Intelligent Control and Path Planning of Multiple Mobile Robots Using Hybrid Ai Techniques

This work reports the problem of intelligent control and path planning of multiple mobile robots. Soft computing methods, based on three main approaches i.e. 1) Bacterial Foraging Optimization Algorithm, 2) Radial Basis Function Network and 3) Bees Algorithm are presented. Initially, Bacterial foraging Optimization Algorithm (BFOA) with constant step size is analyzed for the navigation of mobile robots. Then the step size has been made adaptive to develop an Adaptive Bacterial Foraging Optimization (ABFO) controller. Further, another controller using radial basis function neural network has been developed for the mobile robot navigation. Number of training patterns are intended to train the RBFN controller for different conditions arises during the navigation. Moreover, Bees Algorithm has been used for the path planning of the mobile robots in unknown environments. A new fitness function has been used to perform the essential navigational tasks effectively and efficiently. In addition to the selected standalone approaches, hybrid models are also proposed to improve the ability of independent navigation. Five hybrid models have been presented and analyzed for navigation of one, two and four mobile robots in various scenarios. Comparisons have been made for the distance travelled and time taken by the robots in simulation and real time. Further, all the proposed approaches are found capable of solving the basic issues of path planning for mobile robots while doing navigation. The controllers have been designed, developed and analyzed for various situations analogous to possible applications of the robots in indoor environments. Computer simulations are presented for all cases with single and multiple mobile robots in different environments to show the effectiveness of the proposed controllers. Furthermore, various exercises have been performed, analyzed and compared in physical environments to exhibit the effectiveness of the developed controllers

Mechanical Characterization and Solid Particle Erosion Response of Particulate Filled Jute-Epoxy Composites

Fiber reinforced polymer composites are now considered as an important class of engineering materials. This thesis depicts the processing and mechanical characterization of a new class of multi-phase composites consisting of epoxy resin reinforced with jute fiber and filled with silicon carbide (SiC) particulates. The SiC used as filler material in this work has been prepared from rice husk through plasma processing technique. The effect of filler in modifying the physical and mechanical properties of jute-epoxy composites has been studied. Rice husk is considered as an agricultural waste and it is thus interesting to explore the utilization potential of SiC derived from rice husk in composite making. Moreover, being cheap, inexhaustible and easily available, it would hopefully provide a cost effective solution to composite manufacturers. With the increased use of these materials in erosive work environments, it has become extremely important to investigate their erosion characteristics intensively. In view of this, erosion trials are carried out at various test conditions. For this, an air jet type erosion test rig and Taguchi’s orthogonal arrays are used. Significant control factors influencing the erosion wear rate are identified. This thesis also presents the development of a theoretical model for estimating erosion damage caused by solid particle impact on the composites. The model is based upon conservation of particle kinetic energy and relates the erosion rate with some of the material properties and test conditions. The theoretical results are compared and are found to be in good agreement with the experimental values. The research reported in this thesis reveals that successful fabrication of multi-component hybrid jute-epoxy composites with reinforcement of SiC derived from rice husk by plasma processing route is possible. Incorporation of these SiC fillers modifies the micro-hardness, density, tensile, flexural and inter-laminar shear strengths of the composites. Hence, while fabricating a composite of specific requirements, there is a need for the choice of appropriate filler material and for optimizing its content in the composite system. It is demonstrated that if supported by an appropriate magnitude of erosion efficiency, the proposed theoretical model can perform well for epoxy based hybrid composites for normal as well as oblique impacts. The presence of particulate fillers in these composites improves their erosion wear resistance and this improvement depends on the weight content of the filler. Erosion characteristics of these composites have been successfully analyzed using Taguchi experimental design. Significant control factors affecting the erosion rate have been identified through successful implementation of this technique. Impact velocity, fiber/filler content and impingement angle in declining sequence are found to be significant for minimizing the erosion rate of all the composites. Erodent size is identified as the least influencing control factor for erosion rate

Demonstrating the asymmetry of the Indian Ocean Dipole response in regional earth system model of CORDEX-SA

An accurate representation of the Indian Ocean Dipole (IOD) is crucial for the reliable projection of Indian summer monsoon rainfall, making it necessary to improve the understanding of the response of the IOD in the warming climate. For the first time, a high-resolution regional earth system model (RESM) over the CORDEX-SA domain is used to investigate the IOD characteristics. The model performance is evaluated in simulating the IOD and associated mechanism. RESM shows a good resemblance in simulating IOD phases (positive and negative). However, the systematic discrepancy is observed in magnitude. Additionally, RESM well represented the positive IOD's inter-event variability. For example, the stronger event dominated by significant cold anomalies over Sumatra with enhanced westward-extended while a moderate event shows weak cooling confined to the region of Sumatra. Additionally, RESM shows potential to distinguish the ENSO and non-ENSO years with more remarkable skill in representing the spatial pattern of SST over IOD region during non-ESNO years than ENSO years. The RESM realistically simulated the IOD amplitude with greater skill than CMIP5/6 models reported in the earlier studies, indicating reliability towards the projection of the Indian summer monsoon. The weaker IOD-ENSO relationship is caused by producing the more significant number of IOD during non-ENSO years. Despite this reliable fidelity, IOD's slightly earlier peak is driven by the early establishment of low-level equatorial easterly wind. This study provided valuable insight into the IOD's different phases, responsible forcings, and limitations of the RESM in accounting for the role of internal climate variability that can be useful for further improvement in the model physics

Not Available

Not AvailableMaize is a versatile cereal crop having the highest genetic potential, production, and productivity. In the past few decades, plant tissue culture and transformation approaches have played an important role in maize improvement via introducing beneficial transgene(s) or modulating the expression of the endogenous gene(s), etc. However, the capability of in vitro regeneration in maize is highly influenced by genotypes, type of explants, media compositions among others. Some genotypes are more amenable to tissue culture producing embryogenic calli, while others are recalcitrant to tissue culture. Genotypic differences in morphogenesis and organogenesis are generally reported that might be possible due to differences in endogenous hormone levels. The in vitro regeneration potential in maize is usually decreased during the channelized path of tissue maturation, therefore embryogenic callus is mostly achieved from immature zygotic embryos. The present article aimed to provide the current state of the art in maize somatic embryogenesis. Further, the article describes the procedure for maize whole plant regeneration from embryogenic callus.Not Availabl

Width dependence of the 0.5 × (2e2/h) conductance plateau in InAs quantum point contacts in presence of lateral spin-orbit coupling

The evolution of the 0.5Go (Go = 2e2/h) conductance plateau and the accompanying hysteresis loop in a series of asymmetrically biased InAs based quantum point contacts (QPCs) in the presence of lateral spin-orbit coupling (LSOC) is studied using a number of QPCs with varying lithographic channel width but fixed channel length. It is found that the size of the hysteresis loops is larger for QPCs of smaller aspect ratio (QPC channel width/length) and gradually disappears as their aspect ratio increases. The physical mechanisms responsible for a decrease in size of the hysteresis loops for QPCs with increasing aspect ratio are: (1) multimode transport in QPCs with larger channel width leading to spin-flip scattering events due to both remote impurities in the doping layer of the heterostructure and surface roughness and impurity (dangling bond) scattering on the sidewalls of the narrow portion of the QPC, and (2) an increase in carrier density resulting in a screening of the electron-electron interactions in the QPC channel. Both effects lead to a progressive disappearance of the net spin polarization in the QPC channel and an accompanying reduction in the size of the hysteresis loops as the lithographic width of the QPC channel increases

Disruption of APOL1-miR193a Axis Induces Disorganization of Podocyte Actin Cytoskeleton

Abstract APOL1-miR193a axis participates in the preservation of molecular phenotype of differentiated podocytes (DPDs). We examined the hypothesis that APOL1 (G0) preserves, but APOL1 risk alleles (G1 and G2) disrupt APOL1-miR193a axis in DPDs. DPDG0s displayed down-regulation of miR193a, but upregulation of nephrin expression. DPDG1s/G2s exhibited an increase in miR193a and down-regulation of the expression of adherens complex’s constituents (CD2AP, nephrin, and dendrin). DPDG0s showed decreased Cathepsin L, enhanced dynamin expressions, and the intact actin cytoskeleton. On the contrary, DPDG1s/G2s displayed an increase in Cathepsin L, but down-regulation of dynamin expressions and disorganization of the actin cytoskeleton. APOL1 silencing enhanced miR193a and Cathepsin L, but down-regulated dynamin expressions. DPDG1s/G2s displayed nuclear import of dendrin, indicating an occurrence of destabilization of adherens complexes in APOL1 risk milieu. These findings suggest that DPDG1s and DPDG2s developed disorganized actin cytoskeleton as a consequence of disrupted APOL1-miR193a axis. Interestingly, docking and co-labeling studies suggested an interaction between APOL1 and CD2AP. APOL1 G1/G1 and APOL1 G1/G2 transgenic mice displayed nuclear import of dendrin indicating destabilization of adherens complexes in podocytes; moreover, these mice showed a four-fold increase in urinary albumin to creatinine ratio and development of focal segmental glomerular lesions

Developing Standard Treatment Workflows—way to universal healthcare in India

Primary healthcare caters to nearly 70% of the population in India and provides treatment for approximately 80–90% of common conditions. To achieve universal health coverage (UHC), the Indian healthcare system is gearing up by initiating several schemes such as National Health Protection Scheme, Ayushman Bharat, Nutrition Supplementation Schemes, and Inderdhanush Schemes. The healthcare delivery system is facing challenges such as irrational use of medicines, over- and under-diagnosis, high out-of-pocket expenditure, lack of targeted attention to preventive and promotive health services, and poor referral mechanisms. Healthcare providers are unable to keep pace with the volume of growing new scientific evidence and rising healthcare costs as the literature is not published at the same pace. In addition, there is a lack of common standard treatment guidelines, workflows, and reference manuals from the Government of India. Indian Council of Medical Research in collaboration with the National Health Authority, Govt. of India, and the WHO India country office has developed Standard Treatment Workflows (STWs) with the objective to be utilized at various levels of healthcare starting from primary to tertiary level care. A systematic approach was adopted to formulate the STWs. An advisory committee was constituted for planning and oversight of the process. Specialty experts' group for each specialty comprised of clinicians working at government and private medical colleges and hospitals. The expert groups prioritized the topics through extensive literature searches and meeting with different stakeholders. Then, the contents of each STW were finalized in the form of single-pager infographics. These STWs were further reviewed by an editorial committee before publication. Presently, 125 STWs pertaining to 23 specialties have been developed. It needs to be ensured that STWs are implemented effectively at all levels and ensure quality healthcare at an affordable cost as part of UHC

Subnational mapping of HIV incidence and mortality among individuals aged 15–49 years in sub-Saharan Africa, 2000–18 : a modelling study

Background: High-resolution estimates of HIV burden across space and time provide an important tool for tracking and monitoring the progress of prevention and control efforts and assist with improving the precision and efficiency of targeting efforts. We aimed to assess HIV incidence and HIV mortality for all second-level administrative units across sub-Saharan Africa. Methods: In this modelling study, we developed a framework that used the geographically specific HIV prevalence data collected in seroprevalence surveys and antenatal care clinics to train a model that estimates HIV incidence and mortality among individuals aged 15–49 years. We used a model-based geostatistical framework to estimate HIV prevalence at the second administrative level in 44 countries in sub-Saharan Africa for 2000–18 and sought data on the number of individuals on antiretroviral therapy (ART) by second-level administrative unit. We then modified the Estimation and Projection Package (EPP) to use these HIV prevalence and treatment estimates to estimate HIV incidence and mortality by second-level administrative unit. Findings: The estimates suggest substantial variation in HIV incidence and mortality rates both between and within countries in sub-Saharan Africa, with 15 countries having a ten-times or greater difference in estimated HIV incidence between the second-level administrative units with the lowest and highest estimated incidence levels. Across all 44 countries in 2018, HIV incidence ranged from 2 ·8 (95% uncertainty interval 2·1–3·8) in Mauritania to 1585·9 (1369·4–1824·8) cases per 100 000 people in Lesotho and HIV mortality ranged from 0·8 (0·7–0·9) in Mauritania to 676· 5 (513· 6–888·0) deaths per 100 000 people in Lesotho. Variation in both incidence and mortality was substantially greater at the subnational level than at the national level and the highest estimated rates were accordingly higher. Among second-level administrative units, Guijá District, Gaza Province, Mozambique, had the highest estimated HIV incidence (4661·7 [2544·8–8120·3]) cases per 100000 people in 2018 and Inhassunge District, Zambezia Province, Mozambique, had the highest estimated HIV mortality rate (1163·0 [679·0–1866·8]) deaths per 100 000 people. Further, the rate of reduction in HIV incidence and mortality from 2000 to 2018, as well as the ratio of new infections to the number of people living with HIV was highly variable. Although most second-level administrative units had declines in the number of new cases (3316 [81· 1%] of 4087 units) and number of deaths (3325 [81·4%]), nearly all appeared well short of the targeted 75% reduction in new cases and deaths between 2010 and 2020. Interpretation: Our estimates suggest that most second-level administrative units in sub-Saharan Africa are falling short of the targeted 75% reduction in new cases and deaths by 2020, which is further compounded by substantial within-country variability. These estimates will help decision makers and programme implementers expand access to ART and better target health resources to higher burden subnational areas

Global, regional, and national burden of stroke and its risk factors, 1990–2019: a systematic analysis for the Global Burden of Disease Study 2019

Background Regularly updated data on stroke and its pathological types, including data on their incidence, prevalence, mortality, disability, risk factors, and epidemiological trends, are important for evidence-based stroke care planning and resource allocation. The Global Burden of Diseases, Injuries, and Risk Factors Study (GBD) aims to provide a standardised and comprehensive measurement of these metrics at global, regional, and national levels. Methods We applied GBD 2019 analytical tools to calculate stroke incidence, prevalence, mortality, disability-adjusted life-years (DALYs), and the population attributable fraction (PAF) of DALYs (with corresponding 95% uncertainty intervals [UIs]) associated with 19 risk factors, for 204 countries and territories from 1990 to 2019. These estimates were provided for ischaemic stroke, intracerebral haemorrhage, subarachnoid haemorrhage, and all strokes combined, and stratified by sex, age group, and World Bank country income level. Findings In 2019, there were 12·2 million (95% UI 11·0–13·6) incident cases of stroke, 101 million (93·2–111) prevalent cases of stroke, 143 million (133–153) DALYs due to stroke, and 6·55 million (6·00–7·02) deaths from stroke. Globally, stroke remained the second-leading cause of death (11·6% [10·8–12·2] of total deaths) and the third-leading cause of death and disability combined (5·7% [5·1–6·2] of total DALYs) in 2019. From 1990 to 2019, the absolute number of incident strokes increased by 70·0% (67·0–73·0), prevalent strokes increased by 85·0% (83·0–88·0), deaths from stroke increased by 43·0% (31·0–55·0), and DALYs due to stroke increased by 32·0% (22·0–42·0). During the same period, age-standardised rates of stroke incidence decreased by 17·0% (15·0–18·0), mortality decreased by 36·0% (31·0–42·0), prevalence decreased by 6·0% (5·0–7·0), and DALYs decreased by 36·0% (31·0–42·0). However, among people younger than 70 years, prevalence rates increased by 22·0% (21·0–24·0) and incidence rates increased by 15·0% (12·0–18·0). In 2019, the age-standardised stroke-related mortality rate was 3·6 (3·5–3·8) times higher in the World Bank low-income group than in the World Bank high-income group, and the age-standardised stroke-related DALY rate was 3·7 (3·5–3·9) times higher in the low-income group than the high-income group. Ischaemic stroke constituted 62·4% of all incident strokes in 2019 (7·63 million [6·57–8·96]), while intracerebral haemorrhage constituted 27·9% (3·41 million [2·97–3·91]) and subarachnoid haemorrhage constituted 9·7% (1·18 million [1·01–1·39]). In 2019, the five leading risk factors for stroke were high systolic blood pressure (contributing to 79·6 million [67·7–90·8] DALYs or 55·5% [48·2–62·0] of total stroke DALYs), high body-mass index (34·9 million [22·3–48·6] DALYs or 24·3% [15·7–33·2]), high fasting plasma glucose (28·9 million [19·8–41·5] DALYs or 20·2% [13·8–29·1]), ambient particulate matter pollution (28·7 million [23·4–33·4] DALYs or 20·1% [16·6–23·0]), and smoking (25·3 million [22·6–28·2] DALYs or 17·6% [16·4–19·0]). Interpretation The annual number of strokes and deaths due to stroke increased substantially from 1990 to 2019, despite substantial reductions in age-standardised rates, particularly among people older than 70 years. The highest age-standardised stroke-related mortality and DALY rates were in the World Bank low-income group. The fastest-growing risk factor for stroke between 1990 and 2019 was high body-mass index. Without urgent implementation of effective primary prevention strategies, the stroke burden will probably continue to grow across the world, particularly in low-income countries.publishedVersio

The global burden of adolescent and young adult cancer in 2019 : a systematic analysis for the Global Burden of Disease Study 2019

Background In estimating the global burden of cancer, adolescents and young adults with cancer are often overlooked, despite being a distinct subgroup with unique epidemiology, clinical care needs, and societal impact. Comprehensive estimates of the global cancer burden in adolescents and young adults (aged 15-39 years) are lacking. To address this gap, we analysed results from the Global Burden of Diseases, Injuries, and Risk Factors Study (GBD) 2019, with a focus on the outcome of disability-adjusted life-years (DALYs), to inform global cancer control measures in adolescents and young adults. Methods Using the GBD 2019 methodology, international mortality data were collected from vital registration systems, verbal autopsies, and population-based cancer registry inputs modelled with mortality-to-incidence ratios (MIRs). Incidence was computed with mortality estimates and corresponding MIRs. Prevalence estimates were calculated using modelled survival and multiplied by disability weights to obtain years lived with disability (YLDs). Years of life lost (YLLs) were calculated as age-specific cancer deaths multiplied by the standard life expectancy at the age of death. The main outcome was DALYs (the sum of YLLs and YLDs). Estimates were presented globally and by Socio-demographic Index (SDI) quintiles (countries ranked and divided into five equal SDI groups), and all estimates were presented with corresponding 95% uncertainty intervals (UIs). For this analysis, we used the age range of 15-39 years to define adolescents and young adults. Findings There were 1.19 million (95% UI 1.11-1.28) incident cancer cases and 396 000 (370 000-425 000) deaths due to cancer among people aged 15-39 years worldwide in 2019. The highest age-standardised incidence rates occurred in high SDI (59.6 [54.5-65.7] per 100 000 person-years) and high-middle SDI countries (53.2 [48.8-57.9] per 100 000 person-years), while the highest age-standardised mortality rates were in low-middle SDI (14.2 [12.9-15.6] per 100 000 person-years) and middle SDI (13.6 [12.6-14.8] per 100 000 person-years) countries. In 2019, adolescent and young adult cancers contributed 23.5 million (21.9-25.2) DALYs to the global burden of disease, of which 2.7% (1.9-3.6) came from YLDs and 97.3% (96.4-98.1) from YLLs. Cancer was the fourth leading cause of death and tenth leading cause of DALYs in adolescents and young adults globally. Interpretation Adolescent and young adult cancers contributed substantially to the overall adolescent and young adult disease burden globally in 2019. These results provide new insights into the distribution and magnitude of the adolescent and young adult cancer burden around the world. With notable differences observed across SDI settings, these estimates can inform global and country-level cancer control efforts. Copyright (C) 2021 The Author(s). Published by Elsevier Ltd.Peer reviewe