13 research outputs found
Closed Form HJB Solution for Path Planning of a Robot Manipulator with Warehousing Applications
No full textReal-time optimal path planning for robotic manipulations in task space is a very fundamental and important problem. In this paper, the problem of generating robot trajectories in an obstacle-ridden environment is formulated under an optimal control framework using Hamilton-Jacobi-Bellman (HJB) equation. The novel contribution of this paper is that a closed form HJB control solution (a necessary and sufficient condition for global optimality of a control solution with respect to a cost function) has been achieved for generating real-time optimal trajectories for a robot manipulator. In contrast with the decoupled end-effector path planning and subsequent trajectory generation, the proposed scheme can exploit sensory input for real-time trajectory generation where the end-effector path as well as the joint trajectory is recomputed online while satisfying the real-time constraints. The stability and the performance of the proposed control framework is shown theoretically via Lyapunov approach and also verified experimentally using a 6 degrees of freedom (DOF) Universal Robot (UR) 10 robot manipulator. It is shown that a significant saving in cost metrics can be obtained over similar trajectory generation approaches from the state-of-the-art with obstacle-ridden environment and also has better performance in high speed tracking applications. Warehouse applications of the proposed scheme in case of static and dynamic targets with respect to the robot manipulator is also included.Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.Learning & Autonomous Contro
Performance evaluation and comparision of a grid connected photovoltaic system based on solar cell modelling:-Part-I
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Study of dielectric properties of biodegradable composites using (Poly)lactic acid and Luffa fiber
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Antimicrobial activity of select edible plants from Odisha, India against food-borne pathogens
No full textThe anti-microbial activity of crude extracts (hexane, acetone, ethanol, and aqueous) of 46 edible plants from Odisha, India, was studied using a broth microdilution assay against 8 common food-borne pathogens (Gram-positive: Bacillus cereus, Streptococcus faecalis, Listeria innocua, Micrococcus luteus, and Gram-negative: Escherichia coli, Pseudomonas aeruginosa, Salmonella enterica, Shigella sonnei). In total, 46 plant species belonging to 31 families were tested, from which 10 plants (22%) showed broad-spectrum in vitro antimicrobial activity (inhibiting at least two Gram-positive and Gram-negative species), while 28 (60%) exhibited narrow-spectrum activity against only Gram-positive -, and 2 (4%) against only Gram-negative bacteria. The Gram-positive pathogens were thus clearly more susceptible to most extracts compared to Gram-negative species. Selected active plant extracts were tested for their cytotoxicity against rhabdosarcoma (RD) and Vero cell lines. Selected extract(s) were further subjected to Thin layer chromatography (TLC) to determine their phytochemical profile; the extracts were largely distinguished by the presence of different phytoconstituents like phenols, flavonoids, tannins, saponins, steroids and terpenes. This preliminary antimicrobial screening showed that some edible Indian plants with antibacterial properties have potential as herbal preservatives in the food industry, and perhaps also as alternative therapeutic agents, particularly against food-borne bacterial diseases.sponsorship: The authors wish to thank the authorities of North Orissa University for providing necessary facilities for collecting and identifying plant materials. We are also thankful to Dr. Anil K. Biswal, Dr. Akshaya K. Bastia, Dr. Hemant K. Sahu, Dr. Gunanidhi Sahoo (North Orissa University) for the extraction of plant samples and expert technical help during experiments. Thanks also to Purity Ngina Kipanga and Pranav Godse (KU Leuven), for their technical help in preparing and extracting plant materials, and for help with TLC photography. The author SKP is also grateful for receipt of a postdoc fellowship from EMINTE (Erasmus Mundus, EU; http://eminte.eu/).WL largely supported himself. (EMINTE (Erasmus Mundus, EU))status: Publishe
Assessing medicinal plants traditionally used in the Chirang Reserve Forest, Northeast India for antimicrobial activity
No full textETHNOPHARMACOLOGICAL RELEVANCE: Knowledge on the use of plants for different ailments by the tribals of the Chirang Reserve Forest (CRF, Northeast India) was used to assess the potential of these plants for treating viral, bacterial and fungal infections. MATERIALS AND METHODS: Fieldwork in the CRF documented the use of plants for the treatment of various human ailments. The ethnobotanical data were analysed using different quantitative indices viz. Informant Consensus Factor (ICF), Relative Frequency Citation (RFC), Fidelity Level (FL), Relative Popularity Level (RPL) and Rank Order Priority (ROP). For each plant, four extracts were prepared with different solvents (water, ethanol, acetone and hexane) and tested for bioactivity such as antiviral (Enterovirus 71) and antimicrobial (E. coli, S. aureus, C. albicans) effects. To develop fingerprints, thin layer chromatography (TLC) was carried out with at least one extract of each active plant. RESULTS: Thirty-seven plant species belonging to 26 families used frequently in the CRF were categorised into twenty disease(s) and markedly high ICF values (0.5-1) were found. The FL of the 19 most important plant species ranged from 10% to 100%. Aglaia spectabilis, Actinodaphne obovata, Bischofia javanica, Gmelina arborea, Hodgsonia macrocarpa and Mesua ferrea were the most popular plant species with RPL values > 0.4. The most commonly treated diseases were skin infections, worm infections, diarrhoea, dysentery, common cold and throat infections, cough and respiratory problems, fever, malaria, rheumatism, pain, stomach ache and gastric problems. Among the taxonomic families, the most represented are Lauraceae (4 species); Meliaceae (3 species), Euphorbiaceae, Elaecarpoceae, Magnoliaceae, Malvaceae, Moraceae and Myrtaceae (2 species each). Of these, 35 plants (95%) with 91 of their extracts were found to be active against S. aureus (inhibition > 50%). Similarly, over half of the tested plants inhibited growth of E. coli (19 plants with 31 extracts) while 9 plants with 14 extracts were active against C. albicans. Moreover, one-third (12) of the plants showed anti-enteroviral activity. TLC analysis of the extracts indicates the presence of different phytochemical classes such as alkaloids, flavonoids, glycosides, terpenoids and saponins based on observing characteristic spots under visible or UV light (254 or 360 nm), with or without derivatisation. CONCLUSIONS: Thirty-seven plants commonly used by the tribes of the CRF as anti-infective agents offer perspectives for further research, as the phytochemistry and phytopharmacology for most of these plants have not been published to date.sponsorship: The authors wish to thank the authorities of North Orissa University for providing necessary facilities for collection and identification of plant materials. The authors are thankful to Yipeng Ma (KU Leuven), who helped in writing the antiviral section and provided critical suggestion for this manuscript. We are also thankful to Purity Ngina Kipanga and Pranav Godse (KU Leuven), for her technical help in preparing and extracting plant materials, and for help with TLC photography. Thanks are also to Dr. Anil K. Biswal, Dr. Akshaya K. Bastia, Dr. Hemant K. Sahu, Yugal K. Mohanta, Susmita Mahapatra, Laxmipriya Padhi (North Orissa University), Dr. Gunanidhi Sahoo (Utkal University) for the extraction of plant samples and expert technical help during experiments. The author SKP is also grateful for financial support provided by SERB, Govt. of India (SB/FT/LS-252/2012) and receipt of a postdoc fellowship from EMINTE (Erasmus Mundus, EU; http://eminte.eu/). PL is supported by the Flemish IOF (Industrial Research Fund), and WL largely supported himself. Finally, we wish to thank countless tribal informants. We hope that the information produced from these studies will be of use to them and their fellow tribals in the future. (SERB, Govt. of India|SB/FT/LS-252/2012, EMINTE (Erasmus Mundus, EU), Flemish IOF (Industrial Research Fund))status: Publishe
Measurement of neutrino-induced neutral-current coherent production in the NOvA near detector
No full text© 2020 authors. Open access. Published by the American Physical Society under the terms of the "https://creativecommons.org/licenses/by/4.0/"Creative Commons Attribution 4.0 International license. Further distribution of this work must maintain attribution to the author(s) and the published article's title, journal citation, and DOI. Funded by SCOAP3..
WSU authors: Meyer, Holger; Muether, Mathew; Solomey, Nickolas. The complete list includes: Acero, M.A.; Adamson, P.; Aliaga, L.; Alion, T.; Allakhverdian, V.; Anfimov, N.; Antoshkin, A.; Arrieta-Diaz, E.; Aurisano, A.; Back, A.; Backhouse, C.; Baird, M.; Balashov, N.; Baldi, P.; Bambah, B.A.; Basher, S.; Bays, K.; Behera, B.; Bending, S.; Bernstein, R.; Bhatnagar, V.; Bhuyan, B.; Bian, J.; Blair, J.; Booth, A.C.; Bolshakova, A.; Bour, P.; Bromberg, C.; Buchanan, N.; Butkevich, A.; Campbell, M.; Carroll, T.J.; Catano-Mur, E.; Childress, S.; Choudhary, B.C.; Chowdhury, B.; Coan, T.E.; Colo, M.; Corwin, L.; Cremonesi, L.; Cronin-Hennessy, D.; Davies, G.S.; Derwent, P.F.; Ding, P.; Djurcic, Z.; Doyle, D.; Dukes, E.C.; Dung, P.; Duyang, H.; Edayath, S.; Ehrlich, R.; Feldman, G.J.; Flanagan, W.; Frank, M.J.; Gallagher, H.R.; Gandrajula, R.; Gao, F.; Germani, S.; Giri, A.; Gomes, R.A.; Goodman, M.C.; Grichine, V.; Groh, M.; Group, R.; Guo, B.; Habig, A.; Hakl, F.; Hartnell, J.; Hatcher, R.; Hatzikoutelis, A.; Heller, K.; Himmel, A.; Holin, A.; Howard, B.; Huang, J.; Hylen, J.; Jediny, F.; Johnson, C.; Judah, M.; Kakorin, I.; Kalra, D.; Kaplan, D.M.; Keloth, R.; Klimov, O.; Koerner, L.W.; Kolupaeva, L.; Kotelnikov, S.; Kreymer, A.; Kullenberg, C.; Kumar, A.; Kuruppu, C.D.; Kus, V.; Lackey, T.; Lang, K.; Lin, S.; Lokajicek, M.; Lozier, J.; Luchuk, S.; Maan, K.; Magill, S.; Mann, W.A.; Marshak, M.L.; Matveev, V.; Méndez, D.P.; Messier, M.D.; Meyer, H.; Miao, T.; Miller, W.H.; Mishra, S.R.; Mislivec, A.; Mohanta, R.; Moren, A.; Mualem, L.; Muether, M.; Mulder, K.; Mufson, S.; Murphy, R.; Musser, J.; Naples, D.; Nayak, N.; Nelson, J.K.; Nichol, R.; Niner, E.; Norman, A.; Nosek, T.; Oksuzian, Y.; Olshevskiy, A.; Olson, T.; Paley, J.; Patterson, R.B.; Pawloski, G.; Pershey, D.; Petrova, O.; Petti, R.; Plunkett, R.K.; Potukuchi, B.; Principato, C.; Psihas, F.; Raj, V.; Radovic, A.; Rameika, R.A.; Rebel, B.; Rojas, P.; Ryabov, V.; Sachdev, K.; Samoylov, O.; Sanchez, M.C.; Seong, I.S.; Shanahan, P.; Sheshukov, A.; Singh, P.; Singh, V.; Smith, E.; Smolik, J.; Snopok, P.; Solomey, N.; Song, E.; Sousa, A.; Soustruznik, K.; Strait, M.; Suter, L.; Talaga, R.L.; Tas, P.; Thayyullathil, R.B.; Thomas, J.; Tiras, E.; Torbunov, D.; Tripathi, J.; Tsaris, A.; Torun, Y.; Urheim, J.; Vahle, P.; Vasel, J.; Vinton, L.; Vokac, P.; Vrba, T.; Wang, B.; Warburton, T.K.; Wetstein, M.; While, M.; Whittington, D.; Wojcicki, S.G.; Wolcott, J.; Yadav, N.; Yallappa Dombara, A.; Yang, S.; Yonehara, K.; Yu, S.; Zalesak, J.; Zamorano, B.; Zwaska, R.l; NOvA Collaboration.The cross section of neutrino-induced neutral-current coherent production on a carbon-dominated target is measured in the NOvA near detector. This measurement uses a narrow-band neutrino beam with an average neutrino energy of 2.7\,GeV, which is of interest to ongoing and future long-baseline neutrino oscillation experiments. The measured flux-averaged cross section is
, consistent with model prediction. This result is the most precise measurement of neutral-current coherent production in the few-GeV neutrino energy region.Document was prepared by the NOvA Collaboration using the resources of the Fermi National Accelerator Laboratory (Fermilab), a U.S. Department of Energy, Office of Science, HEP user facility. Fermilab is managed by Fermi Research Alliance, LLC (FRA), acting under Contract No. DE-AC02-07CH11359. This work was supported by the U.S. Department of Energy; the U.S. National Science Foundation; the Department of Science and Technology, India; the European Research Council; the MSMT CR, GA UK, Czech Republic; the RAS, RFBR, RMES, RSF, and BASIS Foundation, Russia; CNPq and FAPEG, Brazil; STFC and the Royal Society, United Kingdom; and the state and University of Minnesota
