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.

Self-reported Wheat Sensitivity in Irritable Bowel Syndrome and Healthy Subjects: Prevalence of Celiac Markers and Response to Wheat-free Diet

( Pavan Dhoble ),( Philip Abraham ),( Devendra Desai ),( Anand Joshi ),( Tarun Gupta ),( Shachish Doctor ),( Anand Deshpande ),( Rajeshwari Basavanna ) 대한소화기기능성질환·운동학회 2021 Journal of Neurogastroenterology and Motility (JNM Vol.27 No.4

Background/Aims Most patients with irritable bowel syndrome (IBS) report food-related aggravation of symptoms. Wheat/gluten is one of the most commonly incriminated. We studied the prevalence of self-reported wheat sensitivity in patients with IBS and in a healthy population from a region in India consuming mixed-cereal diets, correlated it with serological and human leukocyte antigen (HLA) markers of celiac disease, and evaluated the response to a wheat-free diet. Methods We surveyed 204 patients with IBS and 400 healthy persons for self-reported wheat sensitivity. Testing for IgA anti-tissue transglutaminase and HLA DQ2 or DQ8 was done in individuals who reported wheat sensitivity. Consenting persons with wheat sensitivity were put on wheat-free diet and monitored for symptom change. Results Twenty-three of 204 patients with IBS (11.3%) and none of the healthy subjects self-reported wheat sensitivity. Of 23 patients, 14 (60.9%) were positive for HLA DQ2 or DQ8 and none for anti-tissue transglutaminase antibody. After 6 weeks on wheat-free diet, all 19 participating patients reported clinical improvement; fewer patients had bloating, diarrhea, constipation, and easy fatigue. Conclusions Eleven percent of patients with IBS self-reported wheat sensitivity. None of them had positive celiac serology; 60.9% were positive for HLA DQ2 and DQ8, suggesting a possible genetic basis. All of them improved symptomatically on a wheat-free diet. (J Neurogastroenterol Motil 2021;27:596-601)

Comparison of Radiological and Clinical Outcomes between Expandable and Non-expandable Cages Following Cervical Corpectomy: A Systematic Review and Meta-analysis

Das Anand Kumar,Purohit Devendra Kumar,Gupta Ajay,Kataria Rashim 대한척추외과학회 2023 Asian Spine Journal Vol.17 No.3

Anterior cervical corpectomy and fusion is considered the mainstay of surgical treatment in cervical pathology. Expandable and nonexpandable cages are preferred over autogenous bone graft because of donor-related morbidity. However, the choice of the cage type remains a debatable topic as studies report conflicting results. Thus, we evaluated the outcomes of expandable and non-expandable cages following cervical corpectomy. Studies were searched in various electronic databases (MEDLINE, PubMed, EMBASE, CINAHL, Scopus, and Cochrane) between 2011 and 2021. Forest plot was made to compare the radiological and clinical outcomes between expandable and non-expandable cages following cervical corpectomy. Altogether, 26 studies (1,170 patients) were included in the metaanalysis. The mean change in segmental angle was significantly greater in the expandable cage group than in the non-expandable cage group (6.7° vs. 3.0°, <i>p</i> <0.001). The mean subsidence rate was lower in the expandable cage group (6% vs. 41%, <i>p</i> <0.001). The mean fusion rate was lower (93% vs. 98%, <i>p</i> =0.06) and the mean displacement rate was significantly higher in the expandable cage group (29% vs. 5%, <i>p</i> <0.05). The mean reoperation rate was higher in the expandable cage group (16% vs. 2%, <i>p</i> >0.05). The improvement in segmental angle is better with expandable cages. Higher subsidence is a major problem with non-expandable cages, but it seems to be beneficial as evidenced by the high fusion rate and minimal effect on clinical outcome in patients with this cage.

Bromelain-loaded polyvinyl alcohol–activated charcoal-based film for wound dressing applications

Yugesh Ramdhun,Mohanta Monalisha,Thirugnanam Arunachalam,Ritvesh Gupta,Devendra Verma 한국고분자학회 2023 Macromolecular Research Vol.31 No.5

The present research focuses on bromelain-loaded polyvinyl alcohol (PVA)–activated charcoal (AC) film with desired mechanical strength and biocompatible properties for wound dressing application. The developed films were investigated physicochemically, mechanically, and biologically. The drug release studies were performed in a phosphate-buffered solution (pH 7.4). The homogenous dispersion of bromelain in the PVA–AC film and their morphology were analyzed through field emission scanning electron micrograph, Fourier transform infrared spectrometry, and Raman spectroscopy. The decrease in the hydroxyl group peak intensity suggests the excellent miscibility of bromelain in the PVA–AC matrix. The medium-range viscosities of PVA-based films revealed formulation stability. It was also observed that the wettability of the films was reduced with the addition of bromelain and AC. It is due to the interaction between the hydroxyl groups of PVA and bromelain, which leaves all of the hydrophobic bromelain groups unbounded and exposed to the surface. Further, the tensile strength of developed films was enhanced by 19% with the AC reinforcement. The swelling rate, degradation, and water vapor transmission rate were decreased with the incorporation of AC and bromelain. The films were slightly hemolytic (less than 3% hemolysis) and showed moderate protein adsorption. The in vitro drug release studies demonstrated a consistent release of bromelain for 48 h. The bromelain-loaded PVA–AC exhibits good antibacterial against S. aureus and reasonable cell viability with L929 cells. Further, a scratch assay showed 99.4% wound closure after 24 h bromelain-loaded PVA–AC films. Therefore, the developed films can be a potent candidate for wound healing applications.

Impregnated Active Carbon-Shelf Life Studies and Its Evaluation Against Cyanogen Chloride with and without Canister

Beer Singh,Amit Saxena,Avanish Kumar Srivastava,Devendra Kumar Dubey,Arvind Kumar Gupta 한국탄소학회 2007 Carbon Letters Vol.8 No.4

Samples of active carbon of 1150 m2/g surface area were impregnated with ammoniacal salts of copper, chromium and silver, with and without triethylenediamine. The samples of impregnated carbon were aged at 50℃, with and without 90% RH (relative humidity), for a little more than one year and chemically evaluated periodically. Initially copper (II) and chromium (VI) reduced very fast in the samples in humid atmosphere to the extent of 30% and 60% respectively in four months. These values were found to be unaffected by the presence of triethylenediamine (TEDA) indicating that the chemical did not retard the reduction process of chromium (VI) and copper (II). However, in the absence of humidity the reduction of the impregnants was significantly less (10-12%, w/w) in four months. It was quite evident; therefore, that the moisture was mainly responsible for the reduction of chromium (VI) and copper (II) species in impregnated carbons. The prolonged ageing of the samples with and without triethylenediamme after four months with and without humid atmosphere showed that the extent of reduction of chromium (VI) was very low, i.e. 5-10% and of copper (II) was 2-25%. Silver is not reduced due to carbon, as it remained unchanged in concentration on storage. The impregnated carbon samples (100 g) without triethylenediamine, which were aged at room temperature for 5 years in absence of humidity and unaged when evaluated against cyanogen chloride (CNCl) at a concentration of 4 mg/L and airflow rate of 30 lpm showed a high degree of protection (80- 110 minutes).

The effect of Valsalva maneuver in attenuating skin puncture pain during spinal anesthesia: a randomized controlled trial

Sanjay Kumar,Sujeet Kumar Singh Gautam,Devendra Gupta,Anil Agarwal,Sanjay Dhirraj,Sandeep Khuba 대한마취통증의학회 2016 Korean Journal of Anesthesiology Vol.69 No.1

Background: Valsalva maneuver reduces pain by activating sinoaortic baroreceptor reflex arc. We planned this study to evaluate the role of valsalva in attenuating spinal needle-puncture pain. Methods: Ninety American Society of Anesthesiologists (ASA) grade I and II enrolled patients undergoing elective surgery were randomized into 3 groups of 30 each. Group I (Control): didn’t blow; group II (Distraction): patients blew into rubber tube; Group III (Valsalva): blew into sphygmomanometer tube and raise mercury column up to 30 mmHg for at least 20 seconds. During above procedures, spinal puncture was performed with 25-gauge spinal needle. Results: Eighty-two patient data were analyzed. Incidence of spinal puncture pain was reduced to 10% (3 of 27) in Valsalva group as compared to 100% (28 of 28 in control group and 27 of 27 in Distraction group) observed in other two groups (P < 0.05). Severity of lumbar puncture pain as assessed by visual analog scale (0−10; where 0 is no pain and 10 is the worst imaginable pain) presented as Median (Interquartile range) were significantly reduced in the Valsalva group (0.0 [0.0] as compared to other 2 groups 2.0 [0.0] in the Distraction group and 3.0 [0.8] in Control group) (P < 0.05). Regarding time taken by CSF to fill spinal needle hub, there was no difference among the three groups (P > 0.05). None patient of all groups had post dural puncture headache (P > 0.05). Conclusions: Valsalva can be performed routinely in ASA I and II patients undergoing spinal anesthesia as it is safe, painless and non-pharmacological method of pain attenuation.

Impregnated Active Carbon-Shelf Life Studies and Its Evaluation Against Cyanogen Chloride with and without Canister

Singh, Beer,Saxena, Amit,Srivastava, Avanish Kumar,Dubey, Devendra Kumar,Gupta, Arvind Kumar Korean Carbon Society 2007 Carbon Letters Vol.8 No.4

Samples of active carbon of $1150\;m^2/g$ surface area were impregnated with ammoniacal salts of copper, chromium and silver, with and without triethylenediamine. The samples of impregnated carbon were aged at $50^{\circ}C$, with and without 90% RH (relative humidity), for a little more than one year and chemically evaluated periodically. Initially copper (II) and chromium (VI) reduced very fast in the samples in humid atmosphere to the extent of 30% and 60% respectively in four months. These values were found to be unaffected by the presence of triethylenediamine (TEDA) indicating that the chemical did not retard the reduction process of chromium (VI) and copper (II). However, in the absence of humidity the reduction of the impregnants was significantly less (10-12%, w/w) in four months. It was quite evident; therefore, that the moisture was mainly responsible for the reduction of chromium (VI) and copper (II) species in impregnated carbons. The prolonged ageing of the samples with and without triethylenediamme after four months with and without humid atmosphere showed that the extent of reduction of chromium (VI) was very low, i.e. 5-10% and of copper (II) was 2-25%. Silver is not reduced due to carbon, as it remained unchanged in concentration on storage. The impregnated carbon samples (100 g) without triethylenediamine, which were aged at room temperature for 5 years in absence of humidity and unaged when evaluated against cyanogen chloride (CNCl) at a concentration of 4 mg/L and airflow rate of 30 lpm showed a high degree of protection (80- 110 minutes).

Hydrometallurgical processing of waste integrated circuits (ICs) to recover Ag and generate mix concentrate of Au, Pd and Pt

Rekha Panda,Om Shankar Dinkar,Archana Kumari,Rajesh Gupta,Manis Kumar Jha,Devendra Deo Pathak 한국공업화학회 2021 Journal of Industrial and Engineering Chemistry Vol.93 No.-

Present research reports a novel and feasible process to recover Ag and generate concentrate of preciousmetals (Au, Pd and Pt) from waste ICs present in PCBs of computers. Initially, depopulated ICs werepulverized and beneficiated to obtain metallic concentrate, which contained (per ton) 7 Kg Ag, 5 Kg Au,110 g Pd and 4 g Pt along with Cu, Pb, Fe and Ni. Leaching was carried out and found that at optimizedcondition i.e. 3 M HNO3, temperature 80 C, pulp density 50 g/L and mixing time 1 h, >90% of Ag, Cu, Pband Ni were leached leaving Au, Pt and Pd in the residue. From the leach liquor, Ag was precipitated using1 M KCl in 30 min and other metals were recovered by precipitation, solvent extraction and cementationmethods. All wastes (solid/ liquid) generated during process development could be treated usingstandard environmental procedure.