Cooperative aerial manipulation with force control and attitude stabilization

Ranging from autonomous flying cars, fixed wing and rotorcraft UAVs, there has been a tremendous interest in aerial robotics over the last decade. This thesis presents contributions to the state-of-art in cooperative payload transport with force synthesis and dynamic interaction using quadcopter UAVs. In this report, we consider multiple quadcopter aerial robots and develop decentralized force controller for them to manipulate a payload. We use quadcopters with a rigid link attached to it to collaboratively manipulate the payload. We develop a dynamic model of the payload for both point mass and rigid body cases. We model the contact force between the agents and the payload as a mass spring model. This assumption is valid when the vehicles are connected to the payload via elastic cables or when the payload is flexible or surrounded by elastic bumper materials. We also extend our aerial manipulation system to a multi-link arm attached to the quadcopter.We develop an adaptive decentralized control law for transporting a payload of unknown mass without explicit communication between the agents. Our controller ensures that all quadcopters and the payload asymptotically converges to a constant reference velocity. It also ensures that all of the forces applied to the payload converges to desired set-points. Desired thrusts and attitude angles are computed from the control algorithms and a low-level PD controller is implemented to track the desired commands for each quadcopter. The sum of the estimates of the unknown mass from all the agents converge to the true mass. We also employ a consensus algorithm based on connected graphs to ensure that each agent gets an equal share of the payload mass. Furthermore, we develop an orientation control algorithm that guarantees attitude stabilization of the payload. In particular, we develop time varying force set-points to enforce attitude regulation without any moment inputs from the quadcopters

Survey on gender role in rice production by farmers of Nuwakot district, Nepal

Gender plays an important role in agriculture from managing work at the farm field to communicate with buyers. There is a significant division of labor among rice farmers in Nepal; thus, the study was conducted to identify the role of males and females in a farm field and also in decision making and other relevant activities. A random sampling survey was conducted where the respondents aged between 35-55 were highest and 85% of the respondents were males. The area was found to be dominated by the Brahmins. Female workers were found to be involved in highly unskilled work like transplanting, uprooting, weeding, and male workers were found to be involved in decision making, marketing, land preparation, pesticide application. Harvesting was done by females and then threshing by males. Equal involvement of males and females laborers was observed in the irrigation of rice crops. Women's less access to decision making was found to be due to lack of land ownership and lower level of education than those of males. Thus, the need for women empowerment is necessary for the area and also exposure of female labors to different skill-oriented training should be encouraged. The focus of NGOs/ INGOs should be headed to uplift the women's role in farming in Nepal

A case study of medicinal plants and their usage by the local community of Dilasaini Gaunpalika, Baitadi district, Nepal

An Ethnomedicinal survey study was conducted to get information about the usage of medicinal plants and the diversity of species found around the village. The main objective of the study was to document the plants for their medicinal and other uses. Ethnomedicinal plants are locally available used by tribal communities and local inhabitants for various medicinal purposes. Random sampling survey was conducted by selecting 50 households to access the medicinal plants and document their usage in Gokuleshwor, Baitadi. A total of 33 species of medicinal plants to treat 40 ailments was reported with their multipurpose use. During the survey, an equal proportion of males and females aged 14 to 78 were selected randomly. The literacy rate of the study area was 80% and 94% of the people were found to be involved in the collection of medicinal plants. The majority of the respondents (92%) used medicinal plants for minor diseases like cuts, wounds whereas few were found to use the medicinal plant for a long time to treat major diseases like cancer, tumor. The use of medicinal plants for skin infections, cuts and wounds, fever was found to be high followed by diarrhea, common cold, ulcer, asthma, jaundice, burns, piles, and eye inflammation. Most of the plants were found to be used for more than one disease. The conservation of Indigenous knowledge on the Ethnomedicinal plant should be promoted as most of the respondents were unaware of the conservation of medicinal plants

Antibiogram of Escherichia coli and Staphylococcus aureus Isolated from Milk Sold in Kathmandu District

The emergence of antibiotic resistance in microorganisms and the presence of such isolates in milk pose a great risk to public health. Therefore, this study aims to determine the antibiotic susceptibility pattern of Escherichia coli and Staphylococcus aureus isolated from milk and assess the microbial quality of milk. For this, a total of 70 milk samples were collected and the total bacterial count (TBC) was determined. E. coli and S. aureus were isolated using their respective selective media while antibiotic susceptibility testing was carried out by Kirby Bauer Disc Diffusion method. The TBC showed that the raw milk samples contained two-fold higher microbial load while the pasteurized milk samples contained four-fold higher microbial loads than the standard guidelines. A total of 62 isolates were identified from culture-positive milk samples of which 32 were E. coli and 30 were S. aureus. A significant correlation was observed between microbial load and the organism isolated (r = 0.339, p<0.01). All S. aureus isolates were susceptible to Chloramphenicol while 40% were resistant to Cefoxitin, indicating the presence of Methicillin resistant S. aureus (MRSA). Also, 12 multidrug resistant (MDR) S. aureus were identified. While for E. coli, all were susceptible to Chloramphenicol but resistant to Ampicillin. Also, 9 MDR E. coli were detected. Higher resistance was observed among isolates from the raw milk samples than the pasteurized milk. It can be concluded that the milk produced by small-scale farms and dairy industries of Kathmandu district are of poor quality. Hence, routine microbial quality assessment and antimicrobial resistance monitoring should be followed to safeguard public health

Effect of integrated nutrient management on growth, yield, and soil nutrient status in okra (Abelmoschus esculentus cv. Arka Anamika)

Okra (Abelmoschus esculentus cv. Arka Anamika) is one of the most widely grown vegetable crops in the tropics during the spring, summer, and Kharif seasons. One of the major constraints of low productivity of okra and soil deterioration is due to the inappropriate and sole use of synthetic fertilizer. So, to address the yield gap, an experiment was conducted in Gokuleshwor, Baitadi Nepal from 23rd March to 15th July 2021 to study the effect of integrated nutrient management (INM) on growth, and yield and soil nutrient status in okra". The experiment was laid out in a randomized complete block design (RCBD) with 8 treatments and 3 replication T8 gave maximum plant height (37.21 cm), stem diameter (4.04 cm), numbers of leaves (14.33), and a number of pods (8.07) and minimum plant height (23.18 cm) and a number of leaves (9.00) were observed in T3 whereas minimum steam diameter (2.87cm) a and number of pods (2.87) were observed in T6. It was observed that treatment T8 produced a maximum yield (2.10 kg) and treatment T3 produces the minimum yield (1.24 kg). Highest post-harvest available nitrogen (0.1167%), phosphorus (85.20 kg/ha), potassium (229.61 kg/ha), organic matter (2.31%) and pH (6.25) was found in treatment T8. This study suggests integrating vermicompost and synthetic fertilizer as a potential source for better growth, and high yield of okra thus more experiments on dosage optimization and SSNM should be focused onwards for long term sustainability

Wildlife assessment of the Chandragiri hills, Kathmandu: Potentiality for ecotourism

Wildlife assessments can provide crucial information regarding species richness, relative abundance and spatial, temporal, and ecological information on wildlife habitat associations. The assessment’s information can in turn be used for developing management policies including for establishing touristic zones. We investigated wildlife occurrences in the Chandragiri Hills, Kathmandu Nepal from 2015-2019 to provide baseline data to inform the potential sites for ecotourism. During the study period, we recorded 30 mammal species, 199 bird species, 34 herpetofauna species and 77 butterfly species. The area harbors three globally and six nationally threatened mammal species, two globally and seven nationally threatened with one endemic bird species, one globally and nationally threatened herpetofauna, and one nationally threatened butterfly species. We also explored four potential hiking routes for observing wildlife and providing scenic views of the Himalayan range and Kathmandu city. Therefore, we expect Chandragiri Hills can become one of the hot spot for tourists to observe both common and threatened wildlife species in Nepal

A Late Presenting Left-Sided Congenital Diaphragmatic Hernia Repair Complicated by Postoperative Chylothorax: A Case Report

Management of chylothorax after repair of late presenting congenital diaphragmatic hernia is debatable. Conservative management in the form of close monitoring of chylous output with nutritional support appears convincing to surgery

Knowledge on Pesticide Handling Practices and Factors Affecting Adoption of Personal Protective Equipment: A Case of Farmers from Nepal

Globally, the use of pesticide is growing day by day, but the use of PPE in developing countries is still low and farmers are directly exposed to chemicals which have negative health issues. Thus, this study was conducted in different places of Nepal where the use and adoption of chemical pesticide is high. This study aims on assessment of pesticide handling practices and determinants of adoption of PPE where 281 respondents were interviewed by the simple random sampling technique. A binary logit model was used to predict the determinants for adoption of PPE while spraying pesticides. Schooling years, training, reading label, and buying pesticide by name are the determining factors in adoption of PPE at 1% level of significance in the logit model. Still, the pesticide handling practices followed by farmers are not satisfactory and proper protective clothes are not used while spraying pesticides. Thus, to protect from different health issues, training, seminars, and talk discussion should be scheduled regarding safe pesticide handling practices and adoption of PPE. Also, the use of biopesticides should be encouraged as they are most promising and ecofriendly

Association of vaccination status with the clinicobiochemical profile, hospital stay, and mortality in COVID‐19: A case–control study

Abstract Background and Aims The effectiveness of coronavirus disease 2019 (COVID‐19) vaccines in reducing symptoms, disease advancement, complications, and mortality in severe acute respiratory syndrome coronavirus 2 (SARS‐CoV‐2) infection has been well‐established. This case‐control study aimed to compare different blood parameters, and prognostic and survival outcomes of COVID‐19 patients based on vaccination status. Methods We performed a case‐control study that included hospitalized patients with COVID‐19 at Tribhuvan University Teaching Hospital, Kathmandu, Nepal. Individuals who received vaccination were designated as cases and unvaccinated individuals as controls. Demographics, co‐morbidity, clinical data, laboratory data, and disease outcomes were recorded for both groups. Multivariate, Cox, and linear regression were used for analysing blood parameters, hospital admission, survival, and hospital stay, respectively, between cases and controls. Results Out of 100 participants enrolled, 46 were vaccinated, and 54 weren't. At admission, ferritin and erythrocyte sedimentation rate (ESR) were significantly lower in cases. At discharge, cases showed a higher monocyte than controls. Ferritin, ESR, and d‐imer showed excellent performance in determining the severity of symptoms. Significant correlation and regression of ferritin and ESR with the length of hospital stay was observed. Length of hospital stay was significantly lower in cases than in controls. No significant differences between cases and controls were observed in mortality. Conclusion COVID‐19 vaccines effectively reduced hospitalization duration. Ferritin and ESR were significantly lower in vaccinated individuals and showed the best utility in monitoring the disease