Control Framework for Hand-Arm Coordination

Co-ordination of multiple manipulators requires cooperation at several levels in the control hierarchy. A distributed processing environment with no hardware dependencies except at the motor servo level, would provide a flexible architecture for coordination. A system on these lines is being built to control an articulated hand and an arm. The four levels of control envisaged include a task decomposition level, a planning level, a scheduling level and a server level. The hand will carry both force and tactile sensors, feedback from these are used to provide adaptive control in grasping tasks. The processing of the sensory information is performed by independent processes, with analyzed information being sent to the relevant layer of the system. The manipulators are also controlled by individual processes. All process can open communications with an active process sending commands or data, or receiving them. We describe the scope of the system and the current setup plus future lines of development

Hands: Human to Robotic

Hands have for centuries been recognized as a fundamental tool for humans to gain an understanding of their environment and at the same time be able to manipulate it. In this presentation we will look at various studies made on the functionality and use of the human hand and examine the different approaches to analyzing and classifying human grasps and building a taxonomy of these grasps. We study the anatomy of the human hand, and examine experiments performed to understand the how gripping forces are applied when lifting objects, and the methods extraction of haptic information, by humans. We discuss issues involved in the building of electro-mechanical manipulators and some of the mathematics used in analyzing the suitability of a design. We look at one of the earliest designs of a computer controlled articulated gripper, as well as two of the most prevalent designs in today\u27s research world, the Stanford/JPL hand and the Utah/MIT had. Finally, we show why a more fundamental understanding of how human grasping works will help us design more useful manipulators

Comparing Classification and Regression Tree and Support Vector Machine for Analyzing Sentiments for IPL 2016

Social media is incredibly popular method for expressing opinions and interacting with other people in the online world. Twitter is one of the most frequent online social media and micro blogging services. It enables users to communicate with others and get updates on topics and events that interest them. Tweets can reflect public attitude when taken in aggregation, for example during events such as IPL 2016.Machine learning makes sentiment analysis more effective. In this paper, we examine the evaluation of machine learning algorithms (CART and SVM) in R to find the public opinions about event IPL 2016

Experimental study of low speed sensorless control of PMSM drive using high frequency signal injection

Conventional techniques for sensorless control of permanent magnet synchronous motor drive (PMSM), which requires information on rotor position, are reviewed, and recent developments in this area are introduced in this paper along with their inherent advantages and drawbacks. The paper presents an improved method for sensorless speed control of PMSM drive with emphasis placed on signal injection method. This signal injection method examines the control performance of sensorless PMSM drive by injecting signal externally and thereby sensing the rotor position. The main objective of this drive system is to have speed control at standstill and low speed regions. Several tests are carried out to demonstrate the ability of proposed models at different operating conditions with the help of simulation results in Matlab/Simulink environment. Simulation results confirm that the proposed sensorless control approach of PMSM can achieve high performance at standstill and low speeds but not at very high speeds. An experimental setup is implemented using a 1HP surface mounted (SM) PMSM and DsPICDEM^TM MCHV-2 development board, to check the validity of simulation result

Bempedoic Acid: The Latest in Lipid-lowering

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An Experimental and Theoretical Investigation into Burning Characteristics of PPS-Glass Fiber Composites

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/77086/1/AIAA-2002-2887-844.pd

Functionality of C-Reactive Protein for Atheroprotection

C-reactive protein (CRP) is a pentameric molecule made up of identical monomers. CRP can be seen in three different forms: native pentameric CRP (native CRP), non-native pentameric CRP (nonnative CRP), and monomeric CRP (mCRP). Both native and nonnative CRP execute ligand-recognition functions for host defense. The fate of any pentameric CRP after binding to a ligand is dissociation into ligand-bound mCRP. If ligand-bound mCRP is proinflammatory, like free mCRP has been shown to be in vitro, then mCRP along with the bound ligand must be cleared from the site of inflammation. Once pentameric CRP is bound to atherogenic low-density lipoprotein (LDL), it reduces both formation of foam cells and proinflammatory effects of atherogenic LDL. A CRP mutant, that is non-native CRP, which readily binds to atherogenic LDL, has been found to be atheroprotective in a murine model of atherosclerosis. Thus, unlike statins, a drug that can lower only cholesterol levels but not CRP levels should be developed. Since non-native CRP has been shown to bind to all kinds of malformed proteins in general, it is possible that non-native CRP would be protective against all inflammatory states in which host proteins become pathogenic. If it is proven through experimentation employing transgenic mice that non-native CRP is beneficial for the host, then using a small-molecule compound to target CRP with the goal of changing the conformation of endogenous native CRP would be preferred over using recombinant non-native CRP as a biologic to treat diseases caused by pathogenic proteins such as oxidized LDL

A Review on Software Architecture Optimization Methods

Due to the remarkable mechanical request for programming frameworks, the expansion of the uncertainty, the quality requirements and quality of testing, the programming engineering configuration has been transformed into essential progression movement and the examination site is developing rapidly. In the recent decades, programming engineering involves improved technologies, which means to organize a scan for design outline for an arrangement of value attributes, have multiplied. In any case, the results shown are divided into different research groups, many framework areas and different quality features. Coming about the inclusion of current research, we have played a well-structured writing survey and have broken the result of various check-sheets of different research groups. Considering this study, a scientific classification has been done which is used for current research. Apart from this, the effective investigation of the examination writing given in this audit is expected to help in exploration and merging the current research endeavors and inferring an examination plan for future advancements

A Review on Combined Techniques of Cryptography and Steganography using Color QR code

In the internet eras, where security is main concern and access to any service is quite easy, the issue of cyber security aimed at protecting customer data and thus this leads to creation of such a safe environment where user can be ensured of safety and security of all fields which aftereffect the usage of cryptography and steganography has increased. Cryptography encrypts a message so it cannot be understood while the Steganography hides the message inside a cover medium so that it?s concealed. In this paper we use color QR (Quick Response) Codes which are 2-dimensional bar codes that encode data or text strings and color QR code for increase QR code capacity. They are able to encode the information in both vertical and horizontal direction, thus able to encode more information, for secret communication we combine the concepts of Cryptography and Steganography and color QR codes. We use Cryptography side for encrypting the message by a color QR code encoder and thus creating a color QR code, whereas steganography hides the color QR code inside a cover image, after the encryption process, the color QR code image which has the original data is watermarked over a cover image using Spatial domain (LSB) and transform domain (DCT& DWT). In reverse, De-Watermarking extracts and decrypts the color QR coded data image from the Stego- image to recover the original image