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Design of Deep Reinforcement Learning Controller Through Data-assisted Model for Robotic Fish Speed Tracking

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Journal of Bionic Engineering 2023年第3期20卷 953-966页

作者： Palmani Duraisamy Manigandan Nagarajan santhanakrishnan Amirtharajan Rengarajan Robotics Lab School of EEESASTRA Deemed UniversityThanjavurTamil Nadu613401India Department of ECE School of EEESASTRA Deemed UniversityThanjavurTamil Nadu613401India

It is common for robotic fish to generate thrust using reactive force generated by the tail’s physical motion, which interacts with the surrounding fluid. The coupling effect of the body strongly correlates with this thrust. However, hydrodynamics cannot be wholly modeled in analytical form. Therefore, data-assisted modeling is necessary for robotic fish. This work presents the first method of its kind using Genetic Algorithm (GA)-based optimization methods for data-assistive modeling for robotic fish applications. To begin, experimental data are collected in real time with the robotic fish that has been designed and fabricated using 3D printing. Then, the model’s influential parameters are estimated using an optimization problem. Further, a model-based deep reinforcement learning (DRL) controller is proposed to track the desired speed through extensive simulation work. In addition to a deep deterministic policy gradient (DDPG), a twin delayed DDPG (TD3) is employed in the training of the RL agent. Unfortunately, due to its local optimization problem, the RL-DDPG controller failed to perform well during training. In contrast, the RL-TD3 controller effectively learns the control policies and overcomes the local optima problem. As a final step, controller performance is evaluated under different disturbance conditions. In contrast to DDPG and GA-tuned proportional-integral controllers, the proposed model with RL-TD3 controller significantly improves the performance.

关键词： Bioinspired robot Data-assisted model Genetic algorithm Reinforcement learning control Robotic fish

Design,Modeling,and Control of Biomimetic Fish Robot:A Review

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Journal of Bionic Engineering 2019年第6期16卷 967-993页

作者： Palmani Duraisamy Rakesh Kumar Sidharthan Manigandan Nagarajan santhanakrishnan Robotics Laboratory Department of Electronics and Instrumentation EngineeringSASTRA Deemed UniversityThanjavurTamil Nadu-613401India

A comprehensive review on bio-inspired fish robots has been done in this article with an enhanced focus on swimming styles,actuators,hydrodynamics,kinematic-dynamic modeling,and *** styles such as body and/or caudal fin and median and/or paired fin and their variants are discussed in *** shows that most fish robots adapt carangiform in body and/or caudal fin type swimming as it gives significant thrust with a maximum speed of 3.7 ms 1 in *** of smart or soft actuators to enhance real-time dynamics was studied from literature,and it was found that the robot built with polymer fiber composite material could reach a speed of 0.6 m s However,dynamic modeling is relatively complex,and material selection needs to be *** numerical and analytical methods in dynamic modeling have been investigated highlighting merits and *** parameter estimation through the data-driven model is widely used in offline,however online estimation of the same need to be *** controllers are frequently used tor navigation and stabilization,which often encounters the linearization problem and hence,can be replaced with the state-of-the-art adaptive and intelligent *** article also summarizes the potential research gaps and future scopes.

关键词： biomimetic fish robot swimming modes hydrodynamic modeling motion control smart actuators

Perspective on ultrathin layered Ni-doped MoS_(2) hybrid nanostructures for the enhancement of electrochemical properties in supercapacitors

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Journal of Energy Chemistry 2023年第5期80卷 335-349,I0008页

作者： Kamarajar Prakash santhanakrishnan Harish Shanmugasundaram Kamalakannan Thirumalaisamy Logu Masaru Shimomura Jayaram Archana Mani Navaneethan Functional Materials and Energy Devices Laboratory Department of Physics and NanotechnologySRM Institute of Science and TechnologyKattankulathurChennai 603203Tamil NaduIndia Graduate School of Science and Technology Shizuoka University3-5-1 JohokuNaka-KuHamamatsuShizuoka 432-11Japan SPECIFIC Materials Research CentreFaculty of Science and EngineeringSwansea UniversitySwanseaUnited Kingdom Nanotechnology Research Center SRM Institute of Science and TechnologyKattankulathurChennai 603203Tamil NaduIndia

Over the last two decades,extensive study has been done on two-dimensional Molybdenum Sulphide(MoS_(2))due to its outstanding features in energy storage *** MoS_(2)has a lot of active sulphur edges,the presence of inactive surfaces leads to limit conductivity and ***,in this article,we aimed to promote the additional active sites by doping various weight percentages(2%,4%,6%,8%and 10%)of Nickel(Ni)into the MoS_(2)matrix by simple hydrothermal technique,and their doping effects were investigated with the help of Physio-chemical analyses.X-ray diffraction(XRD)pattern,Raman,and chemical composition(XPS)analyses were used to confirm the Ni incorporation in MoS_(2)*** investigations demonstrated that Ni-doped MoS_(2)nanosheets were vertically aligned with enhanced interlayer *** voltammetry,Galvanostatic charge-discharge,and electrochemical impedance spectroscopy investigations were used to characterize the electrochemical *** 6%Ni-doped MoS_(2)electrode material showed better CSPof 528.7 F/g@1 A/g and excellent electrochemical stability(85%of capacitance retention after 10,000 cycles at 5 A/g)compared to other electrode ***,the solid-state asymmetric supercapacitor was assembled using Nidoped MoS_(2)and graphite as anode and cathode materials and analysed the electrochemical properties in the two-electrode *** determine the impact of the Ni-atom on the MoS_(2)surface,firstprinciples computations were ***,it was examined for electronic band structure,the projected density of states(PDOS)and Bader charge transfer analyses.

关键词： Ni-doped MoS_(2) Supercapacitor Cyclic voltammetry Specilic surface area Specific capacitance Stability

Molecular characterization and antibacterial effect of endophytic actinomycetes Nocardiopsis sp. GRG1 (KT235640) from brown algae against MDR strains of uropathogens

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Bioactive Materials 2016年第2期1卷 140-150页

作者： Govindan Rajivgandhi Ramachandran Vijayan Marikani Kannan Malairaja santhanakrishnan Natesan Manoharan Department of Marine Science Bharathidasan UniversityTiruchirappalli 24Tamil NaduIndia School of Life Sciences Jawaharlal Nehru UniversityNew Delhi 67India Department of Microbiology VHNSN CollegeVirudunagar 01Tamil NaduIndia Department of Marine and Coastal Studies Madurai Kamaraj UniversityMadurai 21Tamil NaduIndia

Our study is to evaluate the potential bioactive compound of Nocardiopsis ***1(KT235640)and its antibacterial activity against multi drug resistant strains(MDRS)on urinary tract infections(UTIs).Two brown algae samples were collected and were subjected to isolation of endophytic actinomycetes.100 strains of actinomycetes were isolated from algal samples based on observation of morphology and physiological characters.40 strains were active in antagonistic activity against various clinical *** the strains,10 showed better antimicrobial activity against MDRS on *** secondary metabolite of Nocardiopsis ***1(KT235640)has showed tremendous antibacterial activity against UTI pathogens compared to other *** of various growth parameters were used for synthesis of secondary metabolites,such as optimum pH 7,incubation time 5e7 days,temperature(30C),salinity(5%),fructose and mannitol as the suitable carbon and nitrogen *** 100 μg/ml concentration MIC of Nocardiopsis ***1(KT235640)showed highest percentage of inhibition against Proteus mirabilis(85%),and ***,Staphylococcus auerues,Psuedomonas aeroginasa,Enterobactor sp and Coagulinase negative staphylococci 78e85%respectively.

关键词： Endophytes Multi-drug resistant strains Urinary tract infections Minimal inhibitory concentration

Emission and performance analysis of a diesel engine burning cashew nut shell oil bio diesel mixed with hexanol

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Petroleum Science 2018年第1期15卷 176-184页

作者： Amith Kishore Pandian Dinesh Babu Munuswamy santhanakrishnan radhakrishanan Yuvarajan Devarajan Ramesh Bapu Bathey Ramakrishnan Beemkumar Nagappan Department of Mechanical Engineering Sathyabama University Department of Mechanical Engineering Panimalar Engineering College Department of Mechanical Engineering SRM University Department of Mechanical Engineering Vel Tech Dr. RR &Dr. SR University Department of Mechanical Engineering Chennai Institute of Technology

In this study, the effect of doping hexanol into biodiesel which is from neat cashew nut shell biodiesel oil on the emissions and the performance characteristics was studied in a constant speed diesel engine. The main purpose of this work is to reduce various emissions and also to improve the performance of the diesel engine when fueled with blends of hexanol and neat cashew nut shell biodiesel. Cashew nut shell oil is not edible, and hence it can be used as a viable alternative to *** nut shell biodiesel is prepared by conventional transesterification. Hexanol with 99.2% purity was employed as an oxygenated additive. Experimental studies were conducted by fueling diesel as a baseline and by fueling hexanol and neat cashew nut shell biodiesel mixture. A fuel comprising 10%（by volume） of hexanol and 90%（by volume） neat cashew nut shell biodiesel was referred to as CNSBD900 H100 and fuel comprising 20%（by volume） of hexanol and 80%（by volume）of neat cashew nut shell biodiesel was referred to as CNSBD800 H200. This study also investigated the possibility of using pure biofuel in an unmodified naturally aspirated diesel engine. The outcome of this study showed that adding hexanol at10% and 20%（by volume） to cashew nut shell biodiesel results in a reduction in emissions. In addition, a significant improvement in brake thermal efficiency and reduction in brake-specific fuel consumptions were achieved. Hence, it could be concluded that hexanol could be a viable and promising additive for improving the drawbacks of biodiesel when it was used to fuel an unmodified diesel engine.

关键词： Hexanol Biodiesel Engine performance Emission

Optimization of piezoelectric MEMS process on Sr and La co-doped PZT thin films

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Journal of Advanced Dielectrics 2020年第4期10卷 6-12页

作者： M.Kathiresan Jain Jose E.Varadarajan R.Ramesh V.Natarajan M.K.Jayaraj T.santhanakrishnan Naval Physical and Oceanographic Laboratory DRDO Kochi-682021India Research Innovation Centre DRDO Chennai-600113India Department of Physics Cochin University of Science and Technology Kochi-682022 India Combat Vehicle Research and Development Establishment DRDOChennai-600054India

Doped lead-zirconate-titanate(PZT)thin films are preferred for the development of micro-electro-mechanical systems(MEMS)-based acoustic sensors because of their inherent higher dielectric and piezoelectric *** process is used to develop such MEMS devices which is highly complex even for undoped PZT thin films;therefore,the problem is further cumbersome for doped PZT thin films due to the presence of added dopant elements and their associated *** paper presents patterning of strontium(Sr)and lanthanum(La)co-doped PZT thin film(PSLZT)deposited on platinized silicon substrate using wet and dry etching processes for fabricating a diaphragm structure with thickness of 15-25μm and diameter of 1.4-2 mm,suitable for acoustic sensing *** effects of various etching conditions have been studied and the results are *** is found that the dry etching is the most suited process for realizing the piezoelectric MEMS structure due to its higher etching *** appreciable etching rate of 260-270 nm/min with smooth vertical sidewalls is *** silicon diaphragm with patterned PSLZT thin film is found to retain more than 80%of its dielectric and piezoelectric coefficients and has a resonance of 1.43 MHz.

关键词： PZT etching RF sputtering Doped PZT Sr and La co-doping MEMS acoustic sensor

Study on Performance and Emission Characteristics of a Compression Ignition Engine Fueled with Diesel-2 Ethoxy Ethyl Acetate Blends

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Engineering（科研） 2011年第11期3卷 1132-1136页

作者： B. Deepanraj P. Lawrence M. Kannan V. Nadanakumar S. santhanakrishnan R. Senthil 不详

Diesel engines are the major contributors of various types of air polluting gases like carbon monoxide, oxides of nitrogen, smoke, etc. Improvement of fuel properties is essential for suppression of Diesel pollutant emissions along with the optimization of design factors and after treatment equipment. Studies conducted in the past have shown that a significant reduction were obtained in the emissions using oxygenates. This paper investigates the performance and emission characteristics of a direct injection Diesel engine fueled with 2 Ethoxy Ethyl Acetate (EEA) blends. Different fuel blends which contain 5%, 10% and 15% of EEA were prepared and the effect of these blends on performance and emissions were studied on a single cylinder direct injection Diesel engine. The blends were tested under different load conditions and the result showed that EEA blended fuels improves the performance of the engine and reduce the emission level significantly.

关键词： 2 Ethoxy Ethyl Acetate Diesel Performance Emission Compression Ignition Engine

Food habits and prey spectrum of Spotted Owlet(Athene brama) in Madurai District,Tamil Nadu,southern India

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Chinese Birds 2011年第4期02卷 193-199页

作者： Ramachandran santhanakrishnan Abdul Hameed MOHAMED SAMSOOR ALI Uthirapathi ANBARASAN Department of Zoology Saraswathi Narayanan CollegePerungudiMadurai-625 022Tamil NaduIndia

We studied the food habits and prey spectrum of the Spotted Owlet(Athene brama) in Madurai District,Tamil Nadu,southern India,between 2007 and 2009 by analyzing their regurgitated pellets.A total of 4181 pellets were analyzed and 40278 individual prey remains of 16 prey species *** number of prey items per pellet varied from 1 to 31 with an overall mean prey of 9.6 ± *** analysis revealed that invertebrates were the predominant prey(insecta 83.0%;arachnida 1.1%;myriapoda 0.2%) followed by vertebrates(reptiles 3.3%;mammals 2.9%).Mammalian prey species in the diet included Mus spp.,Rattus rattus,Suncus murinus,Tatera in?ica,Ban?icota bengalensis and micro chiropteran bats.

关键词： Spotted Owlet food invertebrates Coleoptera vertebrates

儿童单肾移植:临床因素和术后即刻超声检查与血管栓塞事件的相关性

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国际医学放射学杂志 2016年第4期 444-444页

作者： G.Fananapazir G.Tse M.T.Corwin C.santhanakrishnan R.V.Perez J.P.Mc Gahan 李畅 Department of Radiology University of California Davis Medical Center

摘要目的评估儿童单肾移植临床和术后即刻超声(US)风险因素与术后血栓事件的相关性。材料与方法机构伦理委员会批准了该项符合HIPAA的回顾性研究。研究共纳入10年间195例接受儿童单肾移植的受体。受体和供体

关键词：单肾孤立肾儿童血管栓塞临床因素超声检查相关性