Intelligent control of robotic manipulators: a comprehensive review

Devendra Rawat,Mukul Kumar Gupta,Abhinav Sharma 대한공간정보학회 2023 Spatial Information Research Vol.31 No.3

Technological advancements in robotics significantly impact the design of robotic manipulators and their control. Manipulators find applications in electrical, mechanical, and process industries to reduce labor and improve accuracy. Controlling manipulators is challenging because of their complex dynamics and nonlinear properties. Researchers are exploring many ways to implement the effective control method, including classical and modern techniques. In all the applications, robotic manipulators interact with the real world. Therefore, they require an understanding of input–output relations, which raises the need for intelligent control methods. The revolutionized growth in artificial intelligence has significantly influenced robotic manipulators' control. This paper presents a detailed review of intelligent control techniques implemented on robotic manipulator systems. These intelligent control methods include artificial neural networks, fuzzy logic control, expert systems, metaheuristic algorithm, machine learning control, etc. These intelligent methods for robotic manipulators have gained more attention because they emulate human intelligence, which finds application in diverse fields of science and engineering. In this paper, authors have investigated and compared metaheuristic algorithm and their application in robotic manipulators.

ON RELATIONS FOR QUOTIENT MOMENTS OF THE GENERALIZED PARETO DISTRIBUTION BASED ON RECORD VALUES AND A CHARACTERIZATION

Devendra Kumar 한국전산응용수학회 2013 Journal of applied mathematics & informatics Vol.31 No.3

Generalized Pareto distributions play an important role in reliability, extreme value theory, and other branches of applied probability and statistics. This family of distribution includes exponential distribution, Pareto distribution, and Power distribution. In this paper we establish some recurrences relations satisfied by the quotient moments of the upper record values from the generalized Pareto distribution. Further a characterization of this distribution based on recurrence relations of quotient moments of record values is presented.

MOMENTS OF LOWER GENERALIZED ORDER STATISTICS FROM DOUBLY TRUNCATED CONTINUOUS DISTRIBUTIONS AND A CHARACRERIZATIONS

Devendra Kumar 충청수학회 2013 충청수학회지 Vol.26 No.3

In this paper, we derive recurrence relations for moments of lower generalized order statistics within a class of doubly truncated distributions. Inverse Weibull, exponentiated Weibull,power function, exponentiated Pareto, exponentiated gamma, generalized exponential, exponentiated log-logistic, generalized inverse Weibull, extended type I generalized logistic, logistic and Gumble distributions are given as illustrative examples. Further, recurrence relations for moments of order statistics and lower record values are obtained as special cases of the lower generalized order statistics,also two theorems for characterizing the general form of distribution based on single moments of lower generalized order statistics are given.

RELATIONS OF DAGUM DISTRIBUTION BASED ON DUAL GENERALIZED ORDER STATISTICS

Devendra Kumar 한국전산응용수학회 2017 Journal of applied mathematics & informatics Vol.35 No.5

The dual generalized order statistics is a unified model which contains the well known decreasingly ordered random variables like order statistics and lower record values. With this definition we give simple expressions for single and product moments of dual generalized order statistics from Dagum distribution. The results for order statistics and lower records are deduced from the relations derived and some computational works are also carried out. Further, a characterizing result of this distribution on using the conditional moment of the dual generalized order statistics is discussed. These recurrence relations enable computation of the means, variances and covariances of all order statistics for all sample sizes in a simple and efficient manner. By using these relations, we tabulate the means, variances, skewness and kurtosis of order statistics and record values of the Dagum distribution.

Energy, exergy and enviroeconomic analysis of modified multi-wick basin type inverted absorber solar still

Devendra Singh,Ajay Kumar Sharma 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.2

Energy, exergy and enviroeconomic are some of the most important aspects of the solar still device that should be taken into account. According to productivity, energy, exergy and enviroeconomic approaches, the behavior of a modified multi-wick basin type inverted absorber solar still (MMWBIASS) is analyzed and assessed by installing ten hanging wicks at varied depths of saline water in the basin. This study suggested a technique for increasing the productivity of a solar still by introducing hanging black cotton and jute wicks to provide a constant supply of water in the wicks' strap layer. Experiments have been conducted on MMWBIASS with a basin area of 1 m 2 at Mathura, Uttar Pradesh, India, under different weather conditions. Results showed that the annual prices per kilogram of distilled yield were Rs. 0.91 (0.012 US$) and Rs. 1.03 (0.013 US$), and the development method reduced CO 2 emission by 42.99 and 37.08 tons, respectively, for black cotton and jute wicks.

QUOTIENT MOMENTS OF THE ERLANG-TRUNCATED EXPONENTIAL DISTRIBUTION BASED ON RECORD VALUES AND A CHARACTERIZATION

Devendra Kumar 한국전산응용수학회 2014 Journal of applied mathematics & informatics Vol.32 No.1

Erlang-truncated exponential distribution is widely used in the field of queuing system and stochastic processes. This family of distribution include exponential distribution. In this paper we establish some exact expression and recurrence relations satisfied by the quotient moments and conditional quotient moments of the upper record values from the Erlang-truncated exponential distribution. Further a characterization of this distribution based on recurrence relations of quotient moments of record values is presented.

Retrieval of Distally Migrated Coils with Detachable Intracranial Stent during Coil Embolization of Cerebral Aneurysm

Devendra Pal Singh,Soon Chan Kwon,Lijin Huang,Won Joo Lee 대한뇌혈관외과학회 2016 Journal of Cerebrovascular and Endovascular Neuros Vol.18 No.1

Migration of coils during endovascular procedures is a rare, but well-known complication. We are reporting two cases of successfully retrieving migrated coil using detachable intracranial stent. In both of our cases there was distal migration of coil during the intracranial aneurysm coiling procedure. The Solitaire® AB stent (Covidien, Irvine, CA, USA) was used to retrieve those coils. The stent was passed distal to the migrated coil using standard technique. It was then partially deployed and gradually withdrawn along with the entangled coil. Coil retrieval using the fully retrievable intracranial stent is a very simple, safe and easily available alternative for retrieval of distally migrated coil.

Food-Feed Systems in Asia - Review -

Devendra, C.,Sevilla, C.,Pezo, D. Asian Australasian Association of Animal Productio 2001 Animal Bioscience Vol.14 No.5

This review paper discusses the relevance and potential importance of food-feed systems in Asian agricultural systems, and in particular the role and contribution of legumes to these systems. A food-feed system is one that maintains, if not increases, the yield of food crops, sustains soil fertility, and provides dietary nutrients for animals. It involves a cropping pattern within which the feed crop has many beneficial effects without competing for land, soil nutrients and water with the food crops. The agricultural environment is described with reference to the priority agro-ecological zones and prevailing mixed farming systems in Asia. Within these systems, animal production is severely hampered by critical feed shortages which can however, be alleviated by the integration of suitable leguminous forages into the cropping systems. The review also focuses on the role and potential importance of leguminous forages in terms of biodiversity, their uses in farming systems, beneficial effects on animal performance, and draws attention to six case studies in different countries that clearly demonstrate many benefits of developing such food-feed systems. Considerable opportunities exist for widening the use of forage legumes in the development of systems with several complementary advantages (e.g. fenceline, cover crops, fodder banks, forage source and erosion control) to improve the development of sustainable crop-animal systems in Asia.

Crop-Animal Production Systems in Tropical Regions - Review -

Devendra, C. Asian Australasian Association of Animal Productio 2000 Animal Bioscience Vol.13 No.2

Crop-animal systems which form the backbone of agriculture in the tropics are discussed with reference to their characteristics, economic importance of animals, genesis and types of crop-animal systems, relevance and potential importance, and priorities for research and development. These production systems are found across all agroecological zones: rain-fed temperate and highland systems, semi-arid and arid tropics, and sub-humid and humid tropics: the last four are priority areas in Asia. The potential importance of these systems in Asia is reflected in their advantages, synergism and complimentarity, economic benefits and contribution to sustainability. Illustrative case studies are cited which are appropriate to the two broad types of mixed farming systems: systems combining animals and annual cropping, and systems combining animals with perennial cropping with reference to Indonesia, Philippines, Malaysia, Sri Lanka, China and Nigeria. Priorities for research and development should address more complete use of the animal genetic resources, intensive utilisation of the feed resources, development-oriented utilisation of research results, minimizing animal diseases, and implementation of appropriate institutional and policy issues.

Smallholder Dairy Production Systems in Developing Countries : Characteristics, Potential and Opportunities for Improvement - Review -

Devendra, C. Asian Australasian Association of Animal Productio 2001 Animal Bioscience Vol.14 No.1

Smallholder dairy production systems in developing countries are discussed with reference to type of systems, their characteristics, potential, and opportunities for improvement. Three types of dairy systems are identified and described: smallholder systems, smallholder cooperative dairy production systems, and intensive dairy production systems. The first two systems are by far the most important, and are associated with increasing intensification. Buffaloes are especially important in South Asia, but elsewhere dairy production mainly involves Holstein-Friesian cross-bred cattle. Dairy goats are important in some countries, but are generally neglected in development programmes. The expansion and intensification of smallholder dairy production is fueled by increased demand for milk with associated problems of milk handling and distribution, hygiene and environmental pollution. The major constraints to production are inter alia, choice of species, breeds and availability of animals; feed resources and improved feeding systems; improved breeding, reproduction, and animal health care; management of animal manure, and organised marketing, and market outlets. These constraints provide major opportunities and challenges for research and development to increase dairy production, efficient management of natural resources, and improved livelihoods of poor farmers. Specific areas for research are identified, as also the need of a holistic focus involving interdisciplinary research and integrated natural resource management, in a shared partnership between farmers and scientists that can demonstrate increased productivity and sustainable production systems. Suggestions for performance indicators in smallholder dairy production systems are indicated.