Approximately three out of four patients have some cardiac abnormality with common associations being either an atrial septal defect or ventricular septal defect. Herein, we report a rare sporadic case of Holt-Oram syndrome with atrial septal defect with symptoms of heart failure in a forty-five-year-old lady who underwent emergency cardiac surgery for the symptoms