A Robot Operating System (ROS) based humanoid robot control

This thesis presents adapting techniques required to enhance the capability of a commercially available robot, namely, Robotis Bioloid Premium Humanoid Robot (BPHR). BeagleBone Black (BBB), the decision-making and implementing (intelligence providing) component, with multifunctional capabilities is used in this research. Robot operating System (ROS) and its libraries, as well as Python Script and its libraries have been developed and incorporated into the BBB. This fortified BBB intelligence providing component is then transplanted into the structure of the Robotis Bioloid humanoid robot, after removing the latter’s original decision-making and implementing component (controller). Thus, this study revitalizes the Bioloid humanoid robot by converting it into a humanoid robot with multiple features that can be inherited using ROS. This is a first of its kind approach wherein ROS is used as the development framework in conjunction with the main BBB controller and the software impregnated with Python libraries is used to integrate robotic functions. A full ROS computation is developed and a high level Application Programming Interface (API) usable by software utilizing ROS services is also developed. In this revised two-legged-humanoid robot, USB2Dynamixel connector is used to operate the Dynamixel AX-12A actuators through the Wi-Fi interface of the fortified BBB. An accelerometer sensor supports balancing of the robot, and updates data to the BBB periodically. An Infrared (IR) sensor is used to detect obstacles. This dynamic model is used to actuate the motors mounted on the robot leg thereby resulting in a swing-stance period of the legs for a stable forward movement of the robot. The maximum walking speed of the robot is 0.5 feet/second, beyond this limit the robot becomes unstable. The angle at which the robot leans is governed by the feedback from the accelerometer sensor, which is 20 degrees. If the robot tilts beyond a specific degree, then it would come back to its standstill position and stop further movement. When the robot moves forward, the IR sensors sense obstacles in front of the robot. If an obstacle is detected within 35 cm, then the robot stops moving further. Implementation of ROS on top of the BBB (by replacing CM530 controller with the BBB) and using feedback controls from the accelerometer and IR sensor to control the two-legged robotic movement are the novelties of this work

NEUROPROTECTIVE EFFECT OF ANACARDIUM OCCIDENTALE (CASHEW APPLE FRUIT) AGAINST ALUMINUM TOXICITY: AN EXPERIMENTAL STUDY ON COGNITIVE DYSFUNCTION AND BIOCHEMICAL ALTERATIONS IN RATS

ABSTRACTObjective: To study the protective role of fruit extract of Anacardium occidentale (cashew apple) in aluminum-induced cognitive dysfunction andoxidative damage in albino rat, and to explore the neuroprotective effect of A. occidentale represented by behavior and memory tests.Methods: Male Wistar rats (30) were divided into 5 groups of 6 rats each. Group I received normal saline. Group II was administered orally withaluminum chloride (100 mg/kg). Group III received rivastigmine 0.3 mg/kg body orally. Groups IV and V were administered with A. occidentale200 and 400 mg/kg along with aluminum chloride of 100 mg/kg orally after 1 hr interval. The study was carried out for 42 days (6 weeks). Thebehavioral assessment was performed using Rota-rod apparatus and Elevated plus maze and Biochemical parameters from brain homogenate such asacetylcholinesterase activity, total protein, lipid peroxidation malondialdehyde, superoxide dismutase (SOD), catalase, and glutathione reductase (GR)were estimated. All the data were analyzed using one-way analysis of variance followed by Tukey's multiple comparison test.Results: The % reduction of acetylcholinesterase, GR observed in A.O (400 mg/kg) dose as compared with that of standard drug was found to be87.5% and 89%, respectively, whereas % reduction of catalase and SOD observed in A.O (400 mg/kg) dose as compared with that of standard drugwas found to be 97% and 99%, respectively.Conclusion: This study demonstrates A. occidentale fruit has a neuroprotective effect against aluminum-induced behavioral changes.Keywords: Occidentale, Neuroprotective, Alzheimer's disease, Aluminum

Iso-array rewriting P systems with context-free iso-array rules

A new computing model called P system is a highly distributed and parallel theoretical model, which is proposed in the area of membrane computing. Ceterchi et al. initially proposed array rewriting P systems by extending the notion of string rewriting P systems to arrays (2003). A theoretical model for picture generation using context-free iso-array grammar rules and puzzle iso-array grammar rules are introduced by Kalyani et al. (2004, 2006). Also iso-array rewriting P systems for iso-picture languages have been studied by Annadurai et al. (2008). In this paper we consider the context-free iso-array rules and context-free puzzle iso-array rules in iso-array rewriting P systems and examine the generative powers of these P systems

Using robot operating system (ROS) and single board computer to control bioloid robot motion

This paper presents a research study on the adaptation of a novel technique for placing a programmable component over the structural component of a Robotis Bioloid humanoid robot. Assimilating intelligence plays an important role in the field of robotics that enables a computer to model or replicate some of the intelligent behaviors of human beings but with minimal human intervention. As a part of this effort, this paper revises the Bioloid robot structure so as to be able to control the robotic movement via a single board computer Beaglebone Black (BBB) and Robot operating system (ROS). ROS as the development frame work in conjunction with the main BBB controller that integrates robotic functions is an important aspect of this research, and is a first of its kind approach. A full ROS computation has been developed by which an API that will be usable by high level software using ROS services has also been developed. The human like body structure of the Bioloid robot and BeagleBone Black running ROS along with the intellectual components are used to make the robot walk efficiently

A Comprehensive Study on Metaheuristic Techniques Using Genetic Approach

Most real-life optimization problems involve multiple objective functions. Finding  a  solution  that  satisfies  the  decision-maker  is  very  difficult  owing  to  conflict  between  the  objectives.  Furthermore,  the  solution  depends  on  the  decision-maker’s preference.  Metaheuristic solution methods have become common tools to solve these problems.  The  task  of  obtaining  solutions  that  take  account  of  a  decision-maker’s preference  is  at  the  forefront  of  current  research.  It  is  also  possible  to  have  multiple decision-makers with different preferences and with different  decision-making  powers. It may not be easy to express a preference using crisp numbers. In this study, the preferences of multiple decision-makers were simulated  and  a solution based on  a genetic  algorithm was  developed  to  solve  multi-objective  optimization  problems.  The  preferences  were collected  as  fuzzy  conditional  trade-offs  and  they  were  updated  while  running  the algorithm interactively with the decision-makers. The proposed method was tested using well-known benchmark problems.  The solutions were found to converge around the Pareto front of the problems

Data Security in Cloud for Medical Sciences using AES 512-bit Algorithm

Cloud computing is typically defined as a type of evaluation that relies on sharing computing resources to handle applications. There is a requirement to redesign the medical system to meet their better needs among the growing technologies .With the initiation of cloud computing the doctors can keep their information about the latest diseases, emergency cases and complex problems. However the privacy and security of data is extremely exigent. To guarantee privacy and security of data in cloud computing, we have proposed an effective approach for data security by the process of encrypting and decrypting the data through the concept of cryptography. In this paper the proposal is to prevent data access from cloud data storage centers by unauthorized access using AES-512 bit algorithm with key size and input block size of 512-bits that makes it more defiant to cryptanalysis. DOI: 10.17762/ijritcc2321-8169.16040

A case report on placental chorioangioma

Chorioangioma is the term used to describe an abnormal proliferation of vessels arising from chorionic tissue, which is most commonly observed in the third, and less frequently in the second trimester of pregnancy as a solitary nodule or, less commonly, as multiple nodules. We here report a case of placental chorioangioma which presented as a case of preterm labour. 21 year old primigravida presented to us at 26 weeks of gestation with history of PV leak and pain in abdomen. Ultrasound showed a single live foetus corresponding to 24-26 weeks of gestation with amniotic fluid index (AFI): 5 cm (oligohydramnios) there was evidence of 58×42 mm heterogeneously hypoechoic lesion noted over placenta likely s/o chorioangioma. Patient went into spontaneous preterm labour on day 5 and delivered vaginally. Placenta weighted 700 gm. A globular mass of size 6×7 cm was attached to foetal surface of placenta with a pedicle with confirmed the finding of ultrasonography. Placental chorioangioma is associated with high rates of perinatal complications. Most complications may appear early and delivery is problematic due to prematurity. Thus better prenatal investigations and regular follow up is required for early diagnosis and treatment

QUORUM SENSING ANALYSIS AND EFFECT OF BACTERIOCIN IN CONTROLLING THE BIOFILM FORMATION OF PSEUDOMONAS AERUGINOSA

Objective: Pseudomonas aeruginosa is the commonest causative agent of Hospital Acquired Infection (HAI). Resistance of Pseudomonas aeruginosa towards disinfectants and antibiotics is high when compared to other organisms. There are various reviews on antibacterial effect of herbal extracts and nanoparticles against Pseudomonas aeruginosa. Thus, this study aims to prove the effectiveness of bacteriocin against Pseudomonas aeruginosa, which may help in benefiting the health care center by replacing normal disinfectants. Methods: 100 strains of Pseudomonas aeruginosa were collected from different patients, with a study period of 6 mo. Ammonium sulfate precipitation method was used to extract bacteriocin and its efficiency was checked by paper disc diffusion assay. Biofilm formation assay and quorum sensing analysis was performed by Microtitre plate methods and Thin Layer Chromatography (TLC), respectively. Results: In this study, 91%of P. aeruginosa strains were strong, 8% were intermediate, and 1% were weak biofilm producers. From TLC analysis, 67% of the strains produced Acyl Homoserine Lactone molecules. Out of which, 49% has shown unknown analytes of Retardation factor (Rf) value greater than 1. The Rf values identified were 3 unsubstitutedC4 (5%), 3 unsubstituted C6 (4%), 3 oxo C8 (3%), 3 oxo C4 (3%), 3 oxo C6 (2%), 3 oxo C1 (1%). Biofilm production, before and after bacteriocin exposure, was proved significant by paired t-test. Conclusion: Quorum sensing was confirmed to play a major role in biofilm formation. As bacteriocin was found to be effective in controlling the biofilm formation, it can be incorporated in any disinfectant, which helps in controlling the transmission of infection caused by Pseudomonas aeruginosa

Osseous metaplasia of endometrium: a rare cause of secondary infertility

Osseous metaplasia of the endometrium is a rare condition with formation of bony tissue inside the uterus, particularly the endometrium. The etiology of this disorder is not completely understood, with various hypotheses being put forward to explain its occurrence. It is an important cause of secondary infertility, although it may present with various other gynecological symptoms. It can be suspected on ultrasonography due to its peculiar appearance and can be completely cured following hysteroscopic resection. Here we present a case of a 30 years old female presenting with hypomenorrhoea and secondary infertility following a first trimester abortion. Ultrasonography showed presence of dense linear echogenic band in the uterus suggestive of calcification. Hysteroscopy revealed multiple bony fragments of varying shapes and sizes (0.2-2cm) in the uterine cavity which were removed using a hysteroscopic grasper and the cavity was restored to normal. There were no procedure related complications. Presence of bony tissue was confirmed on histopathology. Patient had a spontaneous conception 3 months after the procedure and delivered a healthy male child at term. Thus, in our case, hysteroscopy was a safe and effective modality for diagnosis as well as treatment of this rare condition. Successful hysteroscopic treatment was followed by a spontaneous conception and a good pregnancy outcome