Preliminary Report on High-Performance Computational Structures for Robot Control

In this report we present some initial results of our work completed thus far on Computational Structures for Robot Control . A SIMD architecture with the crossbar interprocessor network which achieves the parallel processing execution time lower bound of o( [a1n ]), where a1 is a constant and n is the number of manipulator joints, for the computation of the inverse dynamics problem, is discussed. A novel SIMD task scheduling algorithm that optimizes the parallel processing performance on the indicated architecture is also delineated. Simulations performed on this architecture show speedup factor of 3.4 over previous related work completed for the evaluation of the specified problem, is achieved. Parallel processing of PUMA forward and inverse kinematics solutions is next investigated using a particular scheduling algorithm. In addition, a custom bit-serial array architecture is designed for the computation of the inverse dynamics problem within the bit-serial execution time lower bound of o(c1k + c2kn), where c1 and c2 are specified constants, k is the word length, and n is the number of manipulator joints. Finally, mapping of the Newton-Euler equations onto a fixed systolic array is investigated. A balanced architecture for the inverse dynamics problem which achieves the systolic execution time lower bound for the specified problem is depicted. Please note again that these results are only preliminary and improvements to our algorithms and architectures are currently still being made

Indirect Estimation of Pre-Census Baseline In the Aftermath of a War

Pre-censal estimates help in proper planning for the execution of a census. After the end of a destabilizing war, these pre-censal estimates cannot be easily obtained. The paper proposes how pre-censal estimates can be obtained in the aftermath of a war using indirect estimation techniques. This involves the estimation of probabilities of mortality and of emigration obtained from survival models and multiple decrement life tables

Performance modeling of parallel processor-memory interconnection networks

General analytic models for the performance analysis of various unique and redundant path circuit-switched processor-memory interconnection networks are presented. These networks include crossbar, unique path banyan, d-dilated and r-replicated banyan, gamma, and IADM networks. By simply defining an explicit term in the specified models, a given type of memory request pattern may be taken into account. These analytical models are also extended to analyze nonhierarchical and hierarchical cluster based versions of crossbar and banyan networks. Memory request patterns employed to illustrate the usage of the various models include random, permutation, preferred; and hot-spot memory request patterns. The preferred memory requesting model presented in this thesis is shown to be a more general memory requesting model where both the random as well as the permutation request patterns are special cases of it. In addition, analytical results presented in this dissertation have been validated against simulation results. These results are also used to compare and contrast the indicated networks with respect to the network bandwidth and cost-effectiveness

Aetiological Profile and Outcomes of Acute Kidney Injury among Neonates Admitted in a Neonatal Intensive Care Unit at a Tertiary Care Hospital, Northeast India: A Prospective Cohort Study

Introduction: Acute Kidney Injury (AKI) affects approximately 8%-24% of critically ill neonates, with a mortality rate ranging from 10%-61%. Groups of newborns at higher risk for AKI include those with perinatal hypoxia, Respiratory Distress Syndrome (RDS), premature and very low birth weight infants, and newborns with sepsis. AKI is associated with poor short-term and long-term outcomes and has a multifactorial aetiology. Aim: To evaluate the aetiological profile and short-term outcomes of AKI in neonates admitted to the Neonatal Intensive Care Unit (NICU). Materials and Methods: A prospective cohort (descriptive) study was conducted in the NICU at Gauhati Medical College and Hospital, Guwahati, Assam, India, over a period of one year, from September 1, 2021, to August 31, 2022. A total of 100 neonates exhibiting signs and symptoms of AKI according to Acute Kidney Injury Network (AKIN) criteria. Detailed neonatal history, including neonatal resuscitation, history of perinatal asphyxia, signs and symptoms of sepsis, Respiratory Distress Syndrome (RDS), or any other symptoms, were recorded. The course and outcome of the neonates during their NICU stay were noted. Data were presented in terms of frequency (n) and percentages (%). Results: Among the 100 AKI neonates, 58 were males and 42 were females, with a male-to-female ratio of 1.38:1. Out of 100 neonates, birth asphyxia constituted 40 (40%) cases, of cases, followed by sepsis in 30 (30%), RDS 27 (27%), dehydration 2 (2%), and obstructive uropathy in 1 (1%) case. Among the 100 AKI neonates, 64 (64%) cases were discharged, 35 (35%) expired, and 1 (1%) were transferred to the paediatric surgery department. Conclusion: Neonatal AKI is an independent contributor to morbidity and mortality. Therefore, early identification and prompt management are crucial for improving outcomes and prognosis