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Introduction of an environmentally optimized energy scenario for the future of Indian power industry
Mirza, Zuhaib Tayar,Abedi, Mehrdad Techno-Press 2020 Advances in energy research Vol.7 No.2
Coal has made a wonderful contribution to the production of cheap electricity. Coal based power plants have been the backbone of world's electricity for a long time now. Coal while being cheap and easily available is also a source of various solid, liquid and gaseous effluents which are responsible for the environmental degradation. Environmental issues caused by coal need to be studied and analyzed, then a common global consensus must be formed. Efficient action must be taken against each and every type of pollutant that is produced by this particular industry. The research aims to provide a brief overlook of the environmental impact of India's coal-based power plants. The aim of this study is to introduce a novel environmentally feasible energy scenario for the future of Indian power sector which has been named as "OPES". OPES is mathematically simulated using the combination of GAMS and LEAP. OPES is simple to comprehend and can be reproduced easily for other case studies as well. Results show that OPES can help the Indian power sector to minimize its environmental impact without causing any problems in the energy supply.
Motion planning for a planar mechanical system with dissipative forces
Ali, Ahmad,Yaqub, Sheraz,Usman, Muhammad,Zuhaib, Khalil M.,Khan, A. Manan,Lee, Ji-Yeong,Han, Chang-soo Elsevier 2018 Robotics and autonomous systems Vol.107 No.-
<P><B>Abstract</B></P> <P>In this paper, the geometric motion planning problem is addressed for an under-actuated mechanical system with dynamic non-holonomic constraints. Such constraints are the result of conservation of momentum that limits the mobility of the system in ambient space. However, dissipation forces due to interaction with the environment play a role enabling the system to move in constrained directions. Geometric mechanics tools are used to represent system dynamics in a structured form, which help better understand the motion planning problem. The geometric structure can be utilized to choose appropriate gaits intuitively by considering the properties of functions involved in the system dynamics. In a similar manner, dissipation forces also show the same type of geometric properties in terms of Stokes’ connection and Stokes’ Gamma functions. We can choose a gait intuitively without the need for integrating the system dynamics to generate motion in ambient space. We achieve this by exploiting the geometric properties of the friction model along with the natural dynamics of the system. By the proposed gait selection methodology, gaits are devised to move the system along a fiber direction. The simulation results are consistent with the results predicted by the proposed motion planning method. The proposed methodology is validated using experimental demonstration which also supports the simulation results. The proposed Stokes’ Height functions and Stokes’ Gamma functions can help to better understand the contribution of the dissipative forces and their anisotropy in motion of biological snakes and their robotic counterparts.</P>
Estimation of Desired Motion Intention and Compliance Control for Upper Limb Assist Exoskeleton
압둘 마난 칸,윤덕원,Khalil Muhammad Zuhaib,Junaid Iqbal,Rui-Jun Yan,Fatima Khan,한창수 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.2
In this paper, we have addressed two issues for upper limb assist exoskeleton. 1) Estimation of DesiredMotion Intention (DMI); 2) Robust compliance control. To estimate DMI, we have employed Extreme LearningMachine Algorithm. This algorithm is free from traditional Neural Network based problems such as local minima,selection of suitable parameters, slow convergence of adaptation law and over-fitting. These problems cause lot ofproblem in tuning the intelligent algorithm for the desired results. Furthermore, to track the estimated trajectory, wehave developed model reference based adaptive impedance control algorithm. This control algorithm is based onstable poles of desired impedance model, forcing the over all system to act as per desired impedance model. It alsoconsiders robot and human model uncertainties. To highlight the effectiveness of the proposed control algorithm, wehave compared it with simple impedance and target reference based impedance control algorithms. Experimentalevaluation is carried on seven degree of freedom upper limb assist exoskeleton. Results describe the effectiveness ofELM algorithm for DMI estimation and robust tracking of the estimated trajectory by the proposed model referenceadaptive impedance control law.
Huang, Yong,Tong, Dedi,Zhu, Shan,Wu, Lehao,Mao, Qi,Ibrahim, Zuhaib,Lee, W. P. Andrew,Brandacher, Gerald,Kang, Jin U. Williams & Wilkins 2015 Plastic and reconstructive surgery Vol.135 No.4
BACKGROUND:: Evolution in microsurgical techniques and tools has paved the way for supermicrosurgical anastomoses, with vessel diameters often approaching below 0.8 mm in the clinical realm and even smaller (0.2 to 0.3 mm) in murine models. Several imaging and monitoring devices have been introduced for postoperative monitoring, but intraoperative guidance, assessment, and predictability have remained limited to binocular optical microscopy and the surgeon’s experience. The authors present a high-resolution, real-time, three-dimensional imaging modality for intraoperative evaluation of luminal narrowing, thrombus formation, and flow alterations. METHODS:: An imaging modality that provides immediate, in-depth, high-resolution, three-dimensional structure view and flow information of the anastomosed site, called phase-resolved Doppler optical coherence tomography, was developed. Twenty-two mouse femoral artery anastomoses and 17 mouse venous anastomoses were performed and evaluated. Flow status, vessel inner lumen three-dimensional structure, and early thrombus detection were analyzed based on imaging results. Predictions formed correlated with actual long-term surgical outcomes. Eventually, four cases of mouse orthotopic limb transplantation were carried out, and predicted long-term patency based on imaging results was confirmed by actual results. RESULTS:: The assessments based on high-resolution three-dimensional visualization of the vessel flow status and inner lumen provided by phase-resolved Doppler optical coherence tomography show 92 percent sensitivity and 90 percent specificity for arterial anastomoses and 90 percent sensitivity and 86 percent specificity for venous anastomoses. CONCLUSIONS:: Phase-resolved Doppler optical coherence tomography is an effective evaluation tool for microvascular anastomosis. It can predict the long-term vessel patency with high sensitivity and specificity.
Passivity Based Adaptive Control for Upper Extremity Assist Exoskeleton
한창수,압둘 마난 칸,윤덕원,Mian Ashfaq Ali,Khalil Muhammad Zuhaib,원조,Junaid Iqbal,신규식 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.1
Upper limb assist exoskeleton robot requires quantitative techniques to assess human motor function andgenerate command signal for robots to act in compliance with human motion. To asses human motor function,we present Desired Motion Intention (DMI) estimation algorithm using Muscle Circumference Sensor (MCS) andload cells. Here, MCS measures human elbow joint torque using human arm kinematics, biceps/triceps musclemodel and physiological cross sectional area of these muscles whereas load cells play a compensatory role for thetorque generated by shoulder muscles as these cells measure desire of shoulder muscles to move the arm and notthe internal activity of shoulder muscles. Furthermore, damped least square algorithm is used to estimate DesiredMotion Intention (DMI) from these torques. To track this estimated DMI, we have used passivity based adaptivecontrol algorithm. This control techniques is particular useful to adapt modeling error of assist exoskeleton robotfor different subjects. Proposed methodology is experimentally evaluated on seven degree of freedom upper limbassist exoskeleton. Results show that DMI is well estimated and tracked for assistance by the proposed controlalgorithm.
Mian Ashfaq Ali,김창준,김상호,Abdul Manan Khan,Junaid Iqbal,Mohammad Zuhaib Khalil,임동환,한창수 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.2
This article proposes an automatic longitudinal deceleration based method for multi-wheel vehiclerollover safety in autonomous mode. The information of lateral acceleration and vehicle roll angle is used togenerate the longitudinal acceleration at which the vehicle will remain stable to rollover. The lateral and roll dynamicsare coupled with longitudinal dynamics using a potential field function for lateral acceleration. This virtualpotential field is developed on g-g diagram which represents vehicle portrait of lateral and longitudinal accelerationon abscissa and ordinate respectively. The motion of vehicle is represented by a point moving on this phase portraitof g-g diagram. TruckSim model of multi-wheel military vehicle with in-wheel motors is used with this algorithmwhich shows that the vehicle is less susceptible to rollover. The safe longitudinal acceleration is achieved by torquecontrol of in-wheel motors fitted in each wheel. Using this method, the vehicle followed the desired trajectory ashigher speeds which are safe. This is particularly useful for vehicle autonomous driving with rollover stability.
Muteeb Ghazala,Alshoaibi Adil,Aatif Mohammad,Rehman Md. Tabish,Qayyum M. Zuhaib 한국응용생명화학회 2020 Applied Biological Chemistry (Appl Biol Chem) Vol.63 No.6
The recent dissemination of SARS-CoV-2 from Wuhan city to all over the world has created a pandemic. COVID-19 has cost many human lives and created an enormous economic burden. Although many drugs/vaccines are in different stages of clinical trials, still none is clinically available. We have screened a marine seaweed database (1110 compounds) against 3CLpro of SARS-CoV-2 using computational approaches. High throughput virtual screening was performed on compounds, and 86 of them with docking score< −5.000 kcal mol−1 were subjected to standardprecision docking. Based on binding energies (<−6.000 kcal mol−1 ), 9 compounds were further shortlisted and subjected to extra-precision docking. Free energy calculation by Prime-MM/GBSA suggested RC002, GA004, and GA006 as the most potent inhibitors of 3CLpro. An analysis of ADMET (Absorption, Distribution, Metabolism, Excretion, and Toxicity) properties of RC002, GA004, and GA006 indicated that only RC002 (callophysin A, from red alga Callophycus oppositifolius) passed Lipinski’s, Veber’s, PAINS and Brenk’s flters and displayed drug-like and lead-like properties. Analysis of 3CLpro-callophysin A complex revealed the involvement of salt bridge, hydrogen bonds, and hydrophobic interactions. callophysin A interacted with the catalytic residues (His41 and Cys145) of 3CLpro; hence it may act as a mechanism-based competitive inhibitor. Docking energy and docking afnity of callophysin A towards 3CLpro was −8.776 kcal mol−1 and 2.73×106 M−1 , respectively. Molecular dynamics simulation confrmed the stability of the 3CLpro-callophysin A complex. The fndings of this study may serve as the basis for further validation by in vitro and in vivo studies.