Dynamic planning navigation strategy for mobile terrestrial robots

Robotica ◽  
2014 ◽  
Vol 34 (3) ◽  
pp. 568-583 ◽  
Author(s):  
Átila V. F. M. de Oliveira ◽  
Marcelo A. C. Fernandes

SUMMARYThis paper proposes a new dynamic planning navigation strategy for use with mobile terrestrial robots. The strategy was applied to situations in which the environment and obstacles were unknown. After each displacement event, the robot replanned its route using a control algorithm that minimized the distance to the target and maximized the distance between the obstacles. Using a spatial localization sensor and a set of distance sensors, the proposed navigation strategy was able to dynamically plan optimum routes that were free of collisions. Simulations performed using different types of environment demonstrated that the technique offers a high degree of flexibility and robustness, and validated its potential use in real applications involving mobile terrestrial robots.

Author(s):  
Aafrin Waziri ◽  
Charu Bharti ◽  
Mohammed Aslam ◽  
Parween Jamil ◽  
Aamir Mirza ◽  
...  

Background: The processes of chemo- and radiation therapy-based clinical management of different types of cancers are associated with toxicity and side effects of chemotherapeutic agents. So, there is always an unmet need to explore agents to reduce such risk factors. Among these, natural products have generated much attention because of their potent antioxidant and antitumor effects. In the past, some breakthrough outcomes established that various bacteria in the human intestinal gut are bearing growth-promoting attributes and suppressing the conversion of pro-carcinogens into carcinogens. Hence, probiotics integrated approaches are nowadays being explored as rationalized therapeutics in the clinical management of cancer. Methods: Here, published literature was explored to review chemoprotective roles of probiotics against toxic and side effects of chemotherapeutics. Results: Apart from excellent anti-cancer abilities, probiotics are bearing and alleviate toxicity and side effects of chemotherapeutics, with a high degree of safety and efficiency. Conclusion: Preclinical and clinical evidence suggested that due to the chemoprotective roles of probiotics against side effects and toxicity of chemotherapeutics, their integration in chemotherapy would be a judicious approach.


2021 ◽  
Vol 18 ◽  
Author(s):  
Rohini Kharwade ◽  
Payal Badole ◽  
Nilesh Mahajan ◽  
Sachin More

: As compared to other nano polymers, dendrimers have novel three dimensional, synthetic hyperbranched, nano-polymeric structures. The characteristic of these supramolecular dendritic structures has a high degree of significant surface as well as core functionality in the transportation of drugs for targeted therapy, specifically in host-guest response, gene transfer therapy and imaging of biological systems. However, there are conflicting shreds of evidence regarding biological safety and dendrimers toxicity due to their positive charge at the surface. It includes cytotoxicity, hemolytic toxicity, haematological toxicity, immunogenicity and in vivo toxicity. Therefore to resolve these problems surface modification of the dendrimer group is one of the methods. From that point, this review involves different strategies which reduce the toxicity and improve the biocompatibility of different types of dendrimers. From that viewpoint, we broaden the structural and safe characteristics of the dendrimers in the biomedical and pharmaceutical fields.


2013 ◽  
Vol 2013 ◽  
pp. 1-17 ◽  
Author(s):  
Lars-Ola Bligård ◽  
Anna-Lisa Osvalder

To avoid use errors when handling medical equipment, it is important to develop products with a high degree of usability. This can be achieved by performing usability evaluations in the product development process to detect and mitigate potential usability problems. A commonly used method is cognitive walkthrough (CW), but this method shows three weaknesses: poor high-level perspective, insufficient categorisation of detected usability problems, and difficulties in overviewing the analytical results. This paper presents a further development of CW with the aim of overcoming its weaknesses. The new method is called enhanced cognitive walkthrough (ECW). ECW is a proactive analytical method for analysis of potential usability problems. The ECW method has been employed to evaluate user interface designs of medical equipment such as home-care ventilators, infusion pumps, dialysis machines, and insulin pumps. The method has proved capable of identifying several potential use problems in designs.


Author(s):  
Sallie E. Gordon

Cognitive task analysis is accomplished using a wide variety of methodologies, and we have previously argued that different methods will tend to elicit qualitatively different types of knowledge and skills. Because of this, many practitioners use complementary methods for a given project. We have developed such a complementary package of knowledge elicitation techniques, along with a specific representational method, which together are termed conceptual graph analysis. Conceptual graph analysis is domain-independent and can be used to evaluate complex cognitive tasks or subtasks. It relies on the successive use of document analysis, interviews, task observation, and induction based on review of task performance. The information from these elicitation techniques is represented as a set of interrelated conceptual graphs, but can be represented in other formats also. There are several issues relevant to cognitive task analysis that are currently being faced, including when to perform this type of analysis, and what methods to use. One answer is to perform cognitive task analysis when the task has an inherently high degree of cognitive complexity.


2015 ◽  
Vol 766-767 ◽  
pp. 594-599 ◽  
Author(s):  
S. Girishankar ◽  
M. Omkumar

Hard Finish Turning has been Widely Acknowledged as an Excellent Alternative for the Traditional Grinding, Especially it Enables many Intricate Machining Profiles Possible, in a Single Machining Set-up. Cubic Boron Nitride (CBN) Inserts are Usually Used for Hard Turning of Superior Hardened Steel Parts to Very High Degree of Accuracy, Geometry and Surface Texture. the Performance of CBN is of Significant Importance for Hard Finish Turning, because of the High Single Cutting Edge Cost. an Array of Experiments are Conducted with Two Different Types of Low Content CBN Insert Grades, 1) Tin Coated Insert CB7015, 2) Non Coated Insert BN250 by Using a Tool Holder MTJNL2525M16 in a LT20 Classic ACE Turning Centre. the Surface Roughness is Inspected by SJ201P Surfinish Mitutoyo Profile Tester. the Parameters Determined during the Experiments are MRR, Ra, and Tool Life in Minutes, Number of Parts Machined. A Satisfactory Match has been Reached by Comparing Mathematical Model Tool Life Using Experimental Data from the General Taylor’s Tool Life Equation and Experimentally Measured Tool Life. the Cost Analysis is Carried out by Gilbert’s Approach Indicates that the Cost Incurred per Part Produced is Lesser in Tin Coated Insert. the Proposed Methodology can Help to Optimise the Hard Finish Turning Process for AISI M2 Die Steel, and Also in Evaluating the Performance of CBN Tin Coated Insert over Non-Coated Insert.


Sensors ◽  
2018 ◽  
Vol 18 (12) ◽  
pp. 4322 ◽  
Author(s):  
Caroline Silva ◽  
Átila de Oliveira ◽  
Marcelo Fernandes

This work describes the performance of a DPNA-GA (Dynamic Planning Navigation Algorithm optimized with Genetic Algorithm) algorithm applied to autonomous navigation in unknown static and dynamic terrestrial environments. The main aim was to validate the functionality and robustness of the DPNA-GA, with variations of genetic parameters including the crossover rate and population size. To this end, simulations were performed of static and dynamic environments, applying the different conditions. The simulation results showed satisfactory efficiency and robustness of the DPNA-GA technique, validating it for real applications involving mobile terrestrial robots.


Agronomy ◽  
2020 ◽  
Vol 10 (2) ◽  
pp. 299
Author(s):  
Nicoleta Radu ◽  
Ana Aurelia Chirvase ◽  
Narcisa Babeanu ◽  
Ovidiu Popa ◽  
Petruta Cornea ◽  
...  

A spent biomass, which results from the biopharma industry, is stabilized and functionalized by biosorption with microelements. The efficiency of this new biomaterial was tested in two experiments: 1) In a mixture with soil to determine its effects of the germination capacity of cereals and vegetables, and 2) in a formulation of mixed fertilizers to determine its influence on the development and production of the two types of vegetables. The results obtained during germination experiments performed in pots showed that at a biomass concentration less than 20%, the germination output was greater than 95% and the germination index was almost 1. The experiments performed in land on vegetables (including Solanum lycopersicum and Capsicum annuum) featured six types of fertilizers formulated with new biomaterials. The obtained results indicated that two types of fertilizers (N 10:0:0 and NP 5:5:0), which were formulated with functionalized biomass and featured the microelements Co, Cu, Fe, Mn, and Zn, exhibited significant effects when compared with vegetables cultivated on unfertilized soil surfaces (the untreated variant). The studies regarding the effect of the new fertilizers obtained based on spent biomass from biopharma industry indicate the following: a) This material, even if it is stabilized and functionalized, cannot be used as such as a germination substrate for vegetables; in addition, it cannot be introduced into soil together with cereals seeds (during the autumn work), because the germination can be affected negatively; b) the functionalized biomass can be used in the formulation of different types of fertilizers; if these fertilizers are introduced into soil with the autumn plowing, then they may have a positive influence on the yield of some species of vegetable, such as Solanum lycopersicum and Capsicum annum. The new fertilizers have a major environmental impact due to: 1) Removal of waste, which results from pharmaceutical biosyntheses, with significant impact on soil pollution, due to its storage in the form of waste dumps, on the soil; 2) recovery and reinsertion into the natural circuit of nutrients like C, N, P, K, Mg, and Ca contained in spent biomass, by their reuse in agriculture; and 3) high content of compounds with C from spent biomass can improve in time the content of fulvic and humic acids in soil, with a positive effect on soil characteristics from an agronomic point of view.


1922 ◽  
Vol 35 (3) ◽  
pp. 287-302 ◽  
Author(s):  
André Gratia

1. When the few individuals still alive in a dissolved culture of Bacillus coli are transplanted on slanted agar, a culture results which possesses new characteristics. First observed by Bordet and Ciuca, this culture received the temporary name of modified coli. In the study described above, we found that this modified coli is very heterogeneous and that its three principal characteristics, resistance to lysis, lysogenic properties, and mucoid growth, are shared among different types of organisms that can be isolated when the normal original coli (coli O) is plated together with increasing quantities of the lytic agent: (a) a certain number of bacilli are just resistant enough to survive and grow in the presence of a moderate quantity of lytic agent, but they are still more or less sensitive and produce diseased, irregular, and lysogenic colonies; (b) a few of the organisms are able to resist concentrated lytic agent; they are entirely resistant and give round, healthy, and non-lysogenic colonies (coli O R 2); and (c) among these resistant bacilli only a very few are mucoid (coli 0 R 1). All these types are not motile and not fluorescent. 2. The original coli, when allowed to age, can be dissociated, as we have shown in a preceding paper (1), into two types of organisms, the non-motile coli S and the very motile coli R. Submitted to lysis, coli S gives a very small number, coli R a much greater number of resistant organisms (coli S R and coli R R), but both types never yield any mucoid growth. 3. An old culture of the modified coli obtained by Bordefand Ciuca, when streaked on agar plate, gives two types of colonies: a mucoid and fluorescent type (coli M 1) and a non-mucoid and translucent type (coli M 2). Both types are motile. Coli M 2, once isolated, keeps its individuality even after several passages in artificial media, but if again submitted to the lytic agent, a great number of mucoid bacilli are found among the organisms which are still alive. Consequently, different types of Bacillus coli differ greatly in their ability to give a mucoid growth when submitted to the lytic agent. Some, like coli S and coli R, do not possess this property at all. Others, like coli O, possess it to a certain extent, and some, like coli M 2, have it to a very high degree. 4. The mucoid and motile Bacillus coli M 1, when streaked every day on agar plates, remains indefinitely mucoid and motile, but occasionally a mucoid colony shows an indentation made up of non-mucoid growth, which, transplanted, gives a pure culture of non-mucoid and non-motile organisms, coli M 1 a. This new type possesses all the characteristics of the original strain of Bacillus coli, and therefore must be considered as a reversion. 5. The mucoid and motile Bacillus coli M 1, kept growing in synthetic medium, remains perfectly stable; on the other hand, when it is transplanted in broth, Bacillus coli M 1 turns very quickly into a non-mucoid but still very motile organism, or Bacillus coli M 1 b. This last type, which produces translucent colonies on agar and grows granular in broth, never reverts to the mucoid form, even in the presence of lytic agent. 6. A single strain of Bacillus coli has thus been made to yield eleven different forms, all distinguished by striking characteristics, but still possessing the specific properties of Bacillus coli. Nine of these forms have been submitted to antisera prepared with three different types (Bacillus coli O, Bacillus coli S, and Bacillus coli R). While seven out of these nine strains were agglutinated by any of the three antisera, only the original Bacillus coli (Bacillus coli O) and the reversion to the original type (Bacillus coli M 1 a) were not agglutinable, even by their corresponding antiserum; i.e., the serum obtained from a rabbit immunized with Bacillus coli O, which, however, agglutinated the other types.


2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Lili He ◽  
Zhenghui Shang ◽  
Hongmei Liu ◽  
Zhi-xiang Yuan

As an acidic, ocean colloid polysaccharide, alginate is both a biopolymer and a polyelectrolyte that is considered to be biocompatible, nontoxic, nonimmunogenic, and biodegradable. A significant number of studies have confirmed the potential use of alginate-based platforms as effective vehicles for drug delivery for cancer-targeted treatment. In this review, the focus is on the formation of alginate-based cancer-targeted delivery systems. Specifically, some general chemical and physical properties of alginate and different types of alginate-based delivery systems are discussed, and various kinds of alginate-based carriers are introduced. Finally, recent innovative strategies to functionalize alginate-based vehicles for cancer targeting are described to highlight research towards the optimization of alginate.


1950 ◽  
Vol 23 (1) ◽  
pp. 67-88
Author(s):  
Fritz Rössler

Abstract A more extended investigation was made of the surprising flow phenomena which were found in an earlier study of rubber at low temperatures. The tensile apparatus was reconstructed so that a dead-weight load could be applied to the rubber test-specimen. Determinations of the dependence of the rate of flow on time of stressing, initial elongation, magnitude of the stress, and temperature showed that a simple law can be derived for expressing the flow phenomena. Yield point, change in color, and deterioration in physical properties, as well as the reversibility of these phenomena were investigated and are discussed. The phenomena of flow at room temperature are expressed by the same constants as at lower temperatures. Only the effective stress increases at low temperatures and only by this change does flow become perceptible. Different types of rubber were compared, and all showed approximately the same value for the flow constant. The essential characteristics of the flow phenomenon can be explained, on a basis of the theory of highly elastic materials, by their microliquid state of aggregation. This applies to the high degree of dependence of the mechanical properties of rubber on the temperature.


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