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Efficient Configuration Space Construction and Optimization for Motion Planning

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Engineering 2015年第1期1卷 46-57页

作者： Jia Pan dinesh Manocha Department of Computer Science The University of Hong Kong Department of Computer Science University of N.Carolina

The configuration space is a fundamental concept that is widely used in algorithmic robotics. Many applications in robotics, computer-aided design, and related areas can be reduced to computational problems in terms of configuration spaces. In this paper, we survey some of our recent work on solving two important challenges related to configuration spaces： ~ how to efficiently compute an approximate representation of high-dimensional configuration spaces; and how to efficiently perform geometric proximity and motion planning queries （n high-dimensional configuration spaces. We present new configuration space construction algorithms based on machine learning and geometric approximation techniques. These algorithms perform collision queries on many configuration samples. The collision query results are used to compute an approximate representation for the configuration space, which quickly converges to the exact configuration space. We also present parallel GPU-based algorithms to accelerate the performance of optimization and search computations in configuration spaces. In particular, we design efficient GPU-based parallel k-nearest neighbor and parallel collision detection algorithms and use these algorithms to accelerate motion planning.

关键词： configuration space motion planning GPUparallel algorithm

Rare earth(La)and metal ion(Pb)substitution induced structural and multiferroic properties of bismuth ferrite

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Journal of Advanced Ceramics 2015年第4期4卷 292-299页

作者： Poorva SHARMA Ashwini kUMAR dinesh VARSHNEY Materials Science Laboratory School of PhysicsVigyan BhawanDevi Ahilya UniversityKhandwa Road CampusIndore 452001India Department of Physics Southeast UniversityJiangning DistrictNanjing 211189China

In this study,bulk samples of multiferroic with compositional formula,BiFeO3 and Bi_(0.825)A_(0.175)FeO_(3)(A=La,Pb),were synthesized by solid state reaction route.X-ray diffraction(XRD)along with the Rietveld refinement revealed the distorted rhombohedral(R3c)structure for pristine BiFeO3 and Bi0.825La0.175FeO3 and tetragonal(P4/mmm)for Bi_(0.825)Pb_(0.175)FeO_(3)*** support the structural results,bond length between atoms for both of the compounds was calculated.A change in Raman mode position in BiFeO3(BFO)has been observed with La and Pb substitution from Raman scattering measurements and also recommended a structural change with rare earth and metal ion substitution at Bi *** the frequency dependent dielectric constant and dielectric loss plots,a decrease in dielectric values with increase in frequency was observed for both of the *** microelectronic devices,porous ceramics with lower value of dielectric constant are most ***,further studies are also needed to carefully tune the magnetoelectric properties and structural distortion after La/Pb substitution in BFO.

关键词： ceramics X-ray diffraction(XRD) Raman spectroscopy dielectric properties

Evaluation of gum mastic(Pistacia lentiscus) as a microencapsulating and matrix forming material for sustained drug release

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Asian Journal of Pharmaceutical Sciences 2017年第5期12卷 424-432页

作者： dinesh M.Morkhade Department of Pharmaceutical Sciences Rashtrasant Tukadoji Maharaj Nagpur University Campus

In this study, a natural gum mastic was evaluated as a microencapsulating and matrixforming material for sustained drug release. Mastic was characterized for its physicochemical properties. Microparticles were prepared by oil-in-oil solvent evaporation method. Matrix tablets were prepared by wet and melt granulation techniques. Diclofenac sodium(DFS) and diltiazem hydrochloride(DLTZ) were used as model drugs. Mastic produced discrete and spherical microspheres with DLTZ and microcapsules with DFS. Particle size and drug loading of microparticles was in the range of 22–62 μm and 50–87%, respectively. Increase in mastic:drug ratio increased microparticle size, improved drug loading and decreased the drug release rate. Microparticles with gum: drug ratio of 2:1 could sustain DLTZ release up to 12 h and released 57% DFS in 12 h. Mastic produced tablets with acceptable pharmacotechnical properties. A 30% w/w of mastic in tablet could sustain DLTZ release for 5 h from wet granulation,and DFS release for 8 h and 11 h from wet and melt granulation, respectively. Results revealed that a natural gum mastic can be used successfully to formulate matrix tablets and microparticles for sustained drug release.

关键词： Gum mastic Diclofenac sodium Diltiazem hydrochloride Microparticles Matrix tablets Sustained release

Use of biologically synthesized antimicrobial nanoparticles for improving peritoneal dialysis technique： a translational research perspective

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The Journal of Biomedical Research 2016年第5期30卷 349-352页

作者： dinesh kumar Centre of Biomedical Research (CBMR) SGPGIMS Campus Lucknow-226014 Uttar Pradesh India

Peritoneal dialysis （PD） is a well-established renal replacement therapy （RRT） for end-stage renal failure （ESRF） and offers certain clear advantages over hemodialysis. However, PD is often associated with a high risk of infection of the intraperitoneal cavity, subcutaneous tunnel and catheter exit site, which may subsequently form microbial biofilms.

关键词： Use of biologically synthesized antimicrobial nanoparticles for improving peritoneal dialysis technique

Detecting IEEE 802.11 Client Device Impersonation on a Wireless Access Point

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Journal of Communications and Information Networks 2022年第4期7卷 408-420页

作者： Paul Zanna dinesh kumar Pj Radcliffe RMIT University MelbourneAustralia

The ability to effortlessly construct and broadcast false messages makes IEEE 802.11 wireless networks particularly vulnerable to *** frame generation allows rogue devices to impersonate an authorized user and issue commands that impact the user’s network connection or possibly the entire network’s ***,the current device impersonation detection methods are unsuitable for small devices or real-time *** contribution is to demonstrate that a rule-based learning classifier using several random forest(RF)features from an IEEE 802.11 frame can determine the probability that an impersonating device has generated that frame in real *** main innovation is a processing pipeline,and the algorithm that implements concurrent one-class classifiers on a per device basis yet is lightweight enough to run directly on a wireless access point(WAP)and produce real-time outputs.

关键词： IEEE 802.11 WIFI P4 software defined radio(SDR) software defined networking(SDN) security

The effect of mate removal on dawn singing behaviour in male pied bush chats

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Current Zoology 2011年第1期57卷 72-76页

作者： Vinaya kumar SETHI dinesh BHATT Amit kUMAR Avian Diversity and Bioacoustics Lab Department of Zoology and Environmental Science Gurukul Kangri University Haridwar249 404 Uttarakhand India

To determine the influence of pairing status on dawn singing behaviour in pied bush chats Saxicola caprata, we conducted mate removal experiments across eight territories. The experiment was divided into three stages： pre-removal （pairs were present on their respective territories）, removal （females were experimentally removed）, and returned （females were released into the focal pairs＇ territories）. Dawn bout length, song rate, song complexity, percentage performance time, song perch height, and distance of singing location to territory boundary were measured for each male during each experimental stage. We did not find an effect of mate removal on any dawn song characteristics of male pied bush chats suggesting that the presence or absence of a mate does not influence male dawn singing behaviour. Our findings further suggest that males use dawn chorus to mediate social relationships with neighbouring males to proclaim an established territory

关键词： Dawn chorus Mate removal Pied Bush Chat Saxicola caprata

Feature selection for face recognition:a memetic algorithmic approach

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2009年第8期10卷 1140-1152页

作者： dinesh kUMAR Shakti kUMAR C.S.RAI Department of Computer Science & Engineering Guru Jambheshwar University of Science & Technology Institute of Science and Technology University School of Information Technology GGS Indraprastha University

The eigenface method that uses principal component analysis(PCA) has been the standard and popular method used in face *** paper presents a PCA-memetic algorithm(PCA-MA) approach for feature *** has been extended by MAs where the former was used for feature extraction/dimensionality reduction and the latter exploited for feature *** were performed over ORL and YaleB face databases using Euclidean norm as the *** was found that as far as the recognition rate is concerned,PCA-MA completely outperforms the eigenface *** compared the performance of PCA extended with genetic algorithm(PCA-GA) with our proposed PCA-MA *** results also clearly established the supremacy of the PCA-MA method over the PCA-GA *** further extended linear discriminant analysis(LDA) and kernel principal component analysis(kPCA) approaches with the MA and observed significant improvement in recognition rate with fewer *** paper also compares the performance of PCA-MA,LDA-MA and kPCA-MA approaches.

关键词： Face recognition Memetic algorithm (MA) Principal component analysis (PCA) Linear discriminant analysis (LDA) kernel principal component analysis (kPCA) Feature selection

INFLUENCE OF RIGID BOUNDARY ON THE LOVE WAVE PROPAGATION IN ELASTIC LAYER WITH VOID PORES

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Acta Mechanica Solida Sinica 2013年第5期26卷 551-558页

作者： Sumit kumar Vishwakarma Shishir Gupta dinesh kumar Majhi Department of Applied Mathematics Indian School of Mines Department of Mathematics Birla Institute of Technology and Science

In this paper, a mathematical model for Love wave propagation in a porous elastic layer under a rigid boundary resting over a poro-elastic half-space has been developed. The study shows that such a medium transmits two types of Love waves. The first front depends on the change in volume fraction of the pores whereas the second front depends upon the modulus of rigidity of the elastic matrix of the medium and is the same as the Love wave in an elastic layer over an elastic half-space. It is observed that the first front is many times faster than the shear wave in the medium with void pores due to the change in the volume fraction of the pores and is significant.

关键词： Love waves void pores volume fraction rigid boundary wave front

Screening colonoscopy:The present and the future

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World Journal of Gastroenterology 2021年第3期27卷 233-239页

作者： Chelsea V Hayman dinesh Vyas College of Medicine California Northstate UniversityElk GroveCA 95757United States Department of Surgery San Joaquin General HospitalFrench CampCA 95231United States

In the United States,colorectal cancer(CRC)is the second leading cause of mortality in men and *** are now seeing an increasing number of patients with advanced-stage diagnosis and mortality from colorectal cancer before 50 years of age,which requires earlier *** the increasing need for CRC screening through colonoscopy,and thus endoscopists,easier and simpler techniques are needed to train proficient *** most widely used approach by endoscopists is air insufflation colonoscopy,where air distends the colon to allow visualization of the colonic *** technique is uncomfortable for patients and requires an anesthetist to administer *** addition,patients commonly complain about discomfort post-op as air escapes into the small bowel and cannot be adequately *** research into the use of water insufflation colonoscopies has proved promising in reducing the need for sedation,decreasing discomfort,and increasing the visibility of the colonic *** direction into water insufflation colonoscopies which have shown to be simpler and easier to teach may increase the number of proficient endoscopists in training to serve our aging population.

关键词： Colorectal cancer Water-insufflation colonoscopy Air-insufflation colonoscopy Adenomatous polyps Adenoma detection rate