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Hybrid IWD-DE:A Novel Approach to Model Cooperative Navigation Planning for Multi-robot in Unknown Dynamic Environment

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Journal of Bionic Engineering 2019年第2期16卷 235-252页

作者： Degal Chandrasekhar Rao Manas Ranjan Kabat Pradipta kumar Das prabir kumar jena Department of Information Technology VSSUTBurlaOdisha 768018India Department of Computer Science&Engineerings VSSUT、Burla Odisha 76801&India Department of Mechanical Engineering VSSUTBurlaOdisha 76801&India

The current study emphasizes inadequacies of earlier research findings on multi-robot navigation and offers a robust approach to guide the robots in an unknown dynamic *** attain the objective,the Intelligent Water Drop(IWD)algorithm is combined with Differential Evolution(DE)in a new conceptual fashion to optimize the navigation path of multiple mobile *** hybrid IWD-DE,basic IWD and DE algorithms are then explored for multi-robot navigation in a dynamic workspace through *** simulation outcomes demonstrate the competency of the proposed method to guide the robot in predicting the nature of the obstacle and to generate an optimal and safe trajectory in a dynamic *** potency of the proposed algorithm is further validated through experimentation with fire bird robot in a real *** outcomes of the simulation and experimentation,by employing IWD-DE algorithm are compared with those of basic IWD and DE *** error estimated for Average Navigation Path Travelled(ANPT),Aggregate Navigation Path Deviation(ANPD)and number of turns between simulation and experimental results by employing IWD-DE is 8.96,9.09,and 11.13,respectively while reaching 16.43,28.61,29.15 for IWD,and 6.66,10.20,14.28 for *** efficiency of the proposed approach is further verified with the state-of-the-art in a dynamic *** outcomes reveal the efficiency and flexibility of the proposed approach in resolving the multi-robot navigation problem as compared to the state-of-the-art in a dynamic workspace.

关键词： multi-robot dynamic environment intelligent water drop differential evolution navigation planning waypoints fire bird robot

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Hindi translation and validation of the English version of the gastrointestinal symptom rating scale questionnaire:An observational study

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World Journal of Gastrointestinal Pharmacology and Therapeutics 2024年第5期15卷 33-39页

作者： Neha Jindal Anuraag jena Krishan kumar Bijaya K Padhi Rajni Sharma Vaneet Jearth Usha Dutta Vishal Sharma Department of Gastroenterology Postgraduate Institute of Medical Education and Research(PGIMER)Chandigarh 160012India Department of Psychiatry Postgraduate Institute of Medical Education and Research(PGIMER)Chandigarh 160012India Department of Community Medicine and School of Public Health Postgraduate Institute of Medical Education and Research(PGIMER)Chandigarh 160012India Advanced Pediatric Centre Postgraduate Institute of Medical Education and Research(PGIMER)Chandigarh 160012India

BACKGROUND The gastrointestinal symptom rating scale(GSRS)is a questionnaire in English language which is designed to assess the clinical symptoms in patients with irritable bowel syndrome(IBS)and peptic ulcer *** validated scale has questions on around 15 items and has been validated in patients with dyspepsia and *** To translate and validate the English version of the GSRS questionnaire to the Hindi *** The purpose of the present work was to create a Hindi version of this questionnaire for use in the Indian *** process involved various steps as per the World Health Organization methodology including initial forward translation,backward translation,and assessment by an expert *** pilot testing was followed by testing in healthy and diseased *** The Hindi translation was pilot tested in 20 individuals and further validated in healthy controls(n=30,15 females)and diseased individuals(n=72,27 females).The diseased group included patients with functional dyspepsia and ***'s alpha for internal consistency on the final translated GSRS questionnaire was 0.715 which is considered *** questions significantly differentiated the diseased population from the healthy population(P value<0.05)in the translated Hindi version of the *** The translated Hindi GSRS can be used to evaluate gastrointestinal function in clinical trials and community surveys in Hindi speaking populations.

关键词： Irritable bowel syndrome Gut health Dyspepsia Symptoms Pain Constipation Diarrhoea

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Estimation of discharge and its distribution in compound channels

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Journal of Hydrodynamics 2014年第1期26卷 144-154页

作者： MOHANTY prabir kumar KHATUA Kishanjit kumar Department of Civil Engineering National Institute of TechnologyRourkelaOrissaIndia

Results of research into a compound channel having width ratio （a） in excess of 11 are presented in the form of boun-dary shear distributions across the compound cross section. New relationship is derived between the percentage of shear carried by the flood plains （%S fp ） and the percentage of area occupied by the flood plains （%Afp ） . The equation so derived is taken as the basis to develop a new methodology to predict the stage discharge relationship specifically for wide compound channels using Darcy＇s friction factor （ f ） for the main channel and flood plain regions. The methodology also is used for compound channels with smaller width ratios by applying the appropriate relation for %S fp derived earlier by different researchers and seems to work well. Next, as a corollary to the methodology, separate formulae are proposed to estimate flow distribution in main channel and flood plain regions. The proposed method and its corollary are tested for their validity against well-published small-scale data series of pre-vious researchers along with some large-scale data series from EPSRC-FCF （A-Series） compound channel experiments and very good agreement is observed between the measured values and predicted values for total flow as well as zonal distribution of flow. The methodology is also applied to some compound river section data published in literature and is found to serve well the purpose of predicting flow in real world application. This new method gives the least RMS value of error for discharge prediction compared with some other well-known methods used for estimating stage-discharge relation in compound channels by considering all data sets.

关键词： compound channels boundary shear stage-discharge relationship discharge distribution friction factor

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Factorial Correlators and Oscillatory Multiplicity Moments at the CERN SPS Energy for Ring-Like and Jet-Like Events

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Chinese Physics Letters 2011年第1期28卷 62-65页

作者： prabir kumar Haldar Sanjib kumar Manna Dinhata College Department of Physics Dinhata Coochbehar West Bengal India

We present an analysis of ring-like and jet-like events in terms of factorial correlations and oscillatory multiplicity moments of 32S Ag/Br interactions at 200 A OeV. The investigation reveals that the correlated moments increase with decrease in bin-bin separation D, following the power law, which suggests the presence of an intermittent nature of self-similar dynamical fluctuations pattern for ring-like and jet-like events. The analysis further shows that the strength of the non-statistical fluctuations is larger for jet-like events than those of ring-like events and total events. However, ring-like and jet-like events are not to be consistent with the total events of the c~ model of intermittency. To go beyond the lower order correlation, the oscillatory multiplicity moments are used to study the higher order correlation. The ratios Hq （cumulant over factorial moments, Kq/Fq） are determined for ring-like, jet-like and the total events. The presence of few-particle short range correlation is established. It is extremely interesting to observe that the oscillations of ring-like events are different from the jet-like events and the total events. However, in almost all the cases, the simulated interactions fail to replicate the experimental results.

关键词： Nuclear physics

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Performance Evaluation of Modified Black Clay as a Heterogeneous Fenton Catalyst on Decolorization of Azure B Dye: Kinetic Study and Cost Evaluation

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Transactions of Tianjin University 2019年第5期25卷 527-539页

作者： Vijyendra kumar prabir Ghosh Department of Chemical Engineering National Institute of Technology(India)

Black clay (BC) was used as a catalyst for the decolorization of Azure B dye by Fenton process. BC was modi ed by acid, alkali, distilled water, and calcination to check their changes in characterization and e ciency on decolorization of Azure B. Among three modi ed catalysts, maximum decolorization was obtained by acid-modi ed BC (AMBC) catalyst due to the highest removal of impurities, comparatively. The characterization of AMBC was done by Fourier-transform infrared spectroscopy and X-ray di raction spectroscopy which show the presence of metal ion. The BET surface area, pore volume, pore size, and density of AMBC were calculated to be 79.402 m 2 /g, 0.0608 m 3 /g, 0.00306 nm, and 16 g/cm 3 , respectively. The highest decolorization of 97.59% was achieved only in 10 min using AMBC at optimized calcination of 100 °C and 3 h of aging. AMBC was considered as the main catalyst for optimizing the di erent process parameters. Optimized conditions were obtained: pH 2, 0.2 mL of H 2 O 2 , catalyst dose 0.3 g, room temperature (30 °C), and stirring speed 400 r/min. The catalyst has showed excellent stability and reusability. It could remove more than 85% of color even after four cycles of run and less than negligible leaching of iron. AMBC has good recycling ability among other modi ed catalysts. To check the selectivity of catalyst, di erent dyes such as Congo red and mixed dye (mixture of Azure B and Congo red) decolorization were studied. In the present work, kinetic study was also carried out and a three-stage decolorization process was found.

关键词： Black clay Azure B Heterogeneous Fenton process Wastewater treatment

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Transition metal-based single-atom catalysts(TM-SACs);rising materials for electrochemical CO_(2) reduction

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Journal of Energy Chemistry 2022年第7期31卷 444-471,I0012页

作者： Bishnupad Mohanty Suddhasatwa Basu Bikash kumar jena Materials Chemistry Department CSIR-Institute of Minerals and Materials TechnologyBhubaneswar 751013India Academy of Scientific&Innovative Research(AcSIR) Ghaziabad 201002India

The continuous increase of global atmospheric CO_(2) concentrations brutally damages our environment. A series of methods have been developed to convert CO_(2) to valuable fuels and value-added chemicals to maintain the equilibrium of carbon cycles. The electrochemical CO_(2) reduction reaction(CO_(2)RR) is one of the promising methods to produce fuels and chemicals, and it could offer sustainable paths to decrease carbon intensity and support renewable energy. Thus, significant research efforts and highly efficient catalysts are essential for converting CO_(2) into other valuable chemicals and fuels. Transition metal-based single atoms catalysts(TM-SACs) have recently received much attention and offer outstanding electrochemical applications with high activity and selectivity opportunities. By taking advantage of both heterogeneous and homogeneous catalysts, TM-SACs are the new rising star for electrochemical conversion of CO_(2) to the value-added product with high selectivity. In recent years, enormous research effort has been made to synthesize different TM-SACs with different M–Nxsites and study the electrochemical conversion of CO_(2) to CO. This review has discussed the development and characterization of different TMSACs with various catalytic sites, fundamental understanding of the electrochemical process in CO_(2) RR,intrinsic catalytic activity, and molecular strategics of SACs responsible for CO_(2)RR. Furthermore, we extensively review previous studies on 1 st-row transition metals TM-SACs(Ni, Co, Fe, Cu, Zn, Sn) and dual-atom catalysts(DACs) utilized for electrochemical CO_(2) conversions and highlight the opportunities and challenges.

关键词： CO_(2)RR Single-atom catalyst SACs Dual-atom catalyst DACs Transition metals Support catalysts

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Chinese Physics Letters 2006年第11期23卷 2944-2947页

作者： Dipak Ghosh Argha Deb Samabrata Sarkar prabir kumar Haldar Nuclear and Particle Physics Research Centre Department of Physics Jadavpur University Kolkata-700032 India

The intermittent fluctuation of target evaporated particles is studied in both ring-like and jet-like events emitted in ^32 S-emulsion interactions at 200 A Ge V within the framework of multi-dimensional factorial moment methodology using the concept of the Hurst exponent. It is observed that the intermittent fluctuation in the ring-like event is self-similar, whereas in the jet-like event fluctuation is self-affine. However, study indicates that the strength of fluctuation in the ring-like events is much stronger than that in the jet-like events.

关键词： HIGH-ENERGY MULTIPARTICLE PRODUCTION JET-LIKE INTERMITTENCY DISTRIBUTIONS ANNIHILATION PARTICLES MOMENTS GEV/C

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Evidence of Strong Pion Fluctuation in Jet-Like Events in ^32S-AgBr Interactions

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Chinese Physics Letters 2006年第4期23卷 815-818页

作者： Dipak Ghosh Argha Deb prabir kumar Haldar Sima Guptaroy Nuclear and Particle Physics Research Centre Department of Physics Jadavpur University Kolkata-700 032 India

We presents the analysis of ring-like and jet-like events in terms of Scaled Factorial Moments （SFMs） in one dimensional space up to the sixth order of moments for ^32S-AgBr interactions at 200 AGeV energy. The study reveals a power law growth of SFMs with decreasing bin width of the azimuthal distribution in the ^32S- AgBr data at 200 AGeV in both the cases. It is seen that strong intermittent pattern is revealed only in jet-like events.

关键词： Evidence of Strong Interactions

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Pronounced Fluctuations of Target Fragments in Forward Hemisphere Only in Ultra Relativistic Nuclear Collision

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Chinese Physics Letters 2006年第6期23卷 1441-1444页

作者： Dipak Ghosh Argha Dev Samabrata Sarkar prabir kumar Haldar Nuclear and Particle Physics Research Centre Department of Physics Jadavpur University Kolkata-700032 India

Dynamical fluctuation of target evaporated black particles is investigated in both forward and backward hemispheres within the framework of multi-dimensional factorial moment methodology using the brilliant concept of the Hurst exponent. We analyse the black particles emitted in ^32S-AgBr interactions at 200AGeV and it is evident that the dynamical fluctuation in the backward hemisphere is self-affine. In the forward hemisphere, dynamical fluctuation is self-similar but not self-affine. However, study indicates that the fluctuation in the forward hemisphere is more pronounced than that in backward hemisphere.

关键词： HEAVY-ION COLLISIONS SELF-AFFINE PHASE-SPACE MULTIPARTICLE PRODUCTION HIGH-ENERGY MULTIPLICITY FLUCTUATION HADRON COLLISIONS COLLECTIVE-FLOW INTERMITTENCY

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Effect of magnetic field on Oldroyd-B type nanofluid flow over a permeable stretching surface

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Propulsion and Power Research 2018年第3期7卷 238-246页

作者： Kalidas Das Tanmoy Chakraborty prabir kumar Kundu Department of Mathematics A.B.N.Seal CollegeCooch BeharWest Bengal 736101India Department of Engineering Science Academy of TechnologyHooghly 712121India Department of Mathematics Jadavpur UniversityKolkataWest Bengal 700032India

This article is conceded to explore the influence of magnetic flux on a two dimensional incompressible Oldroyd-B type nanofluid past a heat generating/absorbing permeable expanding *** by some appropriate similarity transformations,the fundamental PDEs are converted into a self similar system of coupled,non-linear *** findings are gained by taking the help of the Runge–Kutta Gill based Shooting *** visualize the influences of related parameters concerning the flow,on velocity,temperature and concentration distributions are represented through *** fallouts for the local Nusselt number and Sherwood number are charted for various parametric situations to offer interesting aspects of the *** existence of magnetic flux the momentum boundary layer width declines rapidly with relaxation time and velocity slip whereas,the temperature boundary layer width enhances significantly with heat source,Brownian motion and thermophoresis *** Nusselt number falls a lot with heat source,velocity slip and Brownian motion parameter but reverse result is notified for Sherwood number for the ***,the obtained numerical outcomes for particular cases are compared with those of the existing data in the open literature and,are found in excellent harmony.

关键词： Oldroyd-B type nanofluid Slip velocity Magnetic field Heat generation/absorption Suction/injection

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