Static and Dynamic Path Planning of Humanoids using an Advanced Regression Controller

With an ability to mimic the human behaviour, humanoid robots have become a topic of major interest among research fellows dealing with robotic investigation. The current work is focussed on the design of a novel navigational controller based on the logic of the regression analysis to be used in the path planning and navigation of humanoid robots. In the current investigation, static and dynamic path planning of humanoid NAOs are encountered. The static path planning represents a single NAO navigating through random static obstacles. The dynamic path planning represents multiple humanoid NAOs navigating through random static obstacles and acting as dynamic obstacles for each other. A Petri-Net controller is designed to avoid the collision among the multiple NAOs in dynamic path planning. To reduce the path length and time travel and to provide the shortest possible path, an advanced regression controller is implemented in the NAOs in both simulation and experimental environments. Finally, a comparison has been performed between the simulation and experimental results, and a good agreement is observed between both the results with a minimal percentage of error. The proposed navigational controller is also tested against other existing navigational technologies to validate better efficiency.

Constraints Involved in Marketing of Mustard in Morar Block of Gwalior District (M.P.)

Gatekeepers’ Gatekeeping Role Towards Upholding Human Rights, A Comparative Study of the Times of India , the Indian Express

Experimental Investigation of Thermal Efficiency of Boiling Pot with Modified Surface Geometry

A Comparative Study of Endoscopic Versus Navigation Guided Microscopic Transsphenoidal Pituitary Surgery at Tertiary Care Centre in India

The transsphenoidal route for pituitary surgery is considered the standard treatment for pituitary adenomas. The disadvantage of the smaller exposure of this route is partially compensated for by the introduction of the microscope with its coaxial illumination, stereoscopic view, adequate magnification, and microsurgical instruments. However, there are only few reports about the outcome of endonasal endoscopic transphenoidal technique. Aims & Objectives: Current study has been conducted to compare the efficacy, advantages and dis advantages of endoscopic versus navigation guided microscopic transsphenoidal Pituitary surgery. Material and methods: A controlled study was done in the department of neurosurgery, at tertiary care hospital in India, from the period of August 2012 to December 2017 prospectively. In Group A- 30 patients in whom endoscopic transnasal trans Sphenoidal pituitary surgery and in Group B - 30 patients, intraoperative neuronavigation was used. Observations and Results: Both the groups were similar in demographic variables. The most common age group of pituitary tumor patients was 30-40 years. Fourteen (46.6 %) patients in group A and fifteen (50 %) of the patients in group B had tumor volume less than 5 ml. In group A, thirteen (43%) patients had intrasellar tumors with no suprasellar extension, while in group B, fifteen (50%) patients had intrasellar tumors with no extension. Operative time was noted from incision to closure and average time taken in both the groups was compared. Twenty five (83%) cases of group A took between 2-3 hours and only four cases (13%) took more than 3 hours. While in group B, twenty (66%) cases took between 4-5 hours. This shows a significant difference by fisher extact test (p<0.001) in the operative time required in both the groups. Eighteen (60%) patients in group B had a residual volume between 1-1.5 ml while only two patients in group A had so. This difference is also significant Fischer Exact test (p<0.001). Four (13.3%) patients in group A had diabites insipidus while only half of this, i.e. two (6.6%) had so in group B. however this difference in postoperative complication rate is not statistically significant between two groups. Conclusion: The results of our study correlate with many previous studies to compare endoscopic and microscopic transsphenoidal surgery. These two approaches are equally efficacious in oncological outcomes and the complication rates are comparable.

Recent Advances in Intelligent-Based Structural Health Monitoring of Civil Structures

This survey paper deals with the structural health monitoring systems on the basis of methodologies involving intelligent techniques. The intelligent techniques are the most popular tools for damage identification in terms of high accuracy, reliable nature and the involvement of low cost. In this critical survey, a thorough analysis of various intelligent techniques is carried out considering the cases involved in civil structures. The importance and utilization of various intelligent tools to be mention as the concept of fuzzy logic, the technique of genetic algorithm, the methodology of neural network techniques, as well as the approaches of hybrid methods for the monitoring of the structural health of civil structures are illustrated in a sequential manner.

PEMENTASAN TARI GAMBUH DI DESA PAKRAMAN PADANGAJI KECAMATAN SELAT KABUPATEN KARANGASEM (Kajian Estetika Hindu)

Gambuh Dance in Pakraman Padangaji Village is interesting to be studied because it has unique and Hindu aesthetic value on the motion, clothing and makeup that is displayed. Dance Gambuh in Padangaji its appearance almost simultaneously with the establishment of the Village. Gambuh dance performance form is divided into Pategak, Paigelan, and Panyuud. The function of dance performances Gambuh include religious functions, social community, cultural preservation, entertainment, and safety. The aesthetic meaning of Hindu dance Gambuh contained elements of Satyam, Siwam, and Sundaram which can be seen from the dress, makeup and displayed. The conclusion of this research is that there are form, function and meaning in Gambuh dance performance in Desa Pakraman Padangaji.

DESIGN AND DEVELOPMENT OF A UNIT ELEMENT PLANAR FOLDED DIPOLE END-FIRED ANTENNA FOR AIRCRAFT COLLISION AVOIDANCE SYSTEM

Aircraft collision avoidance system is an airborne system which is designed to provide the service as a last defense equipment for avoiding mid-air collisions between aircraft. End-fired antenna is suitable to be used in such airborne systems where low aerodynamic drag is urgently required. An effort to develop such an antenna using dipole elements is presented in this paper. Here a unit element planar folded dipole antenna is presented which radiates in the end-fire direction. Split ring resonators inspired artificial materials are incorporated in the design to improve the directivity performance of the proposed antenna, and those materials are loaded in the same plane of the primary dipole radiator. Here suppression of surface wave in the antenna takes place, which results in gain enhancement and also reduction of side lobes which make radiation pattern better. All these proposed antennas are designed and simulated in CST Microwave Studio (MWS) EM tool which is based on time domain solver. The performance and other antenna characteristics have been explored from the simulation results followed by the antenna fabrication and measurement. Quite good agreement is achieved between the simulated and measured results. Much better performance characteristics make this proposed antenna a good candidate for this application.

First-light instrument for the 3.6-m Devasthal Optical Telescope: 4Kx4K CCD Imager

As a part of in-house instrument developmental activity at ARIES, the 4Kx4K CCD Imager is designed and developed as a first-light instrument for the axial port of the 3.6-m Devasthal Optical Telescope (DOT). The f/9 beam of the telescope having a plate-scale of ~6.4”/mm is utilized to conduct deeper photom-etry within the central 10' field of view. The pixel size of the blue-enhanced liquid nitrogen cooled STA4150 4Kx4K CCD chip is 15 µm, with options to select gain and speed values to utilize the dynamic range. Using the Imager, it is planned to image the central ~ 6.5’ x6.5’ field of view of the telescope for various science goals by getting deeper images in several broad-band filters for point sources and objects with low surface brightness. The fully assembled Imager along with automated filter wheels having Bessel UBV RI and SDSS ugriz filters was tested in late 2015 at the axial port of the 3.6-m DOT. This instrument was finally mounted at the axial port of the 3.6-m DOT on 30 March 2016 when the telescope was technically activated jointly by the Prime Ministers of India and Belgium. It is expected to serve as a general purpose multi-band deep imaging instrument for a variety of science goals including studies of cosmic transients, active galaxies, star clusters and optical monitoring of X-ray sources discovered by the newly launched Indian space-mission called ASTROSAT, and follow-up of radio bright objects discovered by the Giant Meterwave Radio Telescope.

A Peculiar Subclass of Type Ia Supernovae a.k.a. Type Iax

We present optical photometric (upto 410 days since Bmax) and spectroscopic (upto 235 days since Bmax) observations of a type Iax supernova SN 2014dt located in M61. The broad band light curves follow a linear decline upto 100 days after which a significant flattening is seen in the late-time (beyond 150 days) light curves of SN 2014dt. SN 2014dt best matches the light curve evolution of SN 2005hk and reaches a peak magnitude of MB -18.12±0.04 with m15 1.35±0.06 mag. The earliest spectrum at 23 days is dominated by FeII and CoII lines with the absence of the Si II 6150 Å line. Using the peak bolometric luminosity we estimate a 56Ni mass of 0.14 M in the case of SN 2005hk and the striking similarity between SN 2014dt and SN 2005hk implies that a comparable amount of 56Ni would have been synthesized in the explosion of SN 2014dt. There are several explosion scenarios proposed for these peculiar events. Being one of the brightest and closest SN, SN 2014dt is an ideal candidate for long term monitoring. Late phase observations are very essential to understand the progenitor system and the actual explosion scenario for these events.