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Analysis and use of fuzzy intelligent technique for navigation of humanoid robot in obstacle prone zone

Defence Technology（防务技术） 2018年第6期14卷 677-682页

作者： asita kumar.r.th Dayal r.Parhi Harish Chandra Das Manoj kumar Muni Priyadarshi Biplab kumar Centre of Biomechanical Science Siksha O'Anusandhan Deemed to be University robotics Laboratory Mechanical Engineering DepartmentNational Institute of Technology(India) Mechanical Engineering Department National Institute of Technology(India)

With the increasing use of humanoid robots in several sectors of industrial automation and manufacturing, navigation and path planning of humanoids has emerged as one of the most promising area of research. In this paper, a navigational controller has been developed for a humanoid by using fuzzy logic as an intelligent algorithm for avoiding the obstacles present in the environment and reach the desired target position safely. Here, the controller has been designed by careful consideration of the navigational parameters by the help of fuzzy rules. the sensory information regarding obstacle distances and bearing angle towards the target are considered as inputs to the controller and necessary velocities for avoiding the obstacles are obtained as outputs. the working of the controller has been tested on a NAO humanoid robot in V-rEP simulation platform. To validate the simulation results, an experimental platform has been designed under laboratory conditions, and experimental analysis has been ***, the results obtained from both the environments are compared against each other with a good agreement between them.

关键词： Humanoid robot Navigation Path planning Fuzzy

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Autonomic functions and gastric motility in children with functional abdominal pain disorders

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World Journal of Gastroenterology 2019年第1期25卷 95-106页

作者： Amaranath Karunanayake Shaman rajindrajith Hitanadura asita de Silva Sampath Gunawardena Niranga Manjuri Devanarayana Department of Physiology Faculty of Medicine University of Ruhuna Department of Paediatrics Faculty of Medicine University of Kelaniya Department of Pharmacology Faculty of Medicine University of Kelaniya Department of Physiology Faculty of Medicine University of Kelaniya

BACKGrOUND Abdominal pain-predominant functional gastrointestinal disorders(AP-FGIDs)are the most common cause of recurrent abdominal pain in children. Despite its high prevalence, the underlying pathophysiology of this condition is poorly *** To assess the role of gastric dysmotility and autonomic nervous system dysfunction in the pathophysiology of *** One hundred children, fulfilling rome III criteria for AP-FGIDs, and 50 healthy controls, aged 5 to 12 years, were recruited after obtaining parental consent. All patients were investigated for underlying organic disorders. Gastric motility and cardiovascular autonomic functions were assessed using validated non-invasive *** the main gastric motility parameters assessed(gastric emptying rate [45.7 vs 59.6 in controls], amplitude [48.7 vs 58.2], frequency of antral contractions [8.3 vs 9.4],and antral motility index [4.1 vs 6.4]) were significantly lower in children with AP-FGIDs(P the post-prandial antral dilatation at 1 min after the test meal significantly correlated with the severity of abdominal pain(P ther a significant difference compared to the control group, nor a correlation with gastric motility abnormalities(P > 0.05). the duration of pain episodes negatively correlated with the parasympathetic tone(maladaptive parasympathetic tone)(Pren with AP-FGIDs have abnormal gastric motility but normal cardiovascular autonomic functions. there is no relationship between abnormal gastric motility and autonomic functions. the pathogenesis of AP-FGIDs is not related to cardiovascular autonomic dysfunction.

关键词： Abdominal pain Functional gastrointestinal disorders Autonomic function Gastric motility

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