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Design of a 4 DOF parallel robot arm and the firmware implementation on embedded system to transplant pot seedlings

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Artificial Intelligence in Agriculture 2020年第1期4卷 172-183页

作者： rahul k Hifjur Raheman Vikas Paradkar Agricultural&Food Engineering Department Indian Institute of Technology KharagpurIndia

This paper presents a firmware design and its implementation on a real time embedded system for driving a 4 DOF parallel robot *** firmware primarily comprised of two components to produce motion of the robot arm:a)generation of continuous position coordinates and b)generation of actuating *** two componentswere processed in two different microcontrollerswith a common communication *** position generation algorithm produced and transmitted continuous position data to the motion generation algorithm in the form of G-code strings by reading the input positionswhichwere previously stored by the user in EEPROMmemory of the *** receipt of a handshake signal synchronized the data transmission between these components through a communication *** LCD display and keypad were used as human-machine interface(HMI)to communicate with the user to set the robot target *** mechanical structure of the robot arm comprised of multiple links which were actuated by *** workspace boundary were sensed by limit *** kinematic equations represented the gripper position for the corresponding input joint angles.A microcontroller was used to compute kinematic equations of the robot arm with the help of motion generation algorithm to generate actuation signals for the simultaneous movement of robot *** kinematic equations were solved with the dual-core capability of the microcontroller using real time operating system(RTOS),which made the computation faster with an average computation time of 198μs per *** developed firmware was implemented and tested on a 4 DOF parallel manipulator using embedded microcontrollers for continuous pickup and place of the paper pot seedlings for automating the metering of pot *** cycle time taken for pickup and dropping of each seedling was 3.5 s with a success rate of 93.3%.

关键词： Robot firmware Parallel robot arm Automation SoC microcontrollers,pot seedlings

Need for operational simplicity and timely disbursal of benefits—a qualitative exploration of the implementation of a direct benefit transfer scheme for persons with tuberculosis in India

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Infectious Diseases of Poverty 2024年第3期13卷 58-72页

作者： Malu Mohan Jeromie W.V.Thangaraj Sumit Pandey G.Sri Lakshmi Priya Sivavallinathan Arunachalam rahul Sharma Hemant Deepak Shewade B.Aishwarya k.Afeeq Afsana khatoon B.Gokulvijay Gude Sireesha kavita Chandra S.Nandhakumar Prince Samuel C.Nanditha Viswanathan Devika Shanmugasundaram Raghuram Rao Manoj V.Murhekar kathiresan Jeyashree Indian Council of Medical Research-National Institute of Epidemiology R-127TNHBAyapakkamChennaiTamil Nadu 600077India TB Support Network WHO Country Office for IndiaNew DelhiIndia Central Tuberculosis Division Government of IndiaNew DelhiIndia

Background Ni-kshay Poshan Yojana(NPY)is a direct benefit transfer scheme of the Government of India introduced in 2018 to support the additional nutritional requirements of persons with TB(PwTB).Our recent nationwide evaluation of implementation and utilization of NPY using programmatic data of PwTB from nine randomly selected Indian states,reported a 70%coverage and high median delay in benefit *** undertook a qualitative study between January and July 2023,to understand the detailed implementation process of NPY and explore the enablers and barriers to effective implementation and utilization of the NPY *** We followed a grounded theory approach to inductively develop theoretical explanations for social phenomena through data generated from multiple *** conducted 36 in-depth interviews of national,district and field-level staff of the National Tuberculosis Elimination Programme(NTEP)and NPY beneficiaries from 30 districts across nine states of India,selected using theoretical *** analytical framework developed through inductive coding of a set of six interviews,guided the coding of the subsequent *** and themes emerged through constant comparison and the data collection continued until theoretical *** Stakeholders perceived NPY as a beneficial *** political commitment from the state administration,mainstreaming of NTEP work with the district public healthcare delivery system,availability of good geographic and internet connectivity and state-specific grievance redressal mechanisms and innovations were identified as enablers of ***,the complex,multi-level benefit approval process,difficulties in accessing banking services,perceived inadequacy of benefits and overworked human resources in the NTEP were identified as barriers to implementation and *** The optimal utilization of NPY is enabled by strong political commitment and challenged by its length

关键词： National Tuberculosis Elimination Programme Nutritional status Direct benefit transfer Implementation Cash transfer scheme Grounded theory India

Development of a metering mechanism with serial robotic arm for handling paper pot seedlings in a vegetable transplanter

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Artificial Intelligence in Agriculture 2021年第1期5卷 52-63页

作者： Vikas Paradkar Hifjur Raheman rahul k. Agricultural and Food Engineering Department Indian Institute of Technology KharagpurIndia

This paper describes the development of an automated metering mechanism for vegetable *** consisted of a 3-DOF serial robotic arm and an automatic feeding *** robotic arm was developed to pick and drop tomato seedlings raised in biodegradable paper *** volume of each pot was 50 cm^(3)(3.5 cmdiameter and 5.2 cmheight)with a maximumtotalweight of 47 g including potmix and *** type feeding conveyorwas developed to convey the pot seedlings to a predefined positionwhere the robotic armcould pick up these seedlings one by ***(Light Dependent Resistor)-LED(Light Emitting Diode)sensing unit was used to perform the intermittent movement of the *** developed system was evaluated under both laboratory and field *** robotic arm was able to pick and drop 20 seedlings per minute and its effective cycle time per handling one seedling was varying from 2.5 to 3.1 *** consumption of the conveyor of the developed system and the robotic arm was 18 W and 16 W,*** conveying,metering and overall efficiency of the developed metering mechanism under laboratory condition were 96.83%,95.91%and 92.86%,respectively as compared to 94.7%,93.28%and 88.33%,under field *** developed robotic armbasedmeteringmechanismwas simple,light inweight and effectively handled the pot seedlings without damage and would thus help in mechanizing transplanting of vegetable seedlings.

关键词： Tomato seedling transplanting Feeding conveyor Robotic transplantation Seedling sensing system

Viability of a concentrated solar power system in a low sun belt prefecture

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Frontiers in Energy 2020年第4期14卷 850-866页

作者： rahul BHATTACHARJEE Subhadeep BHATTACHARJEE Department of Electrical Engineering National Institute of Technology(NIT)AgartalaTripura Pin-799046India

Concentrating solar power(CSP)is considered as a comparatively economical,more efficient,and large capacity type of renewable energy ***,CSP generation is found restricted only to high solar radiation belt and installed where high direct normal irradiance is *** paper examines the viability of the adoption of the CSP system in a low sun belt region with a lower direct normal irradiance(DNI).Various critical analyses and plant economics have been evaluated with a lesser DNI *** obtained results out of the designed system,subjected to low DNI are not found below par,but comparable to some extent with the performance results of such CSP plants at a higher *** analysis indicates that incorporation of the thermal energy storage reduces the levelized cost of energy(LCOE)and augments the plant capacity *** capacity factor,the plant efficiency,and the LCOE are found to be 32.50%,17.56%,and 0.1952$/kWh,respectively.

关键词： concentrated solar power direct normal irradiance plant performance plant economics thermal energy storage

A novel approach towards molecular memory device in gate tunable structure of MoS_(2)-graphene

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Nano Research 2021年第1期14卷 177-184页

作者： rahul Tripathi Abha Misra Department of Instrumentation and Applied Physics Indian Institute of Sciencey BangaloreKarnataka 560012India

Molecular interaction in two-dimensional(2D)van der Waals(vdW)interfaces has drawn tremendous attention for extraordinary materials *** sensing characteristics of molecular interaction has been exploited extensively to reach the detection limit to a few parts-per-billion(ppb)of molecules and far less attention is given to the evolution of persistent current state due to the molecular *** study focuses on molecular memory operation of MoS_(2)-graphene heterostructure based field effect *** resistance state of the device due to the external perturbation of molecules is tuned to get a nearly relaxation free current state at much lower molecular concentration of 10 ppb tofacilitate non-volatile memory features for molecular memory *** ultrafast switching operation in milli-second order is achieved at room temperature for the fastest recovery obtained sofar in any molecular *** process is co-controlled both by molecular as well as external charge density.

关键词： MoS_(2) graphene field effect transistor molecular memory trap charges

Improvements after mod Quad and triangle tilt revision surgical procedures in obstetric brachial plexus palsy

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World Journal of Orthopedics 2016年第11期7卷 752-757页

作者： rahul k Nath Chandra Somasundaram Texas Nerve and Paralysis Institute

AIM To compare outcomes of our revision surgical operations in obstetric brachial plexus palsy(OBPP) patients to results of conventional operative procedures at other institutions. METHODS We analyzed our OBPP data and identified 10 female and 10 male children aged 2.0 to 11.8 years(average age 6.5 years), who had prior conventional surgical therapies at other clinics. Of the 20 patients, 18 undergone triangle tilt, 2 had only mod Quad. Among 18 patients, 8 had only triangle tilt and 10 had also mod Quad as revision surgeries with us. We analyzed the anatomical improvements and functional modified Mallet statistically before and after a year post-revision *** Pre-revision surgery average modified Mallet score was 12.0 ± 1.5. This functional score was greatly improved to 18 ± 2.3(P < 0.0001) at least one-year after revision surgical procedures. Radiological scores(PHHA and glenoid version) were also improved significantly to 31.9 ± 13.6(P < 0.001),-16.3 ± 11(P < 0.0002), at least one-year after triangle tilt procedure. Their mean pretriangle tilt(yet after other surgeon's surgeries) PHHA, glenoid version and SHEAR were 14.6 ± 21.7,-31.6 ± 19.3 and 16.1 ± 14.7 *** We demonstrate here, mod Quad and triangle tilt assuccessful revision surgical procedures in 20 OBPP patients, who had other surgical treatments at other clinics before presenting to us for further treatment.

关键词： Revision surgery Obstetric brachial plexus palsy Shoulder movements Joint incongruity Upper limb

Single-atom catalysts boosted ultrathin film sensors

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Rare Metals 2020年第10期39卷 1110-1112页

作者： rahul kumar Mahesh kumar Department of Electrical Engineering Indian Institute of Technology JodhpurJodhpur 342037India

Nowadays,demand for fast and accurate detection of toxic and flammable gases is increasing for human health safety,industrial process and environmental ***,gas sensor technology has become a requisite in our daily *** nanoscience and nanotechnology propel fabrication of a gas sensor at the miniaturization level for burgeoning Internet of things applications.

关键词： film nanotechnology gases

Measurement of Hubble constant: were differences in secondary distance indicators apparent as early as the HST key Project?

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Research in Astronomy and Astrophysics 2021年第3期21卷 97-106页

作者： rahul kumar Thakur Shashikant Gupta rahul Nigam Pk Thiruvikraman Birla Institute of Technology&Science Pilani-Hyderabad CampusIndia G D Goenka University GurgaonHaryana122103India

Different measurements of the Hubble constant(H_(0))are not consistent,and a tension between the CMB based methods and cosmic distance ladder based methods has been *** from various distance based methods are also *** aggravate the problem,the same cosmological probe(TypeⅠa SNe for instance)calibrated through different methods also provides different values of H_(0).We compare various distance ladder based methods through the already available unique data obtained from the Hubble Space Telescope(HST).Our analysis is based on parametric(t-test)as well as non-parametric statistical methods such as the Mann-Whitney U test and kolmogorov-Smirnov *** results show that different methods provide different values of H_(0) and the differences are statistically *** biases in the calibration would not account for these differences as the data have been taken from a single telescope with a common calibration *** unknown physical effects or issues with the empirical relations of distance measurement from different probes could give rise to these differences.

关键词： Cosmology Supernovae Hubble constant

Non-iterative Cauchy kernel-based maximum correntropy cubature kalman filter for non-Gaussian systems

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Control Theory and Technology 2022年第4期20卷 465-474页

作者： Aastha Dak rahul Radhakrishnan Department of Electrical Engineering Sardar Vallabhbhai National Institute of TechnologySuratGujarat 395007India

This article addresses the nonlinear state estimation problem where the conventional Gaussian assumption is completely ***,the uncertainties in process and measurements are assumed non-Gaussian,such that the maximum correntropy criterion(MCC)is chosen to replace the conventional minimum mean square error ***,the MCC is realized using Gaussian as well as Cauchy kernels by defining an appropriate cost *** results demonstrate the superior estimation accuracy of the developed estimators for two nonlinear estimation problems.

关键词： Maximum correntropy criterion Cubature kalman filter Non-Gaussian noise Cauchy kernel Gaussian kernel