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- 저자 : Samarth Singh (검색결과 5 건)
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Neuro-evolutionary based controller design for linear and non-linear systems
Samarth Singh,Kaushal Kishore,S A Akbar 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
In the present work a Neuro-Evolution based approach has been used to train a neural network for control of some sample systems. This method makes use of Genetic algorithm, here it is generating a population of neural networks and introduces mutation for producing better off-springs for the next generation. The approach is kind of black box optimization and do not require any back propagation for training. It makes use of fitness function to evaluate performance of off-springs, this fitness function is based on a novel reward function which allows for quick and smooth settling of the sample system towards set point. In order to address dynamics of the system’s time sequenced error has been taken as exogenous input for the neural network. The method has been tested on a linear first order system and a system having non linearity.
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Manmeet Singh,Samarth Agarwal,Apul Goel,Manoj Kumar,Ashish Sharma,Siddharth Pandey,Satynarayan Sankhwar 대한비뇨의학회 2019 Investigative and Clinical Urology Vol.60 No.3
Purpose: We report the results and experience of a tertiary care center in laparoscopic transperitoneal heminephrectomy for the treatment of a non-functioning upper pole moiety of duplex kidney in adults. Materials and Methods: The key point of the technique included the placement of a 6-Fr ureteric catheter in the healthy ureter at the beginning of the procedure under fluoroscopic guidance cystoscopically. A standard laparoscopic 3- to 4-port placement was done after placing the patient in a 45 to 90 degrees lateral decubitus position. The upper pole was mobilized transperitoneally and transected using a harmonic scalpel. Results: A total of 17 patients aged 19 to 44 years underwent laparoscopic upper pole heminephrectomy. All patients had a complete duplicated renal collecting system on the ipsilateral side. Three patients were found to have ureterocele. The average blood loss was minimal (50–150 mL) with a mean of 95 ml. None of the patients required any blood transfusions. The mean operative time was 220 minutes (range, 160–315 minutes). The average length of hospital stay was 3 days (range, 2–4 days). Only 2 patients had Clavien-Dindo grade 3a complications, which were managed by double J stenting and percutaneous aspiration, respectively. Conclusions: Laparoscopic heminephrectomy is playing a cornerstone role in the treatment of the non-functioning moiety of duplex kidneys. The procedure is safe, efficient and offers the typical preoperative and postoperative benefits of laparoscopic surgery. The rate of complications in adults is acceptable and is similar to that reported in pediatric patients.
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Ram Yadav,Samarth Agarwal,Satyanarayan Sankhwar,Apul Goel,Manoj Kumar,Manmeet Singh,Ruchir Aeron,Vikas Kumar 대한비뇨의학회 2019 Investigative and Clinical Urology Vol.60 No.1
Purpose: A prospective study evaluating impact of percutaneous nephrolithotomy (PCNL) on renal function following PCNL using ethylenedicysteine (EC) renal scan. Does multiplicity of access tracts play a role?Materials and Methods: A prospective observational study was done and patients undergoing PCNL for renal calculi at our urology department were selected. Renal Tc99m EC scan was done pre-surgery and at 3 months follow-up. An assessment was done on decline in glomerular filtration rate (GFR) in postoperative period based on number of access tracts required. Results: A total of 110 patients were enrolled in the study. The total number of punctures was 170 with 141 being supra-costal puncture and 29 infra-costal. The total number of single punctures were 60 and classified as Group I whereas patients with double puncture and triple puncture (40 and 10 patients, respectively) were classified as Group II. Mean postoperative split renal function (in Tc99m EC scans) of patients of Group I (40.93±19.62%) was found to be higher than that of Group II (32.82±16.98%). Mean change (decline) in GFR for single, double and triple tracts were 2.68 mL/min, 3.80 mL/min, and 4.2 mL/min, respectively. Conclusions: PCNL used for stone removal can improve renal function by eradicating obstruction; however, this procedure may itself negatively impact the functions of the targeted kidney. Our study showed post PCNL decrease in GFR which worsens with an increasing number of accesses.
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Heuristic Guided Artificial Potential Field for Avoidance of Small Obstacles
Sagar Dalai,Mahammad Irfan,Samarth Singh,Kaushal Kishore,Dr. S.A Akbar 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
In this paper, a modified heuristic guided Artificial Potential Field (APF) based algorithm has been proposed to find a practical trajectory for an Autonomous Unmanned Aerial Vehicle (UAV) path planning. The local minima are encountered in the conventional APF algorithm due to the cancellation of attractive and repulsive potential while avoiding unknown obstacles within the desired path, which results in the trapping of the agent before reaching the goal. Consequently, the traditional APF technique is therefore no longer advantageous in such cases. So in this proposed perpendicular approach based on APF helps to avoid such local minima. The advantage of the newly proposed method is the low computing time that lines up with the standard global path planner method. The proposed algorithm is tested and validated against existing general potential field techniques for different simulation scenarios in a 3D simulated environment using ROS and Gazebo supported PX4-SITL. The results have been presented for drone navigation and obstacle avoidance for the different scenarios in a simulated environment.
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Siddharth Pandey,Deepanshu Sharma,Satyanarayan Sankhwar,Manmeet Singh,Gaurav Garg,Ajay Aggarwal,Ashish Sharma,Samarth Agarwal 대한비뇨의학회 2018 Investigative and Clinical Urology Vol.59 No.6
Purpose: To compare patients with sepsis due to obstructive urolithiasis (Sep-OU) and underwent drainage by percutaneous nephrostomy (PCN) or a double-J (DJ)-ureteral stent and to identify predictive risk factors of DJ stent failure in these patients. Materials and Methods: We reviewed our records from January 2013 to July 2018 and identified 286 adult patients with Sep-OU out of which 36 had bilateral involvement, thus total 322 renal units were studied. Urologic residents in training carried out both ureteral stenting and PCN tube placement. Demographic data and stone characteristics were recorded along with Charlson comorbidity index. For predicting risk factors of DJ stent failure, those variables that had a p-value <0.1 in univariate analysis were combined in a multinomial regression analysis model. Results: The patients with PCN placement were significantly older than those with DJ stent placement (p=0.001) and also had significant number of units with multiple calculi (p=0.018). PCN was also placed more frequently in those patients with a upper ureteric calculi (p<0.05). On multinomial regression analysis multiple calculi (p=0.014; odds ratio [OR], 4.878; 95% confidence interval [CI], 1.377–17.276) and larger calculi size (p=0.040; OR, 0.974; 95% CI, 0.950–0.999) were the significant predictors of DJ stent failure. Conclusions: In patients with sepsis from obstructive urolithiasis due to larger and multiple calculi a PCN placement might be better suited although this data requires further prospective randomized studies to be extrapolated.
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