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

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

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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

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Liquid-liquid extraction and separation of total rare earth(rE) metals from polymetallic manganese nodule leaching solution

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Journal of rare Earths 2015年第2期33卷 207-213页

作者： P.k.parhi k.H.Park C.W.Nam J.T.Park Mineral resources research division Korea Institute of Geoscience & Mineral Resources (KIGAM)Daejeon 305-350 Republic of Korea School of Applied Science and Center of Industrial Technology KIIT UniversityBhubaneswar 751024 Odisha India

The study on the solvent extraction for quantitative and selective separation of total rare earth metals from the polymetallic nodule leach liquor was investigated. The typical leach liquor bearing 0. 094 g/L total rare earth, 0. 23 g/L Mn, 0.697 g/L Cu, 0.2 g/L Fe, 0.01 g/L Co and 0.735 g/L Ni was subjected to the removal iron content by precipitation method using Ca（OH）2 at pH 3.95, prior to solvent extraction of rare earth metals. Three different organo-phosphoric acid reagents（d2EHPA, PC88 A, Cyanex 272） were used to ascertain their performances and selectivity towards the loading of rare earth metals in presence of other base metals. Based on the results of eq. pH effect, the performances of above three extractants followed the order as： d2EHPA〉PC88A〉Cyanex 272. To ensure the absence of extraction of base metals（Cu, Co, Ni）, the eq. pH of the solution was optimized at the level of 2.21, though higher rare earth metal extraction efficiency was observed at higher eq. pH with either of the extractants. The complete process flow diagram for substantial recovery of total rare earth was developed using d2 EHPA. Extraction isotherm plot was constructed at A：O=12：1, 3-stages and pHe=2.21, using 0.8 mol/L d2 EHPA and the predicted condition of this study was further confirmed by 6-Cycles Counter Current Simulation（CCS） study. The stripping of total rare earth from loaded organic phase（LO） was conducted using HCl solution. Mc-Cabe Thiele diagram study carried out at A：O=1：5 using 4 mol/L HCl showed that three theoretical stages were needed for quantitative stripping of total rare earth. The subsequent stripped solution resulted thus led to contain total rare earth of 5.6 g/L indicating a very high enrichment of total metals by solvent extraction（SX） process.

关键词： total rare earth (rE) metals SX d2EHPA HCl deep sea nodule

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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

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