616 research outputs found
Bootstrapping the Dynamic Gait Controller of the Soft Robot Arm
No full textIn this paper, we propose a novel dynamic gait controller for the repetitive behavior of soft robot manipulators performing routine tasks. Compliance with soft robots is advantageous when the robot interacts with living organisms and other fragile objects. However, predicting and controlling repetitive behavior is challenging because of hysteresis and non-linear dynamics governing the interactions. Existing priorfree methods track the dynamic state using recurrent neural networks or rely on known generalized coordinates describing the robot's state. We propose to model the interaction induced by the repetitive behavior as gait dynamics and represent the dynamic state with Central Pattern Generator (CPG) tracking the motion phase and thus reduce the complexity of the robot's forward model. The proposed method bootstraps an ensemble of the forward models exploring multiple dynamic contexts that are expanded as it searches for repetitive motion producing the target repetitive behavior. The proposed approach is experimentally validated on a pneumatically actuated soft robot arm I-Support, where the method infers gaits for different targets
A Stylistic Review of Maulana Muhammad Hussain Azad's Essay "Sair-e-Zindagi": مولانا محمد حسین آزاد کے مضمون سیر زندگی کا اسلوبیاتی جائزہ
No full textMaulana Muhammad Hussain Azad’s essay "Sair-e-Zindagi" describes life and its different stages. The essay starts with the words of a sage that when a person comes into the world, he is completely ignorant and innocent. Then there is childhood, which he finds in the form of a beautiful and carefree life, and then there is youth, which is a beautiful, exciting and colorful period of life, and it is full of emotions and desires. After that, gradually the organs of a person start to decay and he moves from youth to old age. By going to old age, he becomes greedier about life. A critical review of the said essay is presented in this article highlighting the characteristics pertaining to style and diction of the writer.
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Muhammad Hussain Azad,nairang Khiyal,Lahore,Majlis taraqi adab club road,2010,s 42.
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ADMINISTRAÇÃO UNIVERSITÁRIA: EM BUSCA DE UMA EPISTEMOLOGIA
No full textO presente trabalho tem por objetivo realizar uma análise epistemológica de alguns trabalhos relacionados à Administração Universitária. Para tanto, foram selecionados textos referentes às últimas cinco décadas, os quais foram analisados em ordem cronológica. Estes textos foram escolhidos de forma intencional, levando-se em consideração principalmente a abrangência e a importância nacional e internacional (fazer parte de um evento internacional ligado a um organismo internacional, por exemplo). A partir da leitura destes fez-se a análise, partindo-se do pressuposto que a epistemologia da Administração Universitária converge com a epistemologia da Administração, podendo ser considerada inclusive um sub-campo desta. Conclui-se que se faz necessário um repensar crítico das teorias administrativas que dê conta de toda complexidade inerente a todas as organizações, incluindo aí as universidades
جهود أبرز تلامذة المحدث الإمام السيد نذير حسين الدهلوي في خدمة السنة النبوية = Efforts of some students of Nazeer Husain Al-Dehalwi in attending to Prophetic Sunnah
No full textإن الإمام المحدث السيد نذير حسين الدهلوي (1320هـ) من أبرز المحدثين في الهند في العصر المتأخر، أفنى حياته في خدمة العلم والسنة، وقد عمر طويلا، وأمضى ستين سنة بشكل دؤوب في تدريس السنة، وخرج آلاف التلامذة، الذين واصلوا من بعده في منهج شيخهم وأستاذهم، فكانوا خير خلف لخير سلف، وقد اخترنا منهم في هذا البحث بعض المبرزين في مجال التدريس والإفادة لنخبر القارئ بمآثرهم وجهودهم، وهم المحدث الشهير العلامة شمس الحق العظيم آبادي(1273ه-1329هـ)، وشيخ البنجاب المحدث الحافظ عبد المنان الوزير آبادي(1267هـ-1334ه)، والعلامة المحدث الكبير الحافظ محمد عبد الله الغازيبوري (1261هـ-1337ه)، والعلامة المحدث عبد السلام المباركفوري (1342هـ)، والمحدث الكبير العلامة عبد الرحمن المباركفوري صاحب "تحفة الأحوذي" (1353ه)، والعلامة المحدث أبو القاسم سيف البنارسي (1369هـ).
Imām and Muḥaddith, Sayed Nazeer Ḥusain al-Dehlawī (d.1902) is one of the most prominent Muḥaditheen of the Indian late era. He spent his whole life contributing towards Knowledge and Sunnah. He lived a long life, and gave nearly sixty years to teaching Sunnah with his full attention and eagerness. He graduated thousands of students who after him followed his path, they were the best of successors to a noble Scholar. We choose to present in this research some among them, prominent in the field of teaching, in order to inform the reader of their impact; and they are, the famous Ḥadith Scholar Shams al-Haqq Azeem Abādī (1273-1329 AH); the Sheikh of Punjab, The Muḥaddith Ḥafiz b. Abdul Mannān al-Wazeer Abādī (1267-1334 AH); the great Scholar and Muḥaddith al-Hafiz Muḥammad Abdullah al-Ghazipurī (1261-1337 AH); The Scholar Abdul Salām al-Mubārakpurī (d.1342 AH); The Muḥaddith Abdul Reḥmān al-Mubārakpurī (d.1353 AH) author of ‘Tuḥfah al-Aḥwazī’ and the Scholar Abu Qāsim Saif al-Banārasī (d.1369 AH)
Sphingosine 1-Phosphate Receptor Modulator Fingolimod (FTY720) Attenuates Myocardial Fibrosis in Post-heterotopic Heart Transplantation
No full textBackground and Objective: Sphingosine 1-phosphate (S1P), and S1P receptor modulator fingolimod have been suggested to play important cardioprotective role in animal models of myocardial ischemia/reperfusion injuries. To understand the cardioprotective function of S1P and its mechanism in vivo, we analyzed apoptotic, inflammatory biomarkers, and myocardial fibrosis in an in vivo heterotopic rat heart transplantation model. Methods: Heterotopic heart transplantation is performed in 60 Sprague-Dawley (SD) rats (350-400 g). The heart transplant recipients (n = 60) are categorized into Group A (control) and Group B (fingolimod treated 1 mg/kg intravenous). At baseline with 24 h after heart transplantation, blood and myocardial tissue are collected for analysis of myocardial biomarkers, apoptosis, inflammatory markers, oxidative stress, and phosphorylation of Akt/Erk/STAT-3 signaling pathways. Myocardial fibrosis was investigated using Masson's trichrome staining and L-hydroxyline. Results: Fingolimod treatment activates both Reperfusion Injury Salvage Kinase (RISK) and Survivor Activating Factor Enhancement (SAFE) pathways as evident from activation of anti-apoptotic and anti-inflammatory pathways. Fingolimod treatment caused a reduction in myocardial oxidative stress and hence cardiomyocyte apoptosis resulting in a decrease in myocardial reperfusion injury. Moreover, a significant (p < 0.001) reduction in collagen staining and hydroxyproline content was observed in fingolimod treated animals 30 days after transplantation demonstrating a reduction in cardiac fibrosis. Conclusion: S1P receptor activation with fingolimod activates anti-apoptotic and anti-inflammatory pathways, leading to improved myocardial salvage causing a reduction in cardiac fibrosis
Eliciting human arm movement on a pneumatically-actuated soft arm using Behavioral Cloning Algorithm
No full textSoft robotics is a promising class of robotics, dealing with compliant nature-inspired robots. It introduces substantial potential for applications in a wide range of fields, even if significant challenges in modelling and control appear.
For this reason, it is interesting to explore alternative ways to make these kind of agents learn.
Rather than manually engineer a desired behavior, it is possible to achieve it through the process of learning from demonstrations of a teacher.
The aim of this research is to elicit in a pneumatically actuated soft robot, the movement observed from a human arm. The stochasticity of soft robotic movements, unavailability of the expert actions and need of domain remapping are some of the challenges encountered.
Behavioral Cloning from observation is the approach employed, meaning that the policy able to reproduce autonomously the shown behavior is learnt as direct mapping from states to control input, and that state-only demonstrations are provided.
In first phase, the robot explores the workspace to map the relationship between the input pressures signals and the output positions in the task space.
Secondly, for each type of movement, a policy model is learnt after the robot has executed the pre-processed and remapped demonstration using the actions suggested by the inverse dynamic model.
Since the main issues in the algorithm were related to hardware limitations, future work should start from the adoption of more suitable instrumentation
جهود أبرز تلامذة المحدث الإمام السيد نذير حسين الدهلوي في خدمة السنة النبوية Efforts of Some Students of Nazeer Husain Al-Dehalwi in Attending to Prophetic Sunnah
No full textإن الإمام المحدث السيد نذير حسين الدهلوي (1320هـ) من أبرز المحدثين في الهند في العصر المتأخر، أفنى حياته في خدمة العلم والسنة، وقد عمر طويلا، وأمضى ستين سنة بشكل دؤوب في تدريس السنة، وخرج آلاف التلامذة، الذين واصلوا من بعده في منهج شيخهم وأستاذهم، فكانوا خير خلف لخير سلف، وقد اخترنا منهم في هذا البحث بعض المبرزين في مجال التدريس والإفادة لنخبر القارئ بمآثرهم وجهودهم، وهم المحدث الشهير العلامة شمس الحق العظيم آبادي(1273ه-1329هـ)، وشيخ البنجاب المحدث الحافظ عبد المنان الوزير آبادي(1267هـ-1334ه)، والعلامة المحدث الكبير الحافظ محمد عبد الله الغازيبوري (1261هـ-1337ه)، والعلامة المحدث عبد السلام المباركفوري (1342هـ)، والمحدث الكبير العلامة عبد الرحمن المباركفوري صاحب "تحفة الأحوذي" (1353ه)، والعلامة المحدث أبو القاسم سيف البنارسي (1369هـ).
Imām and Muḥaddith, Sayed Nazeer Ḥusain al-Dehlawī (d.1902) is one of the most prominent Muḥaditheen of the Indian late eras. He spent his whole life contributing towards Knowledge and Sunnah. He lived a long life and gave nearly sixty years to teaching Sunnah with his full attention and eagerness. He graduated thousands of students who after him followed his path, they were the best of successors to a noble Scholar. We choose to present in this research some among them, prominent in the field of teaching, in order to inform the reader of their impact; and they are, the famous Ḥadith Scholar Shams al- Haqq Azeem Abādī (1273-1329 AH); the Sheikh of Punjab, The Muḥaddith Ḥafiz b. Abdul Mannān al-Wazeer Abādī (1267-1334 AH); the great Scholar and Muḥaddith al-Hafiz Muḥammad Abdullah al-Ghazipurī (1261-1337 AH); The Scholar Abdul Salām al-Mubārakpurī (d.1342 AH); The Muḥaddith Abdul Reḥmān al-Mubārakpurī (d.1353 AH) author of ‘Tuḥfah al-Aḥwazī’ and the Scholar Abu Qāsim Saif al-Banārasī (d.1369 AH).إن الإمام المحدث السيد نذير حسين الدهلوي (1320هـ) من أبرز المحدثين في الهند في العصر المتأخر، أفنى حياته في خدمة العلم والسنة، وقد عمر طويلا، وأمضى ستين سنة بشكل دؤوب في تدريس السنة، وخرج آلاف التلامذة، الذين واصلوا من بعده في منهج شيخهم وأستاذهم، فكانوا خير خلف لخير سلف، وقد اخترنا منهم في هذا البحث بعض المبرزين في مجال التدريس والإفادة لنخبر القارئ بمآثرهم وجهودهم، وهم المحدث الشهير العلامة شمس الحق العظيم آبادي(1273ه-1329هـ)، وشيخ البنجاب المحدث الحافظ عبد المنان الوزير آبادي(1267هـ-1334ه)، والعلامة المحدث الكبير الحافظ محمد عبد الله الغازيبوري (1261هـ-1337ه)، والعلامة المحدث عبد السلام المباركفوري (1342هـ)، والمحدث الكبير العلامة عبد الرحمن المباركفوري صاحب "تحفة الأحوذي" (1353ه)، والعلامة المحدث أبو القاسم سيف البنارسي (1369هـ).
Imām and Muḥaddith, Sayed Nazeer Ḥusain al-Dehlawī (d.1902) is one of the most prominent Muḥaditheen of the Indian late eras. He spent his whole life contributing towards Knowledge and Sunnah. He lived a long life and gave nearly sixty years to teaching Sunnah with his full attention and eagerness. He graduated thousands of students who after him followed his path, they were the best of successors to a noble Scholar. We choose to present in this research some among them, prominent in the field of teaching, in order to inform the reader of their impact; and they are, the famous Ḥadith Scholar Shams al- Haqq Azeem Abādī (1273-1329 AH); the Sheikh of Punjab, The Muḥaddith Ḥafiz b. Abdul Mannān al-Wazeer Abādī (1267-1334 AH); the great Scholar and Muḥaddith al-Hafiz Muḥammad Abdullah al-Ghazipurī (1261-1337 AH); The Scholar Abdul Salām al-Mubārakpurī (d.1342 AH); The Muḥaddith Abdul Reḥmān al-Mubārakpurī (d.1353 AH) author of ‘Tuḥfah al-Aḥwazī’ and the Scholar Abu Qāsim Saif al-Banārasī (d.1369 AH)
Self-assembling peptide-based nanomaterials with antibacterial and immunomodulatory activity
No full textSelf-assembling antimicrobial peptides have been a topic of much interest as alternatives to conventional antibiotic drugs to combat the rapid evolution of multi-drug-resistant pathogens. This study presents novel self-assembled peptide-based nanomaterials derived from an avian antimicrobial protein, Angiogenin-4. The cyclic cationic amphipathic peptides designed from truncated protein fragments adapt beta-sheet structures and self-assemble into nanospheres via disulfide bond formation. The peptide-based nanomaterials are non-toxic towards eukaryotic host cells and are highly stable in serum and saline media. Furthermore, these nanomaterials exhibit remarkable antimicrobial activity against Gram-positive and Gram-negative bacteria and disrupt bacterial membranes by aggregation on the bacterial surface, increasing membrane permeability and cellular uptake in bacteria. The nanospheres also modulate the production of inflammatory cytokines and could potentially alleviate the threat of multi-drug-resistant pathogens by substituting traditional antibiotics
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