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Navigation of Non-holonomic Mobile Robot Using Neuro-fuzzy Logic with Integrated Safe Boundary Algorithm

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International Journal of Automation and computing 2017年第3期14卷 285-294页

作者： A. Mallikarjuna rao K. Ramji B.S.K. Sundara Siva rao v. vasua C. Puneeth Department of Mechanical Engineering V R Siddhartha Engineering College Vijayawada A.P India Department of Mechanical Engineering A.U. College of Engineering Andhra University Visakhapatnam A.P India Department of Mechanical Engineering National Institute of Technology-Warangal Telangana India

In the present work, autonomous mobile robot（AMR） system is intended with basic behaviour, one is obstacle avoidance and the other is target seeking in various environments. The AMR is navigated using fuzzy logic, neural network and adaptive neurofuzzy inference system（ANFIS） controller with safe boundary algorithm. In this method of target seeking behaviour, the obstacle avoidance at every instant improves the performance of robot in navigation approach. The inputs to the controller are the signals from various sensors fixed at front face, left and right face of the AMR. The output signal from controller regulates the angular velocity of both front power wheels of the AMR. The shortest path is identified using fuzzy, neural network and ANFIS techniques with integrated safe boundary algorithm and the predicted results are validated with experimentation. The experimental result has proven that ANFIS with safe boundary algorithm yields better performance in navigation, in particular with curved/irregular obstacles.

关键词： Robotics autonomous mobile robot(AMR) navigation fuzzy logic neural networks adaptive neuro-fuzzy inference system(ANFIS) safe boundary algorithm

Consequence of reinforced SiC particles and post process artificial ageing on microstructure and mechanical properties of friction stir processed AA7075

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Defence Technology（防务技术） 2020年第5期16卷 1039-1050页

作者： H.A.Deore A.Bhardwaj A.G.rao J.Mishra v.D.Hiwarkar Department of Metallurgical and Materials Engineering Defence Institute of Advanced TechnologyPune411025India Naval Material Research Laboratory(NMRL) Defence Research Development OrganizationMinistry of DefenceAmbarnath414006India

Friction stir processing and post process artificial ageing was successfully carried out on AA7075 with and without reinforcement of SiC particles producing defect free processed zone with uniform distribution of filler *** of SiC particle reinforcement and artificial ageing times on the microstructural modifications was characterized using optical and electron microscopy,electron backscattered diffraction and X-Ray ***,impact and wear tests were carried out to investigate mechanical behaviour before and after *** of SiC particles during FSP and subsequent age hardening treatment brought about nearly twofold increase in hardness and impact toughness values by the combined effect of grain refinement,Zener pinning,dispersion strengthening and precipitation *** improvement in wear resistance in terms of wear loss was also observed after processing compared to the reference material *** surface of post FSP age hardened AA7075 alloy exhibited features of ductile fracture during Charpy impact test.

关键词： Friction stir processing EBSD Impact toughness Post process age hardening Zener pinning

Design of Multi-valued Logic Circuit Using Carbon Nano Tube Field Transistors

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Computers, Materials & Continua 2022年第12期73卷 5283-5298页

作者： S.v.Ratankumar L.Koteswara rao M.Kiran Kumar Department of Electronics and Communication Engineering Koneru Lakshmaiah Education FoundationAziz NagarHyderabad500075TelanganaIndia Department of Electronics and Communication Engineering RGM College of Engineering and TechnologyNandyal518501Andhra PradeshIndia Department of Electrical and Electronics Engineering Koneru Lakshmaiah Education FoundationVaddeswaramGuntur522502Andhra PradeshIndia

The design of a three-input logic circuit using carbon nanotube field effect transistors(CNTFETs)is *** logic must be an exact replacement for dual logic since it performs straightforwardly in digital devices,which is why this design is so popular,and it also reduces chip area,both of which are examples of circuit *** proposed module we have investigated is a triple-logic-based one,based on advanced technology CNTFETs and an emphasis on minimizing delay times at various values,as well as comparisons of the design working with various load *** the proposed design with the existing design,the delay times was reduced from 66.32 to 16.41 ps,i.e.,a 75.26%***,the power dissipation was not optimized,and increased by 1.44%compared to the existing *** number of transistors was also reduced,and the product of power and delay(P∗D)achieved a value of 0.0498053 *** improvement at 1 v was also achieved.A load capacitance(fF)was measured at different values,and the average delay measured for different values of capacitance had a maximum of 83.60 ps and a minimum of 22.54 ps,with a range of 61.06 *** power dissipations ranged from a minimum of 3.38μW to a maximum of 6.49μ*** on these results,the use of this CNTFET half-adder design in multiple Boolean circuits will be a useful addition to circuit design.

关键词： Carbon nanotube field effect transistor(CNTFET) multivalued logic(MvL) ternary adder Hewlett simulation program with integrated circuit emphasis(HSPICE) chirality(nm) adder

Evaluating the effectiveness of marine actinobacterial extract and its mediated titanium dioxide nanoparticles in the degradation of azo dyes

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Journal of Environmental Sciences 2014年第4期26卷 775-782页

作者： S Priyaragini S veena D Swetha L Karthik G Kumar K v Bhaskara rao Molecular and Microbiology Research Laboratory Environmental Biotechnology Division School of Bio Sciences and Technology VIT University

Aim of the present study was to synthesize titanium dioxide nanoparticles （YiO2 NPs） from marine actinobacteria and to develop an eco-friendly azo-dye degradation method. A total of five actinobacterial isolates were isolated from Chennai marine sediments, Tamilnadu, India and analyzed for the synthesis of TiO2 NPs using titanium hydroxide. Among these, the isolate PSv 3 showed positive results for the synthesis of TiO2 NPs, which was confirmed by Uv analysis. Further characterization of the synthesized TiO2 NPs was done using XRD, AFM and FI＇-IR analysis. Actinobacterial crude extract and synthesized TiO2 NPs was found efficient in degrading azo dye such as Acid Red 79 （AR-79） and Acid Red 80 （AR-80）. Degradation percentage was found to be 81% for AR-79, 83% for AR-80 using actinobacterial crude extract and 84% for AR-79, 85% for AR-80 using TiO2 NPs. Immobilized actinobacterial ceils showed 88% for AR-79 and 81% for AR- 80, dye degrading capacity. Degraded components were characterized by FT-IR and GC-MS analysis. The phytotoxicity test with 500 μg/mL of untreated dye showed remarkable phenotypic as well as cellular damage to Tagetes erecta plant. Comparatively no such damage was observed on plants by degraded dye components. In biotoxicity assay, treated dyes showed less toxic effect as compared to the untreated dyes.

关键词： actinobacteria azo dye degradation ZiO2 NPs biotoxicity Tagetes erecta

Evaluation of antihepatotoxic potential of Solanum xanthocarpum fruit extract against antitubercular drugs induced hepatopathy in experimental rodents

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Asian Pacific Journal of Tropical Biomedicine 2012年第6期2卷 454-460页

作者： Talib Hussain Ramesh K Gupta Sweety K Mohd Sajid Khan Md Sarfaraj Hussain Md Arif Arshad Hussain Md Faiyazuddin chandana venkateswara rao Pharmacognosy and Ethnopharmacology Division National Botanical Research Institute Department of Pharmacology and Toxicology Faculty of Pharmacy Integral University Department of Pharmacology Royal College of Pharmacy and Health Sciences Department of Biotechnology Integral University

Objective:To assess the hepatoprotective effect of Solanum xanthocarpum(S. xanthocarpum) fruit extract against antitubercular drug-induced liver toxicity in experimental ***:Ethanolic(50%) fruit extract ofS. xanthocarpum(100, 200 and 400 mg/kg bw) was administered daily for 35 days in experimental animals. Liver toxicity was induced by combination of three antitubercular drugs [isoniazid(I) 7.5 mg/kg, rifampicin(R) 10 mg/kg and pyrazinamide(P) 35 mg/kg] given orally as suspension for 35 days in rats. The hepatoprotective activity was assessed using various biochemical parameters like aspartate aminotransferase(AST), alanine aminotransferase(ALT), alkaline phosphatise(ALP), total bilirubin(TBL), albumin(ALB), total protein(TP), lactate dehydroginase(LDH), and serum cholesterol(CHL). Meanwhile,in vivoantioxidant activities as lipid peroxidation(LPO), reduced glutathione(GSH), superoxide dismutase(SOD) and catalase(CAT) were measured in rat liver homogenate. The biochemical observations were supplemented by histopathological ***:The results demonstrated that treatment ***(Pvented drug induced increase in serum levels of hepatic enzymes. Furthermore,S. xanthocarpumsignificantly(up toPver tissue and restored activities of defence antioxidant enzymes GSH, SOD and CAT towards normal levels. Histopathology of the liver tissue showed that S. xanthocarpumattenuated the hepatocellular necrosis and led to reduction in inflammatory cells ***:The results of this study strongly indicate the protective effect of S. xanthocarpumagainst liver injury which may be attributed to its hepatoprotective activity, and thereby scientifically support its traditional use.

关键词： Solanum xanthocarpum Rifampicin Isoniazid Pyrazinamide Antioxidant Antihepatotoxicity Hepatoprotective effect Antitubercular drug Liver toxicity Liver injury Biochemical parameter Histopathology

Microstructure, properties and hot workability of M300 grade maraging steel

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Defence Technology（防务技术） 2018年第1期14卷 51-58页

作者： K.v.A.Chakravarthi N.T.B.N.Koundinya S.v.S.Narayana Murty B.Nageswara rao Materials and Mechanical Entity Vikram Sarabhai Space Centre Research scholar Department of Mechanical Engineering K L University Department of Metallurgical Engineering and Materials Science Indian Institute of Technology Department of Mechanical Engineering K L University

This paper presents isothermal uniaxial compression test results of M300 grade maraging steel over a wide range of temperatures(900 e1200℃) and strain rates(0.001 e100 s^(-1)) to examine hot deformability and concurrent microstructural evolution. Processing map is generated and indicated the optimum processing parameters in the temperature range of 1125℃-1200℃ and strain rate range of 0.001 e0.1 s^(-1). High values of the efficiency of power dissipation, microstructural observations and EBSD results indicate softening mechanism to be the occurrence of dynamic recrystallisation. Material constants in a constitutive relation are evaluated from the flow stress data useful in computer modelling.

关键词： Activation energy Constitutive relation Hot deformation M300 grade maraging steel Processing map

Alkali feldspar syenites with shoshonitic affinities from Chhotaudepur area: Implication for mantle metasomatism in the Deccan large igneous province

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Geoscience Frontiers 2014年第2期5卷 261-276页

作者： K.R.Hari N.v.Chalapathi rao vikas Swarnkar Guiting Hou School of Studies in Geology and Water Resource Management Pt.Ravishankar Shukla University Centre of Advance Study in Geology Banaras Hindu University Department of Civil Engineering Yugantar Institute of Technology and Management The Key Laboratory of Orogenic Belts and Crustal Evolution Ministry of Education School of Earth and Space Sciences Peking University

Two petrologically distinct alkali feldspar syenite bodies （AFS-1 and AFS-2） from Chhotaudepur area, Deccan Large Igneous Province are reported in the present work. AFS-1 is characterized by hypidio-morphic texture and consists of feldspar （Or55Ab43 to Or25Ab71）, ferro-pargasite/ferro-pargasite horn-blende, hastingsite, pyroxene （Wo47, En5, Fs46）, magnetite and biotite. AFS-2 exhibits panidiomorphic texture with euhedral pyroxene （Wo47-50, En22-39, Fs12e31） set in a groundmass matrix of alkali feldspar （Or99Ab0.77 to Or1.33Ab98）, titanite and magnetite. In comparison to AFS-1, higher elemental concentra-tions of Ba, Sr and PREE are observed in AFS-2. The average peralkaline index of the alkali feldspar syenites is w1 indicating their alkaline nature. variation discrimination diagrams involving major and trace elements and their ratios demonstrate that these alkali feldspar syenites have a shoshonite affinity but emplaced in a within-plate and rifting environment. No evidence of crustal contamination is perceptible in the multi-element primitive mantle normalized diagram as well as in terms of trace elemental ratios. The enrichment of incompatible elements in the alkali feldspar syenites suggests the involvement of mantle metasomatism in their genesis.

关键词： Alkali feldspar syenite Deccan large igneous province Mineralogy Geochemistry Shoshonite Mantle metasomatism

A New Species of Japalura(Squamata, Agamidae) from the Nu River valley in Southern Hengduan Mountains, Yunnan, China

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Asian Herpetological Research 2017年第2期18卷 86-95页

作者： Dingqi rao Jens v.vINDUM Xiaohui MA Mingxia FU Jeffery A.WILKINSON Kunming Institute of Zoology Chinese Academy of Sciences Department of Herpetology California Academy of Sciences

A population of Japalura from Yunnan Province, China, previously assigned to Japalura splendida, is described as a new species. The new species has been recorded between 1 138–2 500 m in the Nu River drainage between the towns of Liuku and Binzhongluo, and on the lower western slopes of the Nushan and eastern slopes of the Goaligongshan. The new species can be distinguished from other species of Japalura, except J. dymondi, by the following combination of characters： exposed tympani, prominent dorso-lateral stripes, and small gular scales. It is very similar with but differs from J. dymondi by having smooth or feebly keeled dorsal head scales, three relatively enlarged spines on either side of the post-occiput area, strongly keeled and mucronate scales on occiput area and within the lateral stripes, back of arm and leg green, higher number of dorsal-ridge scales（DS） and fourth toe subdigital scales（T4S）. A principal component analysis of body measurements of adult male specimens of the new species and J. dymondi showed principal component 1 loading highest for upper arm length, fourth toe length and snout to eye length and principal component 2 loading highest for head width, head length and fourth toe length.

关键词： Agamidae Japalura sp.nov. Goaligongshan Mountain Nujiang River valley Hengduan Mountains Yunnan China

Morpho-anatomical and physicochemical studies of Fumaria indica(Hausskn.)Pugsley

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Asian Pacific Journal of Tropical Biomedicine 2012年第10期2卷 830-834页

作者： Prakash Chandra Gupta Ch v.rao University Institute of Pharmacy Chhatrapati Shahu Ji Maharaj University National Botanical Research Institute

Objective:To study morpho-anatomical characters and physicochemical analysis of Fumaria indica(***)(Hausskn.)Pugsley,(Fumariaceae),an important medicinal plant used extensively for treating a variety of ailments in various system of indigenous ***:Evaluation of the different parts of the plant was carried out to determine the morphoanatomical,physicochemical,phytochemical and HPTLC fingerprinting profile of *** and other WHO recommended methods were performed for ***:Morphoanatomical studies showed compound and pinnatifid leaf,4 to 6 cm in length,linear and oblong in shape and anomocytic arrangement of stomata,thin walled parenchymatous cells,scattered,sclerenchymatous,capped vascular bundles and radiating medullary *** studies showed foreign matter 0.2%,loss on drying 6.8%,total ash 16.77%,alcohol and water soluble extractives 8.92%and 20.26%,respectively,sugar 17.75%,starch 22.97%and tannins 2.37%.Phytochemical evaluation revealed the presence of carbohydrate,alkaloids,flavonoids,saponins,tannins and *** layer chromatography was carried out with different solvents and the best solvent system was chloroform and methanol in 80:20 ratio and revealed 12 spots with different R_f value under Uv light 366λ.Conclusions:The results of the study can serve as a valuable source of information and provide suitable standards for identification of this plant material for future investigations and applications.

关键词： Morpho-anatomy Transverse sections HPTLC Stomata Xylem Physicochemical