Coverage Path Planning And Control For Autonomous Mobile Robots

Coverage control has many applications such as security patrolling, land mine detectors, and automatic vacuum cleaners. This Thesis presents an analytical approach for generation of control inputs for a non-holonomic mobile robot in coverage control. Neural Network approach is used for complete coverage of a given area in the presence of stationary and dynamic obstacles. A complete coverage algorithm is used to determine the sequence of points. Once the sequences of points are determined a smooth trajectory characterized by fifth order polynomial having second order continuity is generated. And the slope of the curve at each point is calculated from which the control inputs are generated analytically. Optimal trajectory is generated using a method given in research literature and a qualitative analysis of the smooth trajectory is done. Cooperative sweeping of multirobots is achieved by dividing the area to be covered into smaller areas depending on the number of robots. Once the area is divided into sub areas, each robot is assigned a sub area for cooperative sweeping

2,5-Dimethyl-1-phenyl­sulfonyl-1H-pyrrole-3,4-dicarbaldehyde

In the title compound, C14H13NO4S, the mean planes of the pyrrole and phenyl rings form a dihedral angle of 88.7 (1)°. The aldehyde groups are slightly twisted from the pyrrole plane. In the crystal structure, mol­ecules are linked into a three-dimensional framework by C—H⋯O hydrogen bonds

Ethyl 2-[N-(2-Formyl­phen­yl)benzene­sulfonamido]acetate

In the title compound, C17H17NO5S, the N atom is sp 3-hybridized and the S atom has a distorted tetra­hedral configuration. The dihedral angle between the two aromatic rings is 30.0 (1)°, and that between the ethyl acetate group and the formyl­phenyl ring is 77.4 (1)°. The mol­ecules are linked into chains along [100] by C—H⋯O hydrogen bonds and the chains are linked via C—H⋯π inter­actions

Establishment of reference CD4+ T cell values for adult Indian population

<p>Abstract</p> <p>Background</p> <p>CD4+ T lymphocyte counts are the most important indicator of disease progression and success of antiretroviral treatment in HIV infection in resource limited settings. The nationwide reference range of CD4+ T lymphocytes was not available in India. This study was conducted to determine reference values of absolute CD4+ T cell counts and percentages for adult Indian population.</p> <p>Methods</p> <p>A multicentric study was conducted involving eight sites across the country. A total of 1206 (approximately 150 per/centre) healthy participants were enrolled in the study. The ratio of male (N = 645) to female (N = 561) of 1.14:1. The healthy status of the participants was assessed by a pre-decided questionnaire. At all centers the CD4+ T cell count, percentages and absolute CD3+ T cell count and percentages were estimated using a single platform strategy and lyse no wash technique. The data was analyzed using the Statistical Package for the Social Scientist (SPSS), version 15) and Prism software version 5.</p> <p>Results</p> <p>The absolute CD4+ T cell counts and percentages in female participants were significantly higher than the values obtained in male participants indicating the true difference in the CD4+ T cell subsets. The reference range for absolute CD4 count for Indian male population was 381-1565 cells/μL and for female population was 447-1846 cells/μL. The reference range for CD4% was 25-49% for male and 27-54% for female population. The reference values for CD3 counts were 776-2785 cells/μL for Indian male population and 826-2997 cells/μL for female population.</p> <p>Conclusion</p> <p>The study used stringent procedures for controlling the technical variation in the CD4 counts across the sites and thus could establish the robust national reference ranges for CD4 counts and percentages. These ranges will be helpful in staging the disease progression and monitoring antiretroviral therapy in HIV infection in India.</p

Dimethyl 1-(4-methylphenyl)-8-(thiophen-2-yl)-11-oxatricyclo[6.2.1.02,7]undeca-2,4,6,9-tetraene-9,10-dicarboxylate

The title compound, C25H20O5S, is the product of a Diels&#8211;Alder reaction. The molecule consists of a fused tricyclic system containing two five-membered rings and one six-membered ring. The five-membered rings both show an envelope conformation with the O atom at the flap, whereas the six-membered ring adopts a boat conformation. The thiophene ring is disordered over two sets of sites with an occupancy ratio of 0.53&#8197;(1):0.47&#8197;(1). The dihedral angles between the 4-methylphenyl ring and the major and minor components of the thiophene ring are 66.3&#8197;(1) and 67.9&#8197;(1)&#176;, respectively, while the dihedral angle between the disordered thiophenyl components is 3.1&#8197;(1)&#176;. The mean plane of the tricyclic ring system makes dihedral angles of 35.8&#8197;(1), 30.8&#8197;(1) and 32.8&#8197;(1)&#176;, respectively, with the 4-methylphenyl ring and the major and minor components of the thiophenyl ring. In the crystal, inversion dimers are formed through pairs of C&#8212;H...&#960; interactions. In addition, C&#8212;H...O interactions are observed

Diethyl 1,8-bis(4-methylphenyl)-11-oxatricyclo[6.2.1.02,7]undeca-2,4,6-triene-9,10-dicarboxylate

The title compound, C30H30O5, is the Diels&#8211;Alder adduct from 1,3-diphenylbenzo[c]furan and diethyl maleate. The molecule comprises a fused tricyclic system containing two five-membered rings, which are in envelope conformations with the O atom at the flap, and a six-membered ring adopting a boat conformation. The dihedral angle between the 4-methylphenyl substituents in the 1- and 8-positions is 62.1&#8197;(1)&#176;. The ethyl group of one ester group and the ethoxy group of the other ester group are disordered over two sets of sites, with occupancy ratios of 0.43&#8197;(2):0.57&#8197;(2) and 0.804&#8197;(7):0.196&#8197;(7), respectively. In the crystal, inversion dimers are formed through pairs of C&#8212;H...O interactions

Dimethyl 1,8-bis(4-methylphenyl)-11-oxatricyclo[6.2.1.02,7]undeca-2,4,6,9-tetraene-9,10-dicarboxylate

The title compound, C28H24O5, consists of a fused tricyclic system containing two five-membered rings and one six-membered ring. The five-membered rings both exhibit an envelope conformation with the O atom at the flap, whereas the six-membered ring adopts a boat conformation. The dihedral angle between the 4-methylphenyl rings at the 1,8-positions is 76.4&#8197;(1)&#176;. In the crystal, molecules are stacked in columns along the a axis through C&#8212;H...O interactions

Diethyl 1,8-diphenyl-11-oxatricyclo[6.2.1.02,7]undeca-2,4,6-triene-9,10-dicarboxylate

The title compound, C28H26O5, is the Diels&#8211;Alder adduct from 1,3-diphenylbenzo[c]furan and diethyl maleate. The molecule comprises of a fused tricyclic system containing two five-membered rings, which are in envelope conformations with the O atom at the flap, and a six-membered ring adopting a boat conformation. The dihedral angle between phenyl substituents in the 1,8-positions is 55.1&#8197;(1)&#176;. The ethyl groups are disordered over two sets of sites, with occupancy ratios of 0.648&#8197;(9):0.352&#8197;(9) and 0.816&#8197;(1):0.184&#8197;(1). In the crystal, pairs of C&#8212;H...&#960; interactions link the molecules into inversion dimers