Improved Modified Chaotic Invasive Weed Optimization Approach to Solve Multi-Target Assignment for Humanoid Robot

The paper presents an improved modified chaotic invasive weed optimization (IMCIWO) approach for solving a multi-target assignment for humanoid robot navigation. MCIWO is improved by utilizing the Bezier curve for smoothing the path and replaces the conventional split lines. In order to efficiently determine subsequent locations of the robot from the present location on the provided terrain, such that the routes to be specifically generated for the robot are relatively small, with the shortest distance from the barriers that have been generated using the IMCIWO approach. The MCIWO approach designed the path based on obstacles and targets position which is further smoothened by the Bezier curve. Simulations are performed which is further validated by real-time experiments in WEBOT and NAO robot respectively. They show good effectiveness with each other with a deviation of under 5%. Ultimately, the superiority of the developed approach is examined with existing techniques for navigation, and findings are substantially improved

Monocrotophos Induced Apoptosis in PC12 Cells: Role of Xenobiotic Metabolizing Cytochrome P450s

Monocrotophos (MCP) is a widely used organophosphate (OP) pesticide. We studied apoptotic changes and their correlation with expression of selected cytochrome P450s (CYPs) in PC12 cells exposed to MCP. A significant induction in reactive oxygen species (ROS) and decrease in glutathione (GSH) levels were observed in cells exposed to MCP. Following the exposure of PC12 cells to MCP (10−5 M), the levels of protein and mRNA expressions of caspase-3/9, Bax, Bcl2, P53, P21, GSTP1-1 were significantly upregulated, whereas the levels of Bclw, Mcl1 were downregulated. A significant induction in the expression of CYP1A1/1A2, 2B1/2B2, 2E1 was also observed in PC12 cells exposed to MCP (10−5 M), whereas induction of CYPs was insignificant in cells exposed to 10−6 M concentration of MCP. We believe that this is the first report showing altered expressions of selected CYPs in MCP-induced apoptosis in PC12 cells. These apoptotic changes were mitochondria mediated and regulated by caspase cascade. Our data confirm the involvement of specific CYPs in MCP-induced apoptosis in PC12 cells and also identifies possible cellular and molecular mechanisms of organophosphate pesticide-induced apoptosis in neuronal cells

Terrain Exploration, Stability Control and Trajectory Planning of Humanoid Robots employing Several Navigational Strategies

Research investigation on the navigation of humanoid robots is a prevalent aspect in robotics nowadays because scientists develop robots to function together with maximum cooperation in their workspaces. The robot’s potential to maintain stability while standing, moving in the environment, evading barriers, stepping over a barrier is essential to protect itself and the operator from percussion. This research aims to address a portion of the trajectory mapping challenges for achieving steady movement. To address the challenges, the present research work is focused on the concept, formulation and application of several state-of-the-art algorithms for smooth, percussion-free and efficient locomotion of humanoid robots in various terrains. Humanoid NAO is preferred as a robotic platform for evaluating the designed trajectory mapping algorithms. The kinematic analysis of humanoid NAO is carried out using the DH (Denavit-Hartenberg) parameter strategy to better understand mobility limitation criteria. The dynamic analysis of humanoid NAO is performed by employing Whole-Body Control aided Simulated Annealing approach to integrate human-like intellect into designing and represent it accurately. Here, Particle Swarm Optimization (PSO) tuned Proportional-Integral-Derivative controller (PID), Dynamic Window Approach (DWA) and Teaching-Learning-Based Optimization (TLBO) Approach and Multi-Objective Sunflower Optimization (MOSFO) tuned Modified Multiple Adaptive Neuro-Fuzzy Inference System controller (MANFIS) are outlined for trajectory mapping of single and multiple humanoid NAOs in terrains with several challenges. The navigation of humanoid NAO on unstructured terrains is controlled using a novel 3D-Multilinked Dual Spring-Loaded Inverted Pendulum integrated with BFGS Quasi-Newton tuned Artificial Potential Field (APF) controller. For multiple humanoid NAOs navigation, dining philosopher controller are designed and integrated into the base strategies. The established trajectory mapping strategies are evaluated on simulated humanoid NAO in WEBOT and accredited in actual humanoid NAO under real-time scenarios. Their results are compared, and the margin of error is obtained under the 6%. The formulated strategies are also compared with various conventional trajectory mapping algorithms that display considerable performance enhancements between 5% to 13%. Ultimately, the applicability of present research investigations is discussed, along with prospective expansion prospects

Book review : 'Impoliteness in Language : Studies on its Interplay with Power in Theory and Practice'

Book review of Derek Bousfield and Miriam A. Locher (eds), 'Impoliteness in Language: Studies on its Interplay with Power in Theory and Practice', Berlin: Mouton de Gruyter, 2008.3 page(s

Missed posterior shoulder dislocation with malunited proximal humerus fracture

【Abstract】Posterior dislocation of the shoulder may be missed or neglected at initial presentation especially in developing countries. We present a case of 40-year-old In- dian man who had 3-month missed posterior dislocation of the right shoulder along with malunited fracture of the ana- tomical neck of the humerus. Open reduction and stabiliza- tion with modified McLaughlin procedure was performed. Rotational osteotomy of proximal humerus had to be per- formed as supplementary procedure to keep the humeral head stable in glenoid cavity during functional range of movements. The patient had excellent result of the shoulder at 3 years follow-up. Key words: Shoulder dislocation; Humerus; Osteotom

Acromioclavicular joint septic arthritis in an immunocompetent child: A case report

Septic arthritis of acromioclavicular (AC) joint is a rare entity. It is generally seen in patients who are immunocompromised. Only 15 cases have been reported till now, with only one case series of 6 patients. We report a case of septic arthritis of AC joint in an immunocompetent child. A 9 years old girl presented with history of pain in left shoulder for 4 days associated with fever. No history suggestive of any immunocompromised state was complained. On local examination, a swelling of around 3 cm in diameter was found over left AC joint region with raised local temperature, tenderness on palpation and positive response in fluctuation test. Total leukocyte count was 18.7 × 109/L with 80% of neutrophils. Erythrocyte sedimentation rate (ESR) was 28 mm/1 h. C-reactive protein (CRP) was 12 mg/L. X-ray showed enlarged left AC joint space. Ultrasound revealed hypoechoic collection in the AC joint and the surrounding area. The aspirate was thick and purulent in nature, revealing Gram positive cocci at staining. Arthrotomy and thorough lavage of AC joint was done. Culture of the aspirate showed Methicillin Resistant Staphylococcus Aureus (MRSA) after 48 hours that was sensitive to amikacin, gentamicin, erythromycin and teicoplanin. Patient was symptom-free at 2 months of follow-up with no signs of osteomyelitis on the radiographs. Thus this is the first case of AC joint septic arthritis in healthy individual. Being proximal to the shoulder joint, AC joint septic arthritis can be confused with the shoulder joint septic arthritis. Thus, high index of suspicion is required for accurate diagnosis. Keywords: Joint, Septic arthritis, Infection, Leukocytes count, Erythrocyte sedimentation ratio, Methicillin Resistant Staphylococcus Aureu