Multi-target trajectory planning and control technique for autonomous navigation of multiple robots.

The autonomous robot has been the attraction point among robotic researchers since the last decade by virtue of increasing demand of automation in defence and intelligent industries. In the current research, a modified flow direction optimization algorithm (MFDA) and firefly algorithm (FA) are hybridized and implemented on wheeled robots to encounter multi-target trajectory optimization with smooth navigation by negotiating obstacles present within the workspace. Here, a hybrid algorithm is adopted for designing the controller with consideration of navigational parameters. A Petri-Net controller is also aided with the developed controller to resolve any conflict during navigation. The developed controller has been investigated on WEBOTS and MATLAB simulation environments coupled with real-time experiments by considering Khepera-II robot as wheeled robot. Single robot- multi-target, multiple robot single target and multiple robots-multiple target problems are tackled during the investigation. The outcomes of simulation are verified through real-time experimental outcomes by comparing results. Further, the proposed algorithm is tested for its suitability, precision, and stability. Finally, the developed controller is tested against existing techniques for authentication of proposed technique, and significant improvements of an average 34.2% is observed in trajectory optimization and 70.6% in time consumption.

Multi-objective optimization technique for trajectory planning of multi-humanoid robots in cluttered terrain.

Humanoid robots hold a decent advantage over wheeled robots because of their ability to mimic human exile. The presented paper proposes a novel strategy for trajectory planning in a cluttered terrain using the hybridized controller modeled on the basis of modified MANFIS (multiple adaptive neuro-fuzzy inference system) and MOSFO (multi-objective sunflower optimization) techniques. The controller works in a two-step mechanism. The input parameters, i.e., obstacle distances and target direction, are first fed to the MANFIS controller, which generates a steering angle in both directions of an obstacle to dodge it. The intermediate steering angles are obtained based on the training model. The final steering angle to avoid obstacles is selected based on the direction of the target and additional obstacles in the path. It is further works as input for the MOSFO technique, which provides the ultimate steering angle. Using the proposed technique, various simulations are carried out in the WEBOT simulator, which shows a deviation under 5% when the results are validated in real-time experiments, revealing the technique to be robust. To resolve the complication of providing preference to the robot during deadlock condition in multi-humanoids system, the dining philosopher controller is implemented. The efficiency of the proposed technique is examined through the comparisons with the default controller of NAO based on toques produces at various joints that present an average improvement of 6.12%, 7.05% and 15.04% in ankle, knee and hip, respectively. It is further compared against the existed navigational strategy in multiple robot systems that also displays an acceptable improvement in travel length. In comparison in reference to the existing controller, the proposed technique emerges to be a clear winner by portraying its superiority.

Particle Swarm Optimization aided PID gait controller design for a humanoid robot.

Gait planning for the humanoid robot is a very essential and basic requirement. The humanoid robot is balanced at two feet; therefore, special attention is required for gait analysis for the execution of assigned tasks. In this paper, the linear inverted pendulum (LIPM) model is considered to simplify the study and to obtain better gait planning of humanoid robot NAO. Center of mass (COM) and zero moment point (ZMP) criterion are applied with the LIPM model for a better understanding of selecting the step length and period. In addition, a PSO (particle swarm optimization) tuned PID (proportional-integral-derivative) controller has been implemented. Sensory data such as the location of obstacles and the target along with the desired trajectory aided inverse kinematics have been embedded to the conventional PID controller, which provides an interim angle to start the navigation. This interim angle has been carried forward to the PSO technique accompanied by the desired trajectory. It tunes the parameters of the conventional PID controller and provides an optimum turning angle, which avoids obstacles and increases the stabilization of the robot while crossing it. It reduces travel time and shortens travel length. PSO technique minimizes the computational complexity and number of iteration because it requires fewer tuning parameters. Simulations are executed on the simulated NAO robot for the conventional PID controller and the proposed controller. To ratify its findings, experiments are carried out on a real NAO robot in laboratory conditions for both the conventional PID controller and the proposed controller. Simulation and experimental results are presenting a good agreement among each other with deviation under 6%. Applying the PSO tuned PID controller provides a predictable gait and reduces the stabilization time and essentially eliminating the overshoot by 25%. A comparative study with various controllers is performed, and the credibility of the evaluated result has been examined using statistical analysis. The proposed controller has been compared with a previously developed technique to ensure its robustness.

Modeling of the hemodynamics in the feet of patients with peripheral artery disease.

To simulate the hemodynamic effects in the feet in response to a thigh cuff occlusion, we have developed a multi-compartmental model in which the circulatory system for the leg is represented by its electrical equivalents. Dynamic vascular optical tomographic imaging data previously obtained from 20 patients with peripheral artery disease (PAD) and 20 healthy subjects is used to test the model. Analyzing the clinical data with the support of the model yields diagnostic specificity and sensitivity in the 90-95% range, significantly higher than previously reported.

Detection of Peripheral Arterial Disease Within the Foot Using Vascular Optical Tomographic Imaging: A Clinical Pilot Study.

OBJECTIVE: Vascular optical tomographic imaging (VOTI) is a novel imaging modality that is capable of detecting hemoglobin concentrations in tissue. VOTI is non-invasive, non-ionizing and does not require contrast injection. This technology was applied to the diagnosis of peripheral arterial disease (PAD) within lower extremities of diabetic patients with calcified arteries. This could be of substantial benefit as these patients suffer from comorbidities such as arterial incompressibility, which complicates diagnosis and monitoring. METHODS: Forty individuals (10 non-diabetic patients with PAD, 10 diabetic patients with PAD, and 20 healthy volunteers) were enrolled in a diagnostic pilot study using the VOTI system. The patients were imaged during at high pressure cuff occlusion. RESULTS: The VOTI system was capable of quantifying the blood volume changes within the foot during the thigh cuff occlusion and outputting diagnostic parameters, such as change in hemoglobin concentration, enabling the assessment of foot perfusion. This study resulted in a statistically significant difference between the healthy cohort and both the non-diabetic and the diabetic PAD cohorts (p = .006, p = .006). Receiver operating characteristic (ROC) curve analysis showed that PAD diagnosis could be made with over 80% sensitivity or specificity depending on the characteristic cutoff point. In addition, VOTI was capable of providing the locations of under-perfused regions within the foot and evaluating the severity of arterial disease, even within diabetic patients with calcified arteries, who are traditionally difficult to diagnose. CONCLUSION: VOTI can effectively diagnose PAD independently of arterial compressibility, making it very useful for assessing vascular disease in diabetic patients.

Studies to control biofilm formation by coupling ultrasonication of natural waters and anodization of titanium.

The main objective of this study was to investigate the combined effect of ultrasonication of natural waters and anodization of titanium on microbial density and biofilm formation tendency on titanium surfaces. Application of 24 kHz, 400 W high power ultrasound through a 14 mm horn type SS (stainless steel) Sonicator with medium amplitude of 60% for 30 min brought about three order decrease in total bacterial density of laboratory tap water, cooling tower water and reservoir water and two order decrease in seawater. Studies on the effect of ultrasonication on dilute pure cultures of Gram-negative and Gram-positive bacteria showed five order and three order decrease for Pseudomonas sp. and Flavobacterium sp. respectively and two order and less than one order decrease for Bacillus sp. and Micrococcus sp. respectively. Ultrasonication increased lag phase and reduced logarithmic population increase and specific growth rate of Gram-negative bacteria whereas for Gram-positive bacteria specific growth rate increased. Studies on the biofilm formation tendency of these ultrasonicated mediums on titanium surface showed one order reduction under all conditions. Detailed biofilm imaging by advanced microscopic techniques like AFM, SEM and epifluorescence microscopy clearly visualized the lysed/damaged cells and membrane perforations due to ultrasonication. Combination of ultrasonication and anodization brought about maximum decrease in bacterial density and biofilm formation with greater than two order decrease in seawater, two order decrease in Bacillus sp. culture and more than four order decrease in Flavobacterium sp. culture establishing the synergistic effect of anodization and ultrasonication in this study.

Evaluation of the diagnostic value of immunocytochemistry and in situ hybridization in the pediatric leprosy.

Leprosy is characterized by a long and variable incubation period and a chronic clinical course. Diagnosis of leprosy is essentially based on clinical features. Although the majority of cases can be diagnosed clinically yet alternative methods for diagnosis are required especially for early cases. Immunocytochemistry and in situ hybridization can be a valuable tool for diagnosis for early cases. The present study is aimed to assess the diagnostic value of immunocytochemistry and in situ hybridization in cytological specimens and to compare these techniques with Z.N. staining. This prospective study was carried out in 26 patients below 18 years of age of leprosy. Clinical examination of each patient was done and categorized according to IAL. After taking consent, three skin smears was taken, one for Z.N. staining and remaining two for immunocytochemistry and in situ hybridization respectively. Routine skin smear examination by Z.N. staining method confirmed the diagnosis in 4/26 (15.83%) and these belonged to BB, BL category. Immunocytochemistry showed positivity in 10/15 (66.6%) in BT and 72.7% in BB/BL leprosy. Immunocytochemistry improved the diagnosis by 53.85%, and the results were statistically significant (p < 0.01). In situ hybridization showed the positive results in 80% cases of BT leprosy and 90.9% cases of BB/BL leprosy. In situ hybridization improved the diagnosis by 70% in comparison to ZN staining and the results were statistically significant (p < 0.01). This study supports that immunocytochemistry and in situ hybridization enhance the diagnosis of leprosy when compared to routine skin smears stained by Z.N staining. They are important diagnostictoolsfor definitive diagnosis in early as well as established cases of leprosy.

Effect of biofouling on anodized and sol-gel treated titanium surfaces: a comparative study.

Anodization and sol-gel treatments of titanium (Ti) were evaluated as biofilm control measures on surfaces exposed to seawater exposed to ultraviolet light. Anodized and sol-gel treated specimens were characterized using Raman spectroscopy to confirm the presence of TiO(2). The single anatase phase was observed at the anodized surfaces whereas the anatase/rutile mixed phase was detected on the sol-gel coated surfaces. After exposure of the specimens to seawater, biofilms were characterized by total viable counts, and epifluorescence and Raman microscopy. These techniques confirmed the reduction in biofilm formation on both the anodized and sol-gel coated Ti specimens compared to the untreated specimens. Biofilm control by anodization was found to be more effective than by sol-gel treatment of the specimens. The higher particle size and the inhomogeneity at the sol-gel coated surfaces produced less effective biofilm control.

Antibacterial copper-nickel bilayers and multilayer coatings by pulsed laser deposition on titanium.

Biofouling, especially microfouling, is a major concern with the use of titanium (Ti) in the marine environment as a condenser material in cooling water systems. Earlier, copper-nickel (Cu/Ni) alloys were extensively used in marine environments due to their high corrosion and biofouling resistance. However, the choice of condenser material for the new fast breeder reactor in Kalpakkam is Ti to avoid steam side corrosion problems, which may pose a threat to steam generator parts having sodium as the secondary coolant. This study evaluates the surface modification of Ti using nano films of copper (Cu) and nickel (Ni) to utilize the antibacterial property of copper ions in reducing microfouling. The surface modification of Ti was carried out by the deposition of a Cu/Ni bilayer and (Cu/Ni)(10) multilayer films using a pulsed laser deposition technique. Various surface characterization studies revealed that the deposited Cu/Ni films were thin and nanocrystalline in nature. The antibacterial properties were evaluated using total viable count and epifluorescence microscopic techniques. The results showed an apparent decrease in bacterial attachment on multilayered and bilayered Cu/Ni thin films on Ti surfaces. Comparative studies between the two types of films showed a bigger reduction in numbers of microorganisms on the multilayers.

Serological diagnosis of tuberculosis.

OBJECTIVE: To evaluate the efficacy of ELISA for the detection of IgG antibodies against antigen 85 complex (Ag 85 complex) of Mycobacterium tuberculosis. METHODS: Children of either sex, 0-18 years of age, attending the outpatient department and admitted in the casualty and wards of the Department of Pediatrics, S.N. Medical College, Agra, were included in present study. The study was carried out on children with pulmonary and CNS tuberculosis along with matching controls (83 cases and 32 controls). Informed consents of their parents or guardians were taken. They were subjected to clinical examination, relevant laboratory investigations, tuberculin test and chest radiograph. Relevant body fluids were subjected to bacteriological tests; ELISA was applied to serum samples for detection of IgG antibodies against antigen 85 complex (Ag85). The result of ELISA was compared with bacteriological tests [Ziehl Neelson (ZN) staining for acid-fast bacilli, culture on Lowenstein Jensen (LJ) medium and culture on BacT/Alert 3D system]. RESULTS: ELISA tests showed a significantly higher sensitivity (59.1%) as compared with LJ medium culture method (19.3%), BacT/Alert 3D system (24.1%) and ZN staining (16.9%) in all patients (p<0.001). Specificity of ELISA test was 71.9%. CONCLUSION: In view of the convenience, low cost and good sensitivity, ELISA tests have a promising future in the diagnosis of childhood tuberculosis.

Diagnostic potential of Ag85C in comparison to various secretory antigens for childhood tuberculosis.

Childhood tuberculosis is difficult to diagnose. A rapid, simple and relatively inexpensive diagnostic test will be crucial to future control efforts. Therefore, efficacy and diagnostic potential of different secretory antigens of Mycobacterium tuberculosis (CFP-10, Ag85complex, Ag85 A, B, C) and their combinations along with ESAT-6 in the detection of antibody profiles of childhood tuberculosis cases were evaluated using ELISA technique and reactivity was compared with the gold standards (smear, culture and IS6110 targeted PCR). In the present study, 88 fresh, untreated childhood tuberculosis (TB) cases, 17 children undergoing anti-tubercular therapy, 17 children having disease other than TB and 25 healthy children were included. ROC curve analysis was used to calculate the sensitivity and specificity of each antigen for antibody detection. Ag85C was found to be showing highest sensitivity of 89.77% and specificity of 92% among all the antigens used (P < 0.0001). Positivity with antigen was 95% in smear and culture negative patients. Antibody reactivity was noted in 92.62% of patients who were positive for IS6110 by PCR. Cocktail of all the antigens showed 67.1% sensitivity and 80% of specificity. Sensitivity of 29.55%, 57.95%, 64.77% and specificity of 80%, 72%, 64% was observed using CFP-10, Ag85complex and Ag85B. Low reactivity of 31.82% in patients and least specificity of 24% was noted with Ag85A. Our finding demonstrates the potential of Ag85C in the detection of antibody in childhood TB cases and this antigen showed good concordance with PCR positivity.

Biomineralisation of manganese on titanium surfaces exposed to seawater.

A 2-year long study was carried out to isolate and characterise various bacterial species present in the biofilm formed on titanium surfaces exposed to seawater and to assess the manganese oxidizing potential of the marine isolates. The amount of manganese present in the biofilm was also measured using atomic absorption spectrometry (AAS). The results showed that titanium was susceptible to biofouling. More than 50% of the culturable marine bacterial isolates were capable of bringing about oxidation of Mn(II). All these manganese oxidizing bacteria were heterotrophic. Autotrophic manganese oxidizing bacteria such as Leptothrix was not isolated in the present study. The AAS results confirmed that the manganese content in the biofilms increased with increasing exposure time. Hence, the study indicates that the titanium surfaces when exposed to seawater were colonised by a large number of heterotrophic bacteria, which have the ability of bringing about biomineralisation of manganese.

Serum beta-glucuronidase levels in children with leprosy.

A study was undertaken to find out the usefulness of determining the circulating levels of beta-glucuronidase, a lysosomal enzyme in leprosy affected children of less than 15 years of age. The serum enzyme levels were significantly higher in BB/BL patients compared to healthy control children as well as children with skin diseases other than leprosy. Treatment with Multidrug regimen advocated by WHO for multi/paucibacillary leprosy resulted in a significant fall in the serum enzyme levels in BB and BL cases. The findings suggest that serum beta-glucuronidase may be a useful parameter for the activity and extent of pathogenesis in leprosy.

Effect of therapy on serum zinc and copper in primary complex of children.

Tuberculosis is a global problem especially in children, more so because of the difficulty in the diagnosis of the disease. There are about 0.5 million deaths every year by this disease, worldwide. There are some reports that, during the disease, there are changes in serum concentrations of zinc and copper, which reach towards normal levels during treatment. Such data for children are scarce, especially in reference to India. Our study indicates that there is an insignificant to significant rise in serum zinc levels in various age groups of children after antitubercular therapy (mean 61.89 +/- 3.21 to 65.24 +/- 3.60 microg/dl) and significant fall in serum copper levels in different age groups of children (mean 129.96 +/- 3.18 to 124.91 +/- 3.48 microg/dl). The Cu/Zn ratio also changed significantly from 2.11 +/- 0.12 to 1.92 +/- 0.12. Because evaluation of available diagnostic criteria for primary complex in children has been found to have high sensitivity, and although this criterion is presently not recommended for diagnosis of primary complex of children, further research can prove its utility in diagnosis and treatment of this disease.

PCR and in-situ hybridization for diagnosis of leprosy.

OBJECTIVE: To assess the diagnostic value of Polymerase Chain Reaction (PCR) and in situ hybridization. METHODS: This prospective study was carried out in 22 patients RESULTS: The histopathological examination confirmed the clinical diagnosis in 27.2% cases only. In situ hybridization showed a positivity of 42.8% in early (I/BT) and 46.7% in BB/BL group. In situ hybridization thus enhanced the diagnosis by 18.1%. PCR targeting 36 kDa gene of M. leprae was performed on 15 cases. In these 15 cases, histopathology confirmed the diagnosis in 4 cases (26.6%) and PCR confirmed the diagnosis in 10 cases (66.6%), thus enhancing the diagnosis by 40%. CONCLUSION: 36 kDa PCR and in situ hybridization enhance the diagnosis of leprosy when compared to routine histopathology. They are important diagnostic tools for definitive diagnosis in early and doubtful cases of leprosy.

Endovascular treatment of false aneurysm of the thyrocervical trunk.

The thyrocervical trunk is the second superior branch off the subclavian artery. Pseudoaneurysm of the thyrocervical trunk has been reported after attempted internal jugular vein cannulation for central venous or hemodialysis access. The treatment of pseudoaneurysms of the thyrocervical trunk depends on the findings from color flow Doppler ultrasonography and angiography. Although pseudoaneurysms of the thyrocervical trunk are rare, the treatment options should be clear. Surgical ligation is an effective technique that is safe and well-defined, but control through a cervical incision may be difficult. Endovascular treatment of the pseudoaneurysm may be accomplished with coil embolization of the artery, which is described.

High bifurcation of brachial artery with acute arterial insufficiency: a case report.

The upper extremity arterial system shows a large number of variations in the adult human body. Most of these variations occur in either the radial or ulnar artery; brachial artery variations are less common. Because the upper extremity is a frequent site of injury and various surgical and invasive procedures are performed in this region, it is of utmost importance to be aware of arterial variations. We report a case of a high bifurcation of the brachial artery presenting with acute ischemia secondary to an embolic event. The anomaly was identified, and the ischemia was successfully resolved with embolectomy.

Diagnostic value of Elisa serological tests in childhood tuberculosis.

Two separate studies (study I and study II) were conducted to evaluate the efficacy of ELISA serological test for the detection of IgG antibodies against specific glycolipid antigen (PGLTb1) and ESAT 6 antigen of Mycobacterium tuberculosis, respectively. These results were compared with bacteriological tests [Ziehl Neelson (ZN) staining for acid-fast bacilli and culture on Lowenstein Jensen (LJ) medium] and polymerase chain reaction (PCR) targeting IS6110 sequence. Both studies were carried out on children with pulmonary, central nervous system, lymph node, and gastrointestinal tuberculosis along with matching controls (65 cases and 27 controls for study I and 83 cases and 22 controls for study II). Informed consents of their parents or guardians were taken. They were subjected to clinical examination, relevant laboratory investigations, tuberculin test and chest radiograph. Relevant body fluids were subjected to bacteriological tests and PCR. Sera samples were analyzed for antibodies against PGLTbl and ESAT 6 antigen in study I and study II, respectively. ELISA tests showed a significantly higher sensitivity (49% study I; 53%, study II) as compared with LJ medium culture method (15.4%, study I; 28.9% study II) and ZN staining (27.7%, study I; 20.5%, study II) in all patients (p < 0.05). The results were comparable with PCR (40%, study I; 42.2% study II). Specificity of ELISA test was 100% in all the patients except in those with pulmonary disease (92.8%, study I; 84.8%, study II). In view of the convenience, low cost and comparable sensitivity with PCR, these ELISA tests have a promising future in the diagnosis of childhood tuberculosis.

Analysis of gene probes and gene amplification techniques for diagnosis and monitoring of treatment in childhood leprosy.

Nucleic acid sequences of Mycobacterium leprae were detected using gene probes hybridizing with targeting ribosomal RNA (16S rRNA), ribosomal DNA (16S rDNA) and gene amplification techniques (PCR) in skin lesion of paediatric leprosy patients and the effect of treatment on the by these methods. Eighty paediatric leprosy patients were included in the study. Most cases (79%) were between 9 and 16 years of age. Cases were divided into three groups according to treatment status, viz. untreated (30), undergoing treatment (30), and at the end of treatment (20). Clinical and slit smear examination for acid fast bacilli (AFB) was performed and nucleic acids were extracted and fractionated from skin biopsies. M. leprae specific 16S rRNA and 16S rDNA was detected by hybridization with gene probes whereas the 36 kDa gene sequence was detected by a gene amplification assay (PCR). The cases were classified as paucibacillary (PB) and multibacillary (MB) by the standard criteria of WHO (1988). Positivity of 16S rRNA in PB cases decreased from 60% in untreated to 10.5% after 4-8 months of treatment whereas for 16S r DNA, it decreased from 50% to 21%, for PCR from 70% to 36.8% for the same specimen, and all became negative at 1 year. Similar trends were seen in MB cases where positivity in smear positive untreated cases decreased from 100% to 56.2% with 16S rRNA and 42.8% with 16S rDNA and PCR, respectively, after 9-12 months of treatment and all became negative at 2 years, except one case which remained positive with PCR. Similar results were observed in smear negative MB cases, 100% positivity detected by 16S r RNA and PCR, 75% detected by 16S rDNA decreased to zero after 9-12 months of therapy. This study suggests the potential usefulness of gene probes targeting 16S rRNA and 16S rDNA and PCR as supportive molecular tools for diagnosis of smear negative evolving MB disease and also monitoring the response to treatment, these observations however, needs to be validated in prospective follow up studies.