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Path planning in uncertain environment by using firefly algorithm

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Defence Technology（防务技术） 2018年第6期14卷 691-701页

作者： b.K.Patle Anish Pandey A.Jagadeesh D.r.parhi Department of Mechanical Engineering CVR College of Engineering School of Mechanical Engineering KIIT University Department of Mechanical Engineering Audisankara Group of Institutions Department of Mechanical Engineering NIT Rourkela

Autonomous mobile robot navigation is one of the most emerging areas of research by using swarm intelligence. Path planning and obstacle avoidance are most researched current topics like navigational challenges for mobile robot. The paper presents application and implementation of Firefly Algorithm(FA)for Mobile robot Navigation(MrN) in uncertain environment. The uncertainty is defined over the changing environmental condition from static to dynamic. The attraction of one firefly towards the other firefly due to variation of their brightness is the key concept of the proposed study. The proposed controller efficiently explores the environment and improves the global search in less number of iterations and hence it can be easily implemented for real time obstacle avoidance especially for dynamic environment. It solves the challenges of navigation, minimizes the computational calculations, and avoids random moving of fireflies. The performance of proposed controller is better in terms of path optimality when compared to other intelligent navigational approaches.

关键词： Mobile robot navigation Firefly algorithm Path planning Obstacle avoidance

A review:On path planning strategies for navigation of mobile robot

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Defence Technology（防务技术） 2019年第4期15卷 582-606页

作者： b.K. Patle Ganesh babu L Anish Pandey D.r.K. parhi A. Jagadeesh Department of Mechanical Engineering CVR College of Engineering Hyderabad India Department of Mechatronics Engineering Tishik International University Erbil Iraq Department of Mechanical Engineering KITS University Bhubaneshwar India Department of Mechanical Engineering NIT Rourkela India Department of Mechanical Engineering KL University Guntur India

This paper presents the rigorous study of mobile robot navigation techniques used so *** step by step investigations of classical and reactive approaches are made here to understand the development of path planning strategies in various environmental conditions and to identify research *** classical approaches such as cell decomposition(CD),roadmap approach(rA),artificial potential field(APF);reactive approaches such as genetic algorithm(GA),fuzzy logic(FL),neural network(NN),firefly algorithm(FA),particle swarm optimization(PSO),ant colony optimization(ACO),bacterial foraging optimization(bFO),artificial bee colony(AbC),cuckoo search(CS),shuffled frog leaping algorithm(SFLA)and other miscellaneous algorithms(OMA)are considered for *** navigation over static and dynamic condition is analyzed(for single and multiple robot systems)and it has been observed that the reactive approaches are more robust and perform well in all terrain when compared to classical *** is also observed that the reactive approaches are used to improve the performance of the classical approaches as a hybrid ***,reactive approaches are more popular and widely used for path planning of mobile *** paper concludes with tabular data and charts comparing the frequency of individual navigational strategies which can be used for specific application in robotics.

关键词： Mobile robot navigation Path planning Classical approaches reactive approaches Artificial intelligence

OSCILLATOrY AND ASYMPTOTIC bEHMIOUr OF A CLASS OF NONLINEAr DIFFErENTIALEQUATIONS OF THIrD OrDEr

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Acta Mathematica Scientia 1998年第1期18卷 95-106页

作者： N. parhi P. Das(Department of Mathematics, berhampur University, bechampur-760007, India)

This paper deals with oscillatory /nonoscillatory behaviour of solutions of thirdorder nonlinear differential equations of the formwhere a,b,c E C([a,oo),r) such that a(t) does not change sign, b(t) 5 0, c(t) > 0,f∈C(r, r) such that (f(y)/y) ≥ β > 0 for y ≠ 0 and γ > 0 is a quotient of odd *** has been shown, under certain conditions on coefficient functions, that a solution of (1)and (2) which Las a zero is oscillatory and the nonoscillatory solutions of these equationstend to zero as t → ∞. The motivation for this work came from the observation that thewhere al b, c are constants such that b≤ 0, c > 0, has an oscillatory solution if and only ifand all nonoscillatory solutions of (3) tend to zero if and only if the equation has anoscillatory solution.

关键词： Oscillatory solution nonoscillatory solution behaviour of solution nonlinear differential equation

The Level and role of Interleukin-17 in Patients of Type 2 Diabetes Mellitus with and without Complications

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Journal of Diabetes Mellitus 2019年第4期9卷 176-185页

作者： Ashirbad parhi Sidhartha Das Srikrushna Mahapatra Nikhilesh Pradhan Manoranjan behera bijan Patnaik roma rattan Department of Cardiology SCBMCH Cuttack India Department of Medicine SCBMCH Cuttack India Department of biochemistry SCBMCH Cuttack India

background: Type 2 Diabetes Mellitus (T2DM) is the most prevalent metabolic disorder in the world. recent evidence however suggests that T2DM is not only a disease of metabolism, but also an inflammatory disorder and that inflammation also plays an important role in the pathogenesis of Diabetic complications. Our aim was to study the level of interleukin-17 (IL 17) in Indian populations with T2DM as an inflammatory marker and analyze its role in different diabetic complications. Methods: A total of consecutive 67 patients of T2DM were evaluated for clinical parameters fasting blood glucose (FbG), 2hr-post-prandial blood glucose (PPbG), lipid profile, HbA1c and plasma IL 17. They were divided into three groups—Patients of T2DM without any complications (group A;n = 24), T2DM with acute complications (group b;n = 20), T2DM with chronic complications (group C;n = 23) and compared with 23 healthy controls (group D). results: Diabetic patients had a higher level of IL 17 as compared to the healthy controls. The level of IL 17 in complicated diabetics was higher than the patients with T2DM without complications. Multiple logistic regression analysis showed positive correlation of IL 17 with Diabetic retinopathy and Diabetic Neuropathy. IL 17 also showed a positive Pearsons correlation with systolic blood pressure (SbP), diastolic blood pressure (DbP), serum triglycerides (TG), serum total cholesterol (TC), very low density lipoproteins (VLDL), low density lipoproteins (LDL), HbA1c and a negative correlation with HDL. Conclusion: Indian subjects with T2DM with or without complications had higher values of IL 17 as compared to healthy controls. Also diabetic neuropathy and diabetic retinopathy were positively correlated to levels of IL 17. Further levels of IL 17 were positively correlated to hypertension and dyslipidemia indicating a prevalent inflammatory state in our population of T2DM with and without complications.

关键词： IL-17 Inflammation Interleukins

Effect of Lifestyle Modification and Oral Anti-Diabetic Drugs on Metabolic Parameters in recently Diagnosed Patientswith Uncomplicated Type 2 Diabetes Mellitus in Eastern India

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Journal of Diabetes Mellitus 2018年第2期8卷 9-19页

作者： Nikhilesh Pradhan Sidhartha Das Anoj Kumar baliarsinha Ashirbad parhi bijan Patnaik Pramod Kumar rout Department of Medicine S.C.B Medical College Cuttack India Department of Endocrinology S.C.B Medical College Cuttack India

bACKGrOUND: Oral anti-diabetic drugs (OADs) are often advised for initial treatment for patients with Type 2 Diabetes Mellitus (T2DM). Their effects on glycemic control, lipid profile, insulin resistance and beta cell function has not been systematically studied in India. The objective of this study was to evaluate the effect of lifestyle modification and OADs on metabolic parameters in recently diagnosed uncomplicated T2DM patients. MATErIAL METHODS: A total of consecutive sixty four (64) cases of recently diagnosed uncomplicated T2DM in the age group of 30 - 60 years were studied. They were evaluated for weight, body mass index (bMI), fasting plasma glucose (FPG), 2hr post glucose plasma glucose (2hrPGPG), HbA1c, lipid profile, serum fasting insulin, c-peptide, HOMA-Ir and HOMA-β. They were divided into four groups according to increasing order of HbA1c values (6.5% - 6.9%, 7% - 7.5%, 7.6% - 8.5%, 8.6% - 8.9%). These four groups were subjected to lifestyle modification (LSM), monotherapy with metformin (1 g) and LSM, dual drug therapy i.e. metformin (1 g), glimepiride (1 mg) and LSM, triple drug therapy i.e. metformin (1 g), glimepiride 1 mg, sitagliptin 100 mg) and LSM respectively. These patients were followed up after three months of therapy. They were evaluated for the same metabolic parameters and compared with their baseline value. Fourteen (14) patients were lost to follow up. rESULTS: We found 91%, 92.8%, 53.3% and 60% of our patients from above four different groups achieved target glycemic control (HbA1c ≤ 6.5%). In all the four groups, significant improvement in glycemic status, lipid profile, HOMA-Ir and HOMA-β were observed (p value CONCLUSION: In our study, early Initiation of LSM along with OADs either as monotherapy or in combination therapy according to HbA1c value showed significant improvement in glycemic control, insulin resistance and beta cell function.

关键词： Type 2 Diabetes Mellitus Metformin Glimepiride Sitagliptin HOMA-Ir HOMA-β