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Elevating haptic interfaces:Dual-rate sampling and field programmable gate array implementation for multi-degree-of-freedom performance enhancement

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International Journal of Mechanical System Dynamics 2024年第2期4卷 171-187页

作者： Majid koul Suhail Khosa Babar Ahmad Mechanical Engineering Islamic University of Science and TechnologyKashmirJammu and KashmirIndia Mechanical Engineering National Institute of Technology SrinagarJammu and KashmirIndia

In this work,our primary focus centered on exploring the adaptability of the dualrate sampling scheme proposed earlier to enhance the performance of multi-degreeof-freedom(multi-DOF)impedance-based haptic *** scheme employed independent sampling rates in a haptics controller,effectively mitigating the issue of reduced Z-width at higher sampling rates.A key aspect of our investigation was the intricate implementation of the dual-rate sampling scheme on a field programmable gate array(FPGA).This implementation on a logic hardware FPGA was challenging and led to the effective comparison of the uniform-rate and dual-rate sampling schemes of the multi-DOF haptic *** used an in-house developed two-DOF pantograph as the haptic interface and an FPGA for implementing the controller ***-based implementation presented challenges that were vital in testing controller performances at higher sampling *** wall experiments were conducted to determine the stable and unstable interactions with the virtual *** complement the experimental results,we simulated the haptics force law for multi-DOF system on Simulink/***,the dual-rate sampling approach maintained the Z-width of the two-DOF haptic interface,even at higher controller sampling rates,distinguishing it from the conventional two-DOF uniform-rate control *** example,employing a dual-rate sampling combination of 20–2 kHz consistently ensured the stable rendering of a maximum virtual stiffness of approximately 700 N/mm and maintained a reliable virtual damping range spanning from 0 to 5 Ns/*** contrast,the 20 kHz uniform-rate sampling approach failed to ensure interface stability in the presence of virtual damping,ultimately resulting in the unsuccessful implementation of any virtual stiffness at higher sampling *** work,therefore,establishes the potential of dual-rate sampling in the realm of haptic technology,with practical applications in multi-DOF systems.

关键词： control FPGA haptic device simulation virtual reality Z-width

Gamma/hadron segregation for a ground based imaging atmospheric Cherenkov telescope using machine learning methods: Random Forest leads

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Research in Astronomy and Astrophysics 2014年第11期14卷 1491-1503页

作者： Mradul Sharma Jitadeepa Nayak Maharaj Krishna koul Smarajit Bose Abhas Mitra Astrophysical Sciences Division Bhabha Atomic Research Centre The Bayesian and Interdisciplinary Research Unit Indian Statistical Institute

A detailed case study of γ-hadron segregation for a ground based atmo- spheric Cherenkov telescope is presented. We have evaluated and compared various supervised machine learning methods such as the Random Forest method, Artificial Neural Network, Linear Discriminant method, Naive Bayes Classifiers, Support Vector Machines as well as the conventional dynamic supercut method by simulating triggering events with the Monte Carlo method and applied the results to a Cherenkov telescope. It is demonstrated that the Random Forest method is the most sensitive machine learning method for γ-hadron segregation.

关键词： methods statistical -- telescopes

Comparison of two different methods of preoperative marking for toric intraocular lens implantation： bubble marker versus pendulum marker

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International Journal of Ophthalmology(English edition) 2016年第5期9卷 703-706页

作者： Javed Hussain Farooqui Archana koul Ranjan Dutta Noshir Minoo Shroff Cataract and IOL Services Shroff Eye Center New Delhi 110048 India

AIM： To compare the accuracy of two different methods of preoperative marking for toric intraocular lens（IOL） implantation, bubble marker versus pendulum marker, as a means of establishing the reference point for the final alignment of the toric IOL to achieve an outcome as close as possible to emmetropia.·METHODS： Toric IOLs were implanted in 180 eyes of110 patients. One group（55 patients） had preoperative marking of both eyes done with bubble marker（ASICO AE-2791TBL） and the other group（55 patients） with pendulum marker（Rumex 誖 3-193）. Reference marks were placed at 3-, 6-, and 9-o＇clock positions on the limbus. Slit-lamp photographs were analyzed using Adobe Photoshop（version 7.0）. Amount of alignment error（in degrees） induced in each group was measured.· RESULTS： Mean absolute rotation error in the preoperative marking in the horizontal axis was 2.42±1.71 in the bubble marker group and 2.83 ±2.31 in the pendulum marker group（P =0.501）. Sixty percent of the pendulum group and 70% of the bubble group had rotation error ≤3（P =0.589）, and 90% eyes of the pendulum group and 96.7% of the bubble group had rotation error ≤5（P =0.612）.·CONCLUSION： Both preoperative marking techniques result in approximately 3 of alignment error. Both marking techniques are simple, predictable, reproducible and easy to perform.

关键词： toric intraocular lens pendulum marker bubble marker

Pancreatic cancer: genetics, disease progression, therapeutic resistance and treatment strategies

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Journal of Cancer Metastasis and Treatment 2021年第1期7卷 794-808页

作者： Karnika Singh Gauri Shishodia Hari K.koul Department of Radiation Oncology The Ohio State University Comprehensive Cancer CenterColumbusOH 43210USA Department of Otolaryngology/Head&Neck Cancer Surgery LSU Health Sciences CenterShreveportLA 71103USA Department of Biochemistry&Molecular Biology Urology and Stanley S Scott Cancer Center School of Medicine LSU Health Sciences CenterNew OrleansLA 70112USA.

Pancreatic cancer is a deadly disease and the third-highest cause of cancer-related deaths in the United *** has a very low five-year survival rate(<5%)in the United States as well as in the world(about 9%).The current gemcitabine-based therapy soon becomes ineffective because treatment resistance and surgical resection also provides only selective *** mutations in pancreatic cancer confer chemoresistance by deregulating the cell cycle and promoting anti-apoptotic *** stroma-rich tumor microenvironment impairs drug delivery and promotes tumor-specific immune *** these factors render the current treatment incompetent and prompt an urgent need for new,improved *** this review,we have discussed the genetics of pancreatic cancer and its role in tumor evolution and treatment *** have also evaluated new treatment strategies for pancreatic cancer,like targeted therapy and immunotherapy.

关键词： Pancreatic cancer signature mutations gemcitabine desmoplasia therapeutic resistance immunotherapy

Lycopene modulates cellular proliferation, glycolysis and hepatic ultrastructure during hepatocellular carcinoma

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World Journal of Hepatology 2016年第29期8卷 1222-1233页

作者： Prachi Gupta Nisha Bhatia Mohinder Pal Bansal Ashwani koul Department of Biophysics Basic Medical Sciences Block Ⅱ Panjab University

AIMTo investigate the effect of lycopene extracted from tomatoes (LycT) on ultrastructure, glycolytic enzymes, cell proliferation markers and hypoxia during N-Nitrosodiethylamine (NDEA)-induced hepatocarcinogenesis. METHODSFemale BALB/c mice were randomly divided into four groups: The Control, NDEA (200 mg NDEA/kg b.w. given i.p.), LycT (5 mg/kg b.w. given orally on alternate days) and LycT + NDEA group. The mRNA and protein expression of various cell proliferation markers (PCNA, Cyclin D1, and p21) were assessed by reverse transcription-polymerase chain reaction and enzyme linked immunosorbent assay, respectively. The ultrastructure of hepatic tissue was analyzed using scanning and transmission electron microscopy. The enzymatic activity of glycolytic enzymes was estimated using standardized protocols, while glucose-6-phosphate dehydrogenase activity level was estimated using a kit obtained from Reckon Diagnostic P. Ltd. (India). RESULTSUncontrolled proliferation in the liver of NDEA (P ≤ 0.001) mice was evident from the high expression of cell-proliferation associated genes (PCNA, Cyclin D1, and p21) when compared to control and LycT mice. In addition, enhanced activities of hexokinase, phosphoglucoisomerase, aldolase, glucose-6-phosphate dehydrogenase and hypoxia-inducible factor-1α were observed in NDEA mice as compared to control (P ≤ 0.001) and LycT (P ≤ 0.001) mice. The alterations in hepatic ultrastructure observed in the NDEA group correlated with the changes in the above parameters. LycT pre-treatment in NDEA-challenged mice ameliorated the investigated pathways disrupted by NDEA treatment. Moreover, hepatic electron micrographs from the LycT + NDEA group showed increased macrophages, apoptotic bodies and well-differentiated hepatocellular carcinoma (HCC) in comparison to undifferentiated HCC as observed in the NDEA treated group. CONCLUSIONThis study demonstrates that dietary supplementation with LycT has a multidimensional role in preventing HCC de

关键词： Hepatocellular carcinoma Ultrastructure Hypoxia Cell proliferation Lycopene Glycolysis

Efficacy of 25% dextrose versus breast milk on pain and duration of cry during heel prick in neonates: A systematic review and meta-analysis

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Journal of Integrative Nursing 2024年第4期6卷 209-217页

作者： Sabitri ACHARYA Pity koul Santosh POKHREL Talagatoti David Ratna PAUL Department of Child Health Nursing Sharda School of Nursing Science and ResearchGreater NoidaUttar PradeshIndia Department of Paediatric Medicine Siddhartha Women and Children HospitalRupandehiNepal Department of Mental Health Nursing Sharda School of Nursing Science and ResearchGreater NoidaUttar PradeshIndia

Neonates,especially admitted to neonatal intensive care unit,frequently need various medical interventions in their early days.A common procedure is the heel prick for blood *** necessary for diagnosis,this procedure can be stressful for neonates,causing pain,extended crying,and *** distress in neonates during such procedures is important for the well‐being of neonates and the satisfaction of caregivers and healthcare ***,this review aims to identify and compare the efficacy of 25%dextrose and breast milk on pain and duration of cry among neonates during *** part of its review process,the article examined widely used databases,including PubMed,EMBASE,Cochrane,Academia,and Google *** the meta-analysis,the authors utilized RevMan *** eligible trials were analyzed using the Cochrane Risk of Bias Tool to assess the quality of the included studies and evaluate the risk of *** of 131 studies reviewed,seven studies were included in meta-analysis of pain,and four studies were included in duration of *** results show that 25%dextrose is more effective to reduce pain among neonates during minor invasive procedure like heel prick(P<0.00001),whereas both interventions are effective in the reduction of crying *** review highlights that dextrose is more effective in reducing pain in comparison to breast ***,additional well-designed studies with larger sample sizes and extended follow-up periods are needed to validate and build upon the current ***,this review underscores the importance of utilizing effective pain management strategies,such as 25%dextrose,to enhance neonatal care and improve the overall well-being of newborns during invasive procedures.

关键词： Breastmilk dextrose duration of cry heel prick neonates

东道国文化对跨国公司财务业绩的影响 ——以苏丹LG电子公司为例

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东道国文化对跨国公司财务业绩的影响 ...

作者： koul Alor Mijak koul 江西财经大学

学位级别：硕士

在国际商务中,东道国的民族文化对企业的成功起着重要的作用。工作价值,以及人们根据文化理解和解释组织或社会内部事物的方式。本研究探讨了东道国文化对跨国公司财务绩效的影响-以LG电子公司-苏丹为例。本研究采用Hofstede’s framewo... 详细信息

在国际商务中,东道国的民族文化对企业的成功起着重要的作用。工作价值,以及人们根据文化理解和解释组织或社会内部事物的方式。本研究探讨了东道国文化对跨国公司财务绩效的影响-以LG电子公司-苏丹为例。本研究采用Hofstede’s framework the Values Survey Module 2013（VSM 2013）对民族文化进行测量,该模块包括六个文化维度,即权力距离（PD）、个人主义/集体主义（ID）、男性气质vs女性气质（MAS）、不确定性规避（UA）、短期/长期（LTO）、放纵与克制（IVR）。公司业绩是用资产回报率（ROA）和息税前利润（EBIT）所代表的财务业绩来衡量的。数据收集自LG电子公司-苏丹的50名员工。对假设进行相关检验,检验1后剔除3个自变量。在第二次检验中,对三个自变量power distance（PD）、uncertainty avoidance（UA）、long-term orientation（LTO）、correlation and regression进行分析,结果表明,民族文化与企业财务绩效之间存在负相关关系。不确定性规避（UAI）和长期导向（LTO）与企业财务绩效呈正相关。本研究有助于决策者了解东道国文化对跨国公司财务绩效的影响。需要进一步的实证研究来调查和评估苏丹的民族文化,这对跨国公司的财务业绩非常重要,未来的研究应该考虑样本的大小和这么多的民族、宗教的直接后果。

关键词：文化维度跨国公司民族文化伊斯兰的职业道德儒家思想

Modulatory effects of Azadirachta indica on benzo(a)pyrene-induced forestomach tumorigenesis in mice

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World Journal of Gastroenterology 2006年第17期12卷 2749-2755页

作者： Subhash Chander Gangar Rajat Sandhir Durg Vijay Rai Ashwani koul Department of Biophysics Basic Medical Sciences Block Panjab UniversityChandigarhPIN-160014India Department of Biochemistry Basic Medical Sciences Block Panjab UniversityChandigarhPIN-160014India

AIM： To evaluate the chemopreventive effects of aqueous Azadimchta indica （A indica） leaf extract （AAILE） against benzo（a）pyrene [B（a）P]-induced forestomach tumorigenesis in Balb/c mice. METHODS： Female Balb/c mice were divided into four groups of 10-12 animals each. For induction of forestomach tumors, starting from d 14 of the experiment, mice of B（a）P and B（a）P＋A indica groups were given intra-gastric instillations of B（a）P （40 mg/kg）, twice a week for four weeks. Mice ofA indica and B（a）P＋A indica groups were orally administered with AAILE （100 mg/kg）, two weeks prior to B（a）P instillations till the end of the experiment. After 22 wk of the first B（a）P instillation, mice were sacrificed and the forestomachs were analyzed for development of tumors, scanning electron microscopy （SEM） and histopathology. RESULTS： Tumor incidence was observed to be 100% in mice that received only B（a）P. However, treatment with AAILE reduced the tumor incidence by 58.4% as observed in mice of B（a）P＋A indica group when compared to that of B（a）P group. Similarly, the tumor burden and multiplicity were seen to decrease by 87.3% and 69.6% respectively in mice of B（a）P＋A indica group when compared to those of B（a）P group. Scanning electron microscopy analysis showed that AAILE treatment itself did not cause any abnormalities on the surface architecture of forestomach epithelium. In tumorous forestomach, surface disruption was observed. Over the forestomach tumors of B（a）P group of mice certain rounded structures were seen in addition to closely placed tongue-shaped squamous cells. Interestingly, these rounded structures were not observed in B（a）P ＋ A indica group of mice. Histopathalogically, the tumors were identical and diagnosed to be papillomas. Mice from control and A indica groups of mice did not develop any forestomach tumors and showed normal histo-architecture. CONCLUSION： The present data suggest that A indica exerts chemopreventive effects against B（a）P-induced forestomac

关键词： Azadirachta indica Benzo(a)pyrene, Chemoprevention Histopathology Scanning electron microscopy

Thermal Characteristics of Gel Grown Lanthanum Heptamolybdate crystals

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Journal of Materials Science & Technology 1995年第6期11卷 455-459页

作者： Sushma Bhat and P.N.Kotru(Dept. of Physics, Uuiversity of Jammu, Jammu -180 001, India) M.L.koul(Dept. of Chemistry ,Uuiversity of Jammu, Jammu, India) Univ of Jammu Jammu India

Thermal characteristics of Ianthanum heptamolybdate crystals grown by gel technique, employing thermoanalytical techniques, viz. TG, DTA and DSC, are reported. It is established that the rare-earth lanthanum heptamolybdate crystals are associated with thirty water molecules;the composition being La2Mo7O24.3OH2O. It is shown that all the thirty water molecules associated with lanthanum heptamolybdate crystal are lost during its decomposition, leading to its anhydrous form. Results obtained on application of TG based models, viz. Horowitz-Metzger,Coats-Redfern and Piloyan-Novikova and of DSC based methods viz. Roger-Morris-Smith and Barret, regarding solid state reaction kinetics are also reported. The random nucleation model is shown to be the one that is relevant to the decomposition of lanthanum heptamolybdate. The kinetic parameters, *** order of reaction. frquency factor, energy of activation and entropy using above mentioned models are computed and shown to bear reasonably good agreement

关键词： Ph Thermal Characteristics of Gel Grown Lanthanum Heptamolybdate crystals