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Characterizing the influence of tide on the physico-chemical parameters and nutrient variability in the coastal surface water of the northern Bay of Bengal during the winter season

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Acta Oceanologica Sinica 2015年第12期34卷 102-111页

作者： SOURAV Das abhra chanda SANDIP Giri ANIRBAN Akhand SUGATA Hazra School of Oceanographic Studies Jadavpur University

The spatial distribution of physico-chemical parameters（sea surface temperature（SST）, p H, sea surface salinity（SSS）, dissolved oxygen（DO） and Secchi depth） along with filterable nutrients（dissolved inorganic nitrate（DIN）,dissolved inorganic phosphate（DIP） and reactive silicate（DSi）） are measured in the winter months of November,December, January and February for four consecutive years from 2009–2010 to 2012–2013 on the shallow continental shelf（〈20 m bathymetry） of the coastal waters（up to 18 km away from shoreline） of the northern Bay of Bengal（n Bo B） during the highest high tide（HHT） and lowest low tide（LLT） hours for the first time. The variability of the coastal biogeochemical environment is assessed during the HHT and LLT hours and for this purpose, seawater samples are collected from seven different locations of a transect in the coastal region. Physicochemical parameters（except SST） show significant difference in magnitude during the HHT and LLT hours respectively. p H, SSS and DO are found to increase in the HHT hours and vice-versa. The data reveal that during the LLT hours, a relative increase of freshwater input in the n Bo B can have elevated the nutrient concentration compared with that observed during the HHT hours. The ratio of nutrient concentration is found to deviate significantly from the Redfield ratio. The abundance of DIP is much higher compared with that of DIN and *** anthropogenic sources of DIP from the upstream flow（especially the domestic effluent of several metropolises） can be mainly attributed behind such an observation. In order to characterize and establish the trend of such variation in such an important bio-climatic region, long-term and systematic ecosystem monitoring in the coastal water of the n Bo B northern Bay of Bengal should be carried out throughout the year.

关键词： physico-chemical parameters nutrient concentration and ratio winter season highest high tide lowest low tide northern Bay of Bengal

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Implementation of Caterpillar Inspired Rolling Gait and Nonlinear Control Strategy in a Spherical Robot

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Journal of Bionic Engineering 2018年第2期15卷 313-328页

作者： abhra Roy Chowdhury Gim Song Soh Shaohui Foong Kristin L. Wood Temasek Laboratories Engineering Product Development Pillar Singapore University of Technology and Design Singapore 487372 SUTD-MIT International Design Centre Singapore University of Technology and Design Singapore 487372

This paper presents a novel Central Pattern Generator （CPG） based rolling gait generation in a small-sized spherical robot and its nonlinear control mechanism. A rhythmic rolling pattern mimicking Pleurotya caterpillar is produced for the spherical robot locomotion. A synergetically combined feedforward-feedback control strategy is proposed. The feedforward component is generated from centrally connected network of CPGs in conjunction with nonlinear robot dynamics. Two nonlinear feedback control methods namely integral （first order） Sliding Mode Control （SMC） and High （or second） Order Sliding Mode Control （HOSMC） are proposed to regulate robot stability and gait robustness in the presence of matched parameter uncertainties and bounded external disturbances. Design, implementation and experimental evaluation of both roll gait control strategies for the spherical robot are done on smooth （indoor） and irregular （outdoor） ground surfaces, The performance of robot control is quantified by measuring the roll angle stability, phase plane convergence and wheel velocities. Experimental results show that proposed novel strategy is efficient in producing a stable rolling gait and robust control of a spherical robot on two different types of surfaces. It further shows that proposed high HOSMC strategy is more efficient in robust rolling gait control of a spherical robot compared to an integral first-order SMC on two different ground conditions.

关键词： bioinspired spherical robot rolling gait CPG rolling friction integral first-order SMC control HOSMC

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Scleroderma: Not an orphan disease any more

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World Journal of Rheumatology 2015年第3期5卷 131-141页

作者： Durga Prasanna Misra abhra Chandra Chowdhury Sanat Phatak Vikas Agarwal Department of Clinical Immunology Sanjay Gandhi Postgraduate Institute of Medical Sciences

Scleroderma(or systemic sclerosis) is a rare disease associated with significant morbidity and *** previously thought to have a uniformly poor prognosis,the outlook has changed in recent *** review recent insights int... 详细信息

关键词： Pulmonary hypertension Scleroderma Interstitial lung disease Raynauds phenomenon Fibrosis

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