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Metaheuristics Algorithm for Tuning of PID Controller of Mobile Robot System

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Computers, Materials & Continua 2022年第8期72卷 3481-3492页

作者： Harsh Goud Prakash Chandra sharma Kashif Nisar Muhammad Reazul Haque Ag.Asri Ag.Ibrahim Narendra Singh Yadav Pankaj Swarnkar manoj Gupta Laxmi Chand Indian Institute of Information Technology NagpurIndia School of Computing&Information Technology Manipal UniversityJaipurRajasthanIndia Faculty of Computing and Informatics University Malaysia SabahJalan UMSKota Kinabalu88400SabahMalaysia Faculty of Computing&Informatics Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Maulana Azad National Institute of Technology BhopalIndia Department of Electronics and Communication Engineering JECRC UniversityJaipurRajasthanIndia Department of Computer Science and Engineering Hanyang UniversitySeongdong-guSeoul04763Korea

Robots in the medical industry are becoming more common in daily life because of various advantages such as quick response,less human interference,high dependability,improved hygiene,and reduced aging *** is why,in recent years,robotic aid has emerged as a blossoming solution to many challenges in the medical *** this manuscript,meta-heuristics(MH)algorithms,specifically the Firefly Algorithm(FF)and Genetic Algorithm(GA),are applied to tune PID controller constraints such as Proportional gain Kp Integral gain Ki and Derivative gain *** controller is used to control Mobile Robot System(MRS)at the required set *** FF arrangements are made based on various pre-analysis.A detailed simulation study indicates that the proposed PID controller tuned with Firefly Algorithm(FF-PID)for MRSis beneficial and suitable to achieve desired closed-loop system *** FF is touted as providing an easy,reliable,and efficient tuning technique for PID *** most suitable ideal performance is accomplished with FF-PID,according to the display in the time ***,the observed response is compared to those received by applying GA and conventional off-line tuning *** comparison of all tuning methods exhibits supremacy of FF-PID tuning of the given nonlinear Mobile Robot System than GA-PID tuning and conventional controller.

关键词： Metaheuristic algorithm genetic algorithm PID controller mobile robot system firefly algorithm

PSO Based Multi-Objective Approach for Controlling PID Controller

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Computers, Materials & Continua 2022年第6期71卷 4409-4423页

作者： Harsh Goud Prakash Chandra sharma Kashif Nisar Ag.Asri Ag.Ibrahim Muhammad Reazul Haque Narendra Singh Yadav Pankaj Swarnkar manoj Gupta Laxmi Chand Indian Institute of Information Technology NagpurIndia School of Computing&Information Technology Manipal UniversityJaipur(Rajasthan)India Faculty of Computing and Informatics University Malaysia SabahJalan UMS88400Kota Kinabalu SabahMalaysia Faculty of Computing&Informatics Multimedia UniversityPersiaran Multimedia63100CyberjayaSelangorMalaysia Maulana Azad National Institute of Technology BhopalIndia Department of Electronics and Communication Engineering JECRC UniversityJaipur(Rajasthan)India

CSTR(Continuous stirred tank reactor)is employed in process control and chemical industries to improve response characteristics and system *** has a highly nonlinear characteristic that includes complexities in its control and *** performance is compassionate to change in system parameterswhich need more effort for planning a significant controller for *** reactor temperature changes in either direction from the defined reference *** is important to note that the intensity of chemical actions inside the CSTR is dependent on the various levels of temperature,and deviation from reference values may cause degradation of biomass *** and implementation of an appropriate adaptive controller for such a nonlinear system are *** this paper,a conventional Proportional Integral Derivative(PID)controller is *** conventional techniques to deal with constraints suffer severe limitations like it has fixed controller ***,A novel method is applied for computing the PID controller parameters using a swarm algorithm that overcomes the conventional controller’s *** the proposed technique,PID parameters are tuned by Particle Swarm Optimization(PSO).It is not easy to choose the suitable objective function to design a PID controller using PSO to get an optimal *** this article,a multi-objective function is proposed for PSO based controller design of CSTR.

关键词： Particle swarm optimization multi-objective PSO continuous stirred tank reactor proportional integral derivative controller

Supplementation of L-ascorbic acid improves the in vitro development of buffalo(Bubalus bubalis)embryos and alters the expression of apoptosis-related genes

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Asian pacific Journal of Reproduction 2021年第1期10卷 36-42页

作者： Mayank Roshan Diksha Dua Ankur sharma Manish Tiwari manoj Kumar Singh Suresh Kumar Singla Prabhat Palta Radhay Sham Manik Manmohan Singh Chauhan Embryo Biotechnology Lab Animal Biotechnology CentreICAR-National Dairy Research InstituteKarnalIndia

Objective:To study the effect of L-ascorbic acid supplementation on the in vitro development of buffalo embryos and evaluate the relative mRNA abundance of some pro-apoptotic,anti-apoptotic,and embryonic development-related ***:In experiment 1,we evaluated the effect of the addition of 0(control),50,and 100μM L-ascorbic acid to the in vitro maturation medium on the developmental competence in terms of blastocyst rate and relative mRNA abundance of some pro-apoptotic(BAX,BID),anti-apoptotic(BCL-XL,MCL1),and embryonic development(GDF9,BMP15)related *** on the results,we chose 50μM as the suitable dose of L-ascorbic acid for the subsequent *** further evaluated the blastocyst rates following the addition of 50μM L-ascorbic acid to the in vitro culture medium(experiment 2),and in vitro maturation and in vitro culture media(experiment 3).In all three experiments,the maturation and culture media devoid of L-ascorbic acid served as the control ***:The blastocyst rate after adding 50μM L-ascorbic acid to the in vitro maturation medium was significantly higher than the control group(P<0.05),whereas 100μM L-ascorbic acid exhibited a negative effect on the blastocyst *** blastocyst rates for embryos cultured in 50μM L-ascorbic acid in the in vitro culture medium alone and both in vitro maturation and in vitro culture media were significantly higher than their corresponding control groups(P<0.05).The relative mRNA abundance of BAX significantly decreased in blastocysts produced after the addition of 50μM L-ascorbic acid as compared with the control group(P<0.05),whereas,for MCL1,it significantly decreased in blastocysts produced after the addition of 100μM L-ascorbic acid(P<0.05).Conclusions:The supplementation of 50μM L-ascorbic acid to in vitro maturation and in vitro culture media supports in vitro embryonic development in buffaloes by improving developmental competence and altering the expression of apoptosis-related genes.

关键词： Buffalo Blastocyst In vitro embryo production L-ascorbic acid Oocyte

Childhood Glaucoma: An Overview

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Open Journal of Ophthalmology 2012年第3期2卷 71-77页

作者： Parul Singh Yogesh Kumar manoj Tyagi Krishna Kuldeep Parmeshwari Das sharma Department of Ophthalmology V.C.S.G.G.M.S. & R.I. Srinagar Garhwal Uttarakhand India

Several types of childhood glaucoma exist, and the terminology is based on the time of onset of disease and its potential cause. Though childhood glaucoma occurs less commonly than adults but can lead to permanent visual damage due to amblyopia, optic neuropathy or refractive error. A detailed evaluation should be done to establish diagnosis. Medical therapy has a limited role and surgery remains main modality for treatment. Childhood glaucoma is a treatable disease, if early diagnosis is established and therapeutic intervention done in time. In children with low vision efforts should be there to maintain residual vision and visual rehabilitation with low vision aids should be done.

关键词： Childhood Glaucoma Goniotomy Trabeculotomy

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Gonioscopy: A Review

Open Journal of Ophthalmology 2013年第4期3卷 118-121页

作者： Parul Singh manoj Tyagi Yogesh Kumar Krishna Kuldeep Parmeshwari Das sharma V. C. S. G. G. M. S. & R. I. Srinagar India.

Gonioscopy allows us to examine the angle of anterior chamber and forms part of complete ophthalmic examination and it is mandatory for the diagnosis and management of glaucoma. Gonioscopy permits the identification of eyes at risk for closure and detects angle abnormalities that could have diagnostic and therapeutic implications. Principle, types and techniques of gonioscopy, various types of gonioscopic lenses used, indications of performing gonioscopy, gonioscopic anatomy and grading are discussed in this article.

关键词： Gonioscopy Anterior Chamber Angle Goniolens

Xeroderma pigmentosa with ocular association: Case report

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Case Reports in Clinical Medicine 2013年第8期2卷 466-469页

作者： Achyut N. Pandey Krishna Kuldeep Ameeta Koul manoj Tyagi Parul Singh Parmeshwari Das sharma Deepak Dimri Department of Dermatology VCSG Government Medical College and Research Institute Srinagar Garhwal India Department of Ophthalmology VCSG Government Medical College and Research Institute Srinagar Garhwal India Department of Ophthalmology VCSG Government Medical College and Research Institute Srinagar Garhwal India

Xeroderma pigmentosum is a rare, autosomal recessive disease caused by a defect in DNA repair. Patients with xeroderma pigmentosum often have cutaneous and ocular sun sensitivity, freckle-like skin pigmentation, multiple skin and eye cancers, and, in some patients, progressive neurodegeneration. Xeroderma pigmentosum predominantly affects the ultraviolet (UV) exposed ocular surface, resulting in eyelid atrophy and cancers, corneal dryness, exposure keratopathy, and conjunctival tumors. General features included parental consanguinity (40%), familiarity (60%), onset of symptoms in the first 2 years (50%), malignant skin neoplasms (60%), and carcinoma of the tongue (20%). Among the ocular features, 50% of patients presented with photophobia. Lid freckles or atrophic skin lesions were seen in all patients. Lower lid tumours were seen in 30%, chronic conjunctival congestion in 40%, corneal opacification in 40%, squamous cell carcinoma of limbus in 20%, bilateral pterygium in 40%, and visual impairment in 50%. We report the clinical history and ocular pathology of a boy who is having xeroderma pigmentosum with ocular manifestations. The ophthalmic manifestations of xeroderma pigmentosum are discussed and reviewed with respect to this report and other cases in the literature. These cases illustrate the role of DNA repair in protection of the eyes from UV damage and neuron degeneration of the retina.

关键词： Ciliary Body Hamartoma Ocular Pathology Optic Atrophy Xeroderma Pigmentosum Pigmentary Retinal Degeneration

First results on ^(76)Ge neutrinoless double beta decay from CDEX-1 experiment

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Science China(Physics,Mechanics & Astronomy) 2017年第7期60卷 53-59页

作者： Li Wang Qian Yue KeJun Kang JianPing Cheng YuanJing Li TszKing Henry Wong ShinTed Lin JianPing Chang JingHan Chen QingHao Chen YunHua Chen Zhi Deng Qiang Du Hui Gong Li He QingJu He JinWei Hu HanXiong Huang TengRui Huang LiPing Jia Hao Jiang HauBin Li Hong Li JianMin Li Jin Li Jun Li Xia Li XueQian Li YuLan Li FongKay Lin ShuKui Liu Hao Ma JingLu Ma XingYu Pan Jie Ren XiChao Ruan ManBin Shen Vivek sharma Lakhwinder Singh manoj Kumar Singh manoj Kumar Singh Arun Kumar Soma ChangJian Tang WeiYou Tang ChaoHsiung Tseng JiMin Wang Qing Wang ShiYong Wu YuCheng Wu HaoYang Xing Yin Xu Tao Xue LiTao Yang SongWei Yang Nan Yi ChunXu Yu HaiJun Yu WeiHe Zeng XiongHui Zeng Zhi Zeng Lan Zhang YunHua Zhang MingGang Zhao Wei Zhao JiFang Zhou ZuYing Zhou JingJun Zhu WeiBin Zhu ZhongHua Zhu Key Laboratory of Particle and Radiation Imaging (Ministry of Education) and Department of Engineering Physics Tsinghua University Institute of Physics Academia Sinica School of Physical Science and Technology Sichuan University NUCTECH Company YaLong River Hydropower Development Company Department of Nuclear Physics China Institute of Atomic Energy School of Physics Nankai University Department of Physics Banaras Hindu University

We report the first results on 76Ge neutrinoless double beta decay from stage one of the China dark-matter experiment （CDEX）. A p-type point-contact high-purity germanium detector with a mass of 994g has been installed to detect neutrinoless double beta decay events, as well as to directly detect dark matter particles. An exposure of 304kgd has been analyzed over a wide spectral band from 500keV to 3MeV. The average event rate obtained was about 0.012 counts per keV per kg per day over the 2.039MeV energy range. The half-life of76Ge neutrinoless double beta decay derived based on this result is 70v2〉6.4× 1022 yr （90%C.L.）. An upper limit on the effective Majorana-neutrino mass of 5.0eV has been achieved.

关键词： neutrinoless double beta decay CDEX point-contact germanium detector 76Ge isotope

Limits on light WIMPs with a 1 kg-scale germanium detector at 160 eVee physics threshold at the China Jinping Underground Laboratory

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Chinese Physics C 2018年第2期42卷 12-21页

作者：杨丽桃李浩斌岳骞康克军程建平李元景王子敬 M.Agartioglu 安海鹏常建平陈景瀚陈云华邓智杜强宫辉何力胡津纬胡庆东黄瀚雄贾历平江灏李红李荐民李金李霞李学潜李玉兰林枫凯林兴德刘书魁刘仲智马豪马菁露潘辉任杰阮锡超 B.Sevda Vivek sharma 申满斌 Lakhwinder Singh manoj Kumar Singh 唐昌建唐维优田阳王继敏王力王青王轶吴世勇吴玉成幸浩洋徐音薛涛杨松伟易难喻纯旭于海军岳剑峰曾雄辉曾鸣曾志张云华赵明刚赵伟周济芳周祖英朱敬军朱忠华 Key Laboratory of Particle and Radiation Imaging (Ministry of Education) and Department of Engineering Physics Tsinghua University Department of Physics Tsinghua University Institute of Physics Academia Sinica Key Laboratory of Particle and Radiation Imaging vand Department of Engineering Physics Tsinghua University NUCTECH Company YaLong River Hydropower Development Company College of Physical Science and Technology Sichuan University Department of Nuclear Physics China Institute of Atomic Energy School of Physics Nankai University Department of Physics Banaras Hindu University Key Laboratory of Particle and Radiation Imaging and Department of Engineering Physics Tsinghua University

We report results of a search for light weakly interacting massive particle（WIMP） dark matter from the CDEX-1 experiment at the China Jinping Underground Laboratory（CJPL）. Constraints on WIMP-nucleon spin-independent（SI） and spin-dependent（SD） couplings are derived with a physics threshold of 160 eVee, from an exposure of 737.1 kg-days. The SI and SD limits extend the lower reach of light WIMPs to 2 GeV and improve over our earlier bounds at WIMP mass less than 6 GeV.

关键词： dark matter WIMPs CDEX pPCGe