Safe Human Robot-Interaction using Switched Model Reference Admittance Control

Physical Human-Robot Interaction (pHRI) task involves tight coupling between safety constraints and compliance with human intentions. In this paper, a novel switched model reference admittance controller is developed to maintain compliance with the external force while upholding safety constraints in the workspace for an n-link manipulator involved in pHRI. A switched reference model is designed for the admittance controller to generate the reference trajectory within the safe workspace. The stability analysis of the switched reference model is carried out by an appropriate selection of the Common Quadratic Lyapunov Function (CQLF) so that asymptotic convergence of the trajectory tracking error is ensured. The efficacy of the proposed controller is validated in simulation on a two-link robot manipulator

Assessment of the Level and Health Risk of Fluoride and Heavy Metals in Commercial Toothpastes in Bangladesh

Toothpaste is one of the daily essentials, and good quality control practices over it are very important to protect the oral public health from adverse effects. The current study aimed to assess the concentration of fluoride and heavy metals, physicochemical properties in ten different toothpaste samples in Bangladesh, followed by related health risk analysis. pH, moisture content, F–, As, Cu, Pb contents were measured by membrane electrode, thermogravimetric, SPADNS, HG-AAS, flame-AAS methods, respectively. The results were compared to the specification of the packet and Bangladesh Standard and Testing Institute (BSTI) standard. The physicochemical properties well-matched the formulation standard values. The moisture content was 27.18 ± 2.20 to 52.10 ± 5.01%, with 50% of the samples in permissible limit but the pH of all the samples (6.40-8.60) was within the standard limit. Available F–, Cu, Pb, and As content ranged from 803–1617, 2.78–13.10, 0.27–2.12, and 0.027–0.637 mg/Kg, respectively. F– content in 80% toothpaste did not meet the packet specification and was higher than BSTI standard, though heavy metals were within the BSTI limit. Hazard quotient (HQ) and HI (Hazard Index) analysis revealed that toothpaste safe from heavy metal related to health risk

In-orbit Performance of UVIT on ASTROSAT

We present the in-orbit performance and the first results from the ultra-violet Imaging telescope (UVIT) on ASTROSAT. UVIT consists of two identical 38cm coaligned telescopes, one for the FUV channel (130-180nm) and the other for the NUV (200-300nm) and VIS (320-550nm) channels, with a field of view of 28 $arcmin$. The FUV and the NUV detectors are operated in the high gain photon counting mode whereas the VIS detector is operated in the low gain integration mode. The FUV and NUV channels have filters and gratings, whereas the VIS channel has filters. The ASTROSAT was launched on 28th September 2015. The performance verification of UVIT was carried out after the opening of the UVIT doors on 30th November 2015, till the end of March 2016 within the allotted time of 50 days for calibration. All the on-board systems were found to be working satisfactorily. During the PV phase, the UVIT observed several calibration sources to characterise the instrument and a few objects to demonstrate the capability of the UVIT. The resolution of the UVIT was found to be about 1.4 - 1.7 $arcsec$ in the FUV and NUV. The sensitivity in various filters were calibrated using standard stars (white dwarfs), to estimate the zero-point magnitudes as well as the flux conversion factor. The gratings were also calibrated to estimate their resolution as well as effective area. The sensitivity of the filters were found to be reduced up to 15\% with respect to the ground calibrations. The sensitivity variation is monitored on a monthly basis. UVIT is all set to roll out science results with its imaging capability with good resolution and large field of view, capability to sample the UV spectral region using different filters and capability to perform variability studies in the UV.Comment: 10 pages, To appear in SPIE conference proceedings, SPIE conference paper, 201

Molecular Docking and Dynamics Simulation of Natural Compounds from Betel Leaves (<em>Piper betle</em> L.) for Investigating the Potential Inhibition of Alpha-Amylase and Alpha-Glucosidase of Type 2 Diabetes

Piper betle L. is widely distributed and commonly used medicinally important herb. It can also be used as a medication for type 2 diabetes patients. In this study, compounds of P. betle were screened to investigate the inhibitory action of alpha-amylase and alpha-glucosidase against type 2 diabetes through molecular docking, molecular dynamics simulation, and ADMET (absorption, distribution, metabolism, excretion, and toxicity) analysis. The molecule apigenin-7-O-glucoside showed the highest binding affinity among 123 (one hundred twenty-three) tested compounds. This compound simultaneously bound with the two-target proteins alpha-amylase and alpha-glucosidase, with high molecular mechanics-generalized born surface area (MM/GBSA) values (ΔG Bind = −45.02 kcal mol−1 for alpha-amylase and −38.288 for alpha-glucosidase) compared with control inhibitor acarbose, which had binding affinities of −36.796 kcal mol−1 for alpha-amylase and −29.622 kcal mol−1 for alpha-glucosidase. The apigenin-7-O-glucoside was revealed to be the most stable molecule with the highest binding free energy through molecular dynamics simulation, indicating that it could compete with the inhibitors’ native ligand. Based on ADMET analysis, this phytochemical exhibited a wide range of physicochemical, pharmacokinetic, and drug-like qualities and had no significant side effects, making them prospective drug candidates for type 2 diabetes. Additional in vitro, in vivo, and clinical investigations are needed to determine the precise efficacy of drugs

Search for intermediate-mass black hole binaries in the third observing run of Advanced LIGO and Advanced Virgo

International audienceIntermediate-mass black holes (IMBHs) span the approximate mass range 100−105 M⊙, between black holes (BHs) that formed by stellar collapse and the supermassive BHs at the centers of galaxies. Mergers of IMBH binaries are the most energetic gravitational-wave sources accessible by the terrestrial detector network. Searches of the first two observing runs of Advanced LIGO and Advanced Virgo did not yield any significant IMBH binary signals. In the third observing run (O3), the increased network sensitivity enabled the detection of GW190521, a signal consistent with a binary merger of mass ∼150 M⊙ providing direct evidence of IMBH formation. Here, we report on a dedicated search of O3 data for further IMBH binary mergers, combining both modeled (matched filter) and model-independent search methods. We find some marginal candidates, but none are sufficiently significant to indicate detection of further IMBH mergers. We quantify the sensitivity of the individual search methods and of the combined search using a suite of IMBH binary signals obtained via numerical relativity, including the effects of spins misaligned with the binary orbital axis, and present the resulting upper limits on astrophysical merger rates. Our most stringent limit is for equal mass and aligned spin BH binary of total mass 200 M⊙ and effective aligned spin 0.8 at 0.056 Gpc−3 yr−1 (90% confidence), a factor of 3.5 more constraining than previous LIGO-Virgo limits. We also update the estimated rate of mergers similar to GW190521 to 0.08 Gpc−3 yr−1.Key words: gravitational waves / stars: black holes / black hole physicsCorresponding author: W. Del Pozzo, e-mail: [email protected]† Deceased, August 2020