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Epersist: A Two-Wheeled Self Balancing Robot Using PID Controller And Deep Reinforcement Learning
Ghanta Sai Krishna,Dyavat Sumith,Garika Akshay 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
A two-wheeled self-balancing robot is an example of an inverse pendulum and is an inherently non-linear, unstable system. The fundamental concept of the proposed framework Epersist is to overcome the challenge of counterbalancing an initially unstable system by delivering robust control mechanisms, Proportional Integral Derivative (PID), and Reinforcement Learning (RL). Moreover, the micro-controller NodeMCU ESP32 and inertial sensor in the Epersist employ fewer computational procedures to give accurate instruction regarding the spin of wheels to the motor driver, which helps control the wheels and balance the robot. This framework also consists of the mathematical model of the PID controller and a novel self-trained advantage actor-critic algorithm as the RL agent. After several experiments, control variable calibrations are made as the benchmark values to attain the angle of static equilibrium. This Epersist framework proposes PID and RL-assisted functional prototypes and simulations for better utility.
Teegala, Ramesh,Rajesh, K. Ghanta,Raviprasad, V. Yerramsetty,Chennappa, Yemba The Korean Neurosurgical Society 2014 Journal of Korean neurosurgical society Vol.55 No.3
Neurocysticercosis is the commonest parasitic disease of the human central nervous system. The incidence of intra ventricular form of neurocysticercosis (NCC) is less common accounting 10-20% that of total central nerve system cysticercosis. Intra ventricular NCC is complicated due, to its high incidence of acute hydrocephalus caused by ball valve mechanism. The only reliable tool for diagnosis of NCC is by neuroimaging with CT or MRI. MRI preferred over CT because of its high specificity and sensitivity. In emergency situations like acute hydrocephalus one can proceed with emergency endoscopic surgery. Through the endoscopic view, intra ventricular NCC (IVNCC) has distinguished morphological features like the full moon sign. This feature not only helps in identification of IVNCC, but also guides in further endoscopic treatment strategy. Authors report two cases of 3rd ventricular NCC with acute hydrocephalus managed with emergency endoscopy. Authors have discussed the clinical features, intra operative endoscopic findings and role of endoscopy in emergency surgery for NCC with acute hydrocephalus.
Association of hypercoagulation with severe acute respiratory syndrome coronavirus 2 infection
Poojith Nuthalapati,Mohan Krishna Ghanta,Nagabhishek Sirpu Natesh,Bhaskar L.V.K.S. 대한혈액학회 2021 Blood Research Vol.56 No.2
The coronavirus disease 2019 (COVID-19) pandemic has emerged as a major threat to all healthcare systems across the globe, and it was declared a public health emergency of international concern by the World Health Organization (WHO). The novel coronavirus affects the respiratory system, producing symptoms such as fever, cough, dyspnea, and pneumonia. The association between COVID-19 and coagulation has been previously reported. Due to several inflammatory changes that occur in severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) infections such as alterations in the levels of clotting factors, platelet activation leads to thrombus formation in coronary and cerebral vessels, leading to myocardial infarction and cerebrovascular accidents, respectively. Unfortunately, the progression of hypercoagulability in COVID-19 is rapid in patients with and without comorbidities. Hence, the proper monitoring of thrombotic complications in patients with COVID-19 is essential to avoid further complications. The implementation of guidelines for antithrombotic treatments based on the presentation of the disease is recommended. This review discusses the symptoms and mechanisms of upregulated coagulation in patients with COVID-19.
Arifullah Mohammeda,Kishore K. Chiruvella,Rama Gopal Ghanta 한국작물학회 2016 Journal of crop science and biotechnology Vol.19 No.3
In the present study, in vitro propagation of tribal endemic medicinal plant, Andrographis lineata has been established using mature nodal explants. High frequency of regeneration (91.4%) was achieved on MS medium containing BA (3.0 mg L–1) along with IAA (0.2 mg L–1). Strikingly, irrespective of the season and collection period, we observed axillary flower induction and fruit formation from the above in vitro cultures supplemented with BA and NAA. Transition from the vegetative to the reproductive phase occurred within 2 months of culture, and importantly was influenced by factors such as sucrose and cytokinins. In vitro-regenerated flowers were morphologically identical to in vivo flowers. Furthermore, our scanning electron microscopic studies revealed that pollen external morphology of both in vitro and in vivo flowers were similar. The flowers self-fertilized and produced fruits in vitro. Elongated shoots rooted well on half-strength MS basal medium, and were successfully acclimatized to the garden conditions. Altogether, our established protocol can be utilized in plant breeding for the purpose of ex situ conservation, quick flowering, and fruit set.
Sandip Kumar Lahiri,Kartik Chandra Ghanta 한국화학공학회 2009 Korean Journal of Chemical Engineering Vol.26 No.5
This paper describes a robust support vector regression (SVR) methodology that offers superior performance for important process engineering problems. The method incorporates hybrid support vector regression and differential evolution technique (SVR-DE) for efficient tuning of SVR meta parameters. The algorithm has been applied for prediction of pressure drop of solid liquid slurry flow. A comparison with selected correlations in the literature showed that the developed SVR correlation noticeably improved prediction of pressure drop over a wide range of operating conditions, physical properties, and pipe diameters.
Srividhya, Akkareddy,Vemireddy, Lakshminarayana R.,Sridhar, Sakile,Jayaprada, Mndduluru,Ramanarao, Puram V.,Hariprasad, Arremsetty S.,Reddy, Hariprasad K.,Anuradha, Ghanta,Siddiq, Ebrahimali 한국작물학회 2011 Journal of crop science and biotechnology Vol.14 No.1
Moisture stress is the major constraint to rice production and its stability in rainfed, mainly irrigated, and aerobic environments. Identification of genomic regions conferring tolerance to stress would improve our understanding of the genetics of stress response and result in the development of drought tolerant cultivars. In the present study, quantitative trait loci for drought response related traits and as well as grain yield were identified using a set of 140 recombinant inbred lines derived from a cross between the popular high-yielding variety, IR64 and the landrace, INRC10192. A total of 36 QTL were identified for grain yield and its components under control and stress conditions. Strikingly, a QTL cluster flanked by the markers RM38 and RM331 on chromosome 8 was found to be associated with grain yield, plant height, no. of productive tillers, chaffy grains, and spikelet fertility on secondary rachis and biomass under stress treatment. The genomic regions associated with these QTL under drought stress will be useful for the development of marker-based breeding for drought tolerant, high-yielding varieties suited to drought-prone areas.
Akkareddy Srividhya,Lakshminarayana R Vemireddy,Sakile Sridhar,Mudduluru Jayaprada,Puram V Ramanarao,Arremsetty S Hariprasad,Hariprasad K Reddy,Ghanta Anuradha,Ebrahimali Siddiq 한국작물학회 2011 Journal of crop science and biotechnology Vol.14 No.1
Moisture stress is the major constraint to rice production and its stability in rainfed, mainly irrigated, and aerobic environments. Identification of genomic regions conferring tolerance to stress would improve our understanding of the genetics of stress response and result in the development of drought tolerant cultivars. In the present study, quantitative trait loci for drought response related traits and as well as grain yield were identified using a set of 140 recombinant inbred lines derived from a cross between the popular high-yielding variety, IR64 and the landrace, INRC10192. A total of 36 QTL were identified for grain yield and its components under control and stress conditions. Strikingly, a QTL cluster flanked by the markers RM38 and RM331 on chromosome 8 was found to be associated with grain yield, plant height, no. of productive tillers, chaffy grains, and spikelet fertility on secondary rachis and biomass under stress treatment. The genomic regions associated with these QTL under drought stress will be useful for the development of marker-based breeding for drought tolerant, high-yielding varieties suited to drought-prone areas.