Kinematics for Combined Quasi-Static Force and Motion Control in Multi-Limbed Robots

This paper considers how a multi-limbed robot can carry out manipulation tasks involving simultaneous and compatible end-effector velocity and force goals, while also maintaining quasi-static stance stability. The formulation marries a local optimization process with an assumption of a compliant model of the environment. For purposes of illustration, we first develop the formulation for a single fixed based manipulator arm. Some of the basic kinematic variables we previously introduced for multi-limbed robot mechanism analysis in [1] are extended to accommodate this new formulation. Using these extensions, we provide a novel definition for static equilibrium of multi-limbed robot with actuator limits, and provide general conditions that guarantee the ability to apply arbitrary end-effector forces. Using these extended definitions, we present the local optimization problem and its solution for combined manipulation and stance. We also develop, using the theory of strong alternatives, a new definition and a computable test for quasi-static stance feasibility in the presence of manipulation forces. Simulations illustrate the concepts and method

A Study on the Service Quality and it’s Relation to CRM in Telecom Industry

The Indian telecommunications network is the third largest in the world and the second largest among the emerging economies of Asia. Today, it is the fastest growing market in the world. In this article an attempt has been made to study the service quality of the telecom service providers to find out the theoretical related to the concepts of Service quality in telecom sector. The objective of this paper is to explore the key dimensions of service quality for mobile services in the telecom sector and to ascertain which aspect of service quality have significant impact on customer satisfaction and after analysis suggest remedial measures to the companies under study. This study is very necessary as the service providers are providing the service and the consumer are there who are using or utilising those services which is being provided by various telecom service providers. Whether the services which are being provided by this service provider are quality based or not, it’s very important to know. It’s very significant to know how this service provider is performing their services and how consumers are rating the services which they are utilising from those service providers. To explore few dimension of perceived service quality in the mind set of customers of telecommunication industry and to find out the significant gap between customer expectation and service provider performance with respect to service delivery. SQE6 –SQExperiance6 with significant value of 0.006, SQE7 –SQExperience7 with significant value of 0.014, SQE8 –SQExperience8 with significant value of 0.035, SQE14 –SQExperience14 with significant value of 0.019. Key Words:  Service Quality, CRM, Customer Satisfaction, Telecommunication, Tangibility, Assurance, Network Quality, Empathy, Reliabilit

Computational Engineering of Mixed-mode, In-plane Crack Propagation in Laminated Fiber Reinforced Composites

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/90663/1/AIAA-2011-1928-472.pd

A Study on Incidence and Etiology of Hyponatremia in Hospitalised Patients

INTRODUCTION Hyponatremia is the most common electrolyte disorder among hospitalized patients and has been associated with increased mortality. Hyponatremia is defined as a serum sodium concentration (Na+) less than 135 mEq/L. Serum sodium levels and serum osmolality are normally maintained under precise control by homeostatic mechanisms involving thirst, anti-diuretic hormone and the renal handling of filtered sodium. Hyponatremia occurs in a broad spectrum of patients who are asymptomatic or critically ill. Patients in whom the serum sodium concentration is greater than 130 mEq/L are usually asymptomatic, whereas those in whom these values are lower may have symptoms. Clinical symptoms vary from individual to individual. Majority of patients with hyponatremia are asymptomatic. Most patients with hyponatremia have non-specific symptoms or symptoms due to an underlying disease or disorder. The clinical manifestations of hyponatremia are produced by brain swelling and are primarily a function of the rate of fall of serum sodium concentration and not the absolute level. Symptoms occurring early in hyponatremia is usually anorexia, nausea, vomiting. Some patients may have headache and irritability. As serum sodium levels falls further patients develop neuropsychiatry symptoms. These symptoms range from restlessness, altered consciousness, lethargy, seizures to coma. As the symptomatology vary markedly, the diagnosis of hyponatremia is difficult to establish. Prompt recognition and optimal management of hyponatremia in hospitalized patients may reduce in-hospital mortality and symptom severity, allow for less intensive hospital care, decrease the duration of hospitalization and associated costs and improve the treatment of underlying co morbid conditions and patients’ quality of life. So the treating clinician should have a high index of suspicion to diagnose hyponatremia. There are serious neurological sequelae associated with hyponatremia and its management. The possible causes of hyponatremia should always be sought in every case. The presence of symptoms and duration of hyponatremia guide the treatment strategy. Thorough evaluation for hyponatremia mandates accurate history taking and clinical examination along with various investigations. AIMS AND OBJECTIVES: 1. To study the incidence of hyponatremia in hospitalized adult patients in medical wards. 2. To determine the etiology of clinically significant hyponatremia in 100 patients in medical wards. 3. To determine the clinical presentation of hyponatremia in these patients. 4. To study whether the primary disease is a cause for hyponatremia and whether other features cause hyponatremia also. 5. To study whether hyponatremia adds to morbidity and mortality. 6. To study the various diseases associated with hyponatremia. MATERIALS AND METHODS: Study Area: Madras Medical College and Government General Hospital is one of the largest hospitals in South India located in Chennai Metropolis, Tamil Nadu catering the needs of over one crore people. The Laboratory: The Biochemistry lab is a standardized laboratory. The methods used for estimation are: Methods → 1. Serum Sodium – HILITE/Transaminase 2. Serum Potassium – I.S.ELECTRODE (Ion selective Electrophoresis), 3. UREA – Glutaraldehyde LDH, 4. Creatinine – Jaffe Kinetic, 5. SUGAR – (GOD/POD/Glucose oxidase peroxidase), 6. LFT – Enzymes – kinetic, 7. TFT – Automated ELISA reader, 8. Urine Na – I.S.ELECTRODE, 9. Urine K – I.S.ELECTRODE, 10. Lipids – ENZYMATIC METHOD, 11. Urine osmolality – FREEZING POINT METHOD. Study Population: Patients admitted in Government General Hospital medical wards with serum sodium less than 130 mmol/L. Type and Duration of study: Cross section study, period of one and a half year (January 2008 to June 2009). Inclusion Criteria: All inpatients >12 years of age with atleast two serum sodium values <130 mmol/L. Exclusion Criteria: Patients with age less than 12 years and patients who are treated with Mannitol and osmotic diuretics. Sample size and Technique: One hundred patients of Government General Hospital, Chennai. The lab values of serum sodium of all patients from January 2008 to June 2009 was studied from which incidence of hyponatremia was calculated. Out of this hyponatremic patients, a sample size of 100 patients were randomly selected by Simple Random Sampling, from the Table of Random Numbers satisfying the inclusion criteria. STATISTICAL ANALYSIS: The descriptive statistics – mean, median, standard deviation, minimum value, maximum value, range was used to describe the data. 1. Central tendency (Average): a. Arithmetic Mean (X), b. Median, c. Mode, 2. Measures of dispersion: a. Range, b. Standard deviation. The mean and standard deviation are calculated. The values between (a) 1 standard deviation on either side of mean will include 68% of values (b) values of twice the standard deviation from the mean will have 95% of values.These are “Confidence limits” of mean. The data was entered into excel work sheet and above calculated. RESULTS: The total number of hospital admission in medical wards was 25,326 and serum sodium estimates was done for 21,020 patients. The number of patients with hyponatremia less than 130 mmol/L was about 3980 patients (18.9%). The number of patients with severe hyponatremia with serum sodium less than 120 mmol/L was 620 patients (2.95%). CONCLUSIONS: 1. Symptomatic hyponatremia is common among the hospitalized patients. 2. Neurological symptoms are common in hyponatremia patients. 3. SIADH and euvolumic hyponatremia formed the largest subgroup in the study. 4. Drugs, especially diuretics, are a common cause of hyponatremia. 5. A relatively large number of patients had endocrine abnormalities (thyroid, adrenal and pituitary). 6. The mortality was about 10%. It was mainly due to underlying primary diseases. 7. Older age groups had more incidence of hyponatremia. 8. Symptoms of hyponatremia increased with severity of hyponatremia

Analisis Kesilapan Dalam Pengembangan Dan Pemfaktoran Ungkapan Aljabar Dalam Kalangan Pelajar Tingkatan Empat

Kajian ini bertujuan untuk mengenal pasti jenis-jenis kesilapan yang sering dilakukan oleh pelajar Tingkatan Empat dalam pengembangan dan pemfaktoran ungkapan aljabar. Responden kajian ini terdiri daripada 133 orang pelajar Tingkatan Empat dari dua buah sekolah menengah di negeri Perak. Untuk menganalisis data, pendekatan kuantitatif telah digunakan. The main purpose of this study was to identify the various types of errors made by Form Four students in algebraic expansion and factorization. This study involved a total of 133 Form Four students from two secondary schools in Pera

External dacryocystorhinostomy: A comparison of ultrasonic bone aspiration to high-speed drilling

Purpose: Piezosurgical tools utilize high-frequency ultrasonic oscillations to selectively cut mineralized bone and minimize damage to soft tissue and mucosa. The purpose of this study was to directly compare outcomes in external dacryocystorhinostomy (DCR) using a piezoelectric ultrasonic bone aspirator (UBA) versus a high-speed electric drill with a diamond burr. Methods: A retrospective chart review was conducted on 145 consecutive patients who underwent external DCR by a single oculoplastic surgeon between 2012 and 2017. Collected data included baseline patient characteristics, presenting symptoms, operative details and complications, and postoperative symptoms. Results: One hundred and seventy-three primary external DCRs performed on 145 patients were included in this study. In total, 61.3% of cases were performed with the UBA and 38.7% with the high-speed drill. Most patients were white (92.4%) and female (67.6%), with a mean age of 57.6 years (range 1-93). Surgical success was achieved in 94.3% of patients in the UBA group and 94.0% in the drill group, with no significant differences between the two arms ( Conclusion: The UBA offers comparable outcomes and complication rates to more conventional surgical tools for external DCR. Excellent outcomes, ease of adoption, and potential surgical time savings make the UBA an appealing option for both novice and experienced surgeons