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A Position Synchronization Controller for Co-ordinated Links(COOL)Dual Robot Arm Based on Integral Sliding Mode:Design and Experimental Validation

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International Journal of Automation and computing 2021年第1期18卷 110-123页

作者： sumi phukan Chitralekha Mahanta Department of Electronics and Electrical Engineering Indian Institute of Technology GuwahatiGuwahati 781039India

In this study,a simple position synchronization control algorithm based on an integral sliding mode is developed for dualarm robotic manipulator systems.A first-order sliding surface is designed using cross-coupling error in order to ensure position synchronization of dual-arm *** design objective of the proposed controller is to ensure stability as well as to synchronize the movement of both arms while maintaining the trajectory as *** integral sliding mode eliminates the reaching phase and guarantees robustness throughout the whole operating ***,a low pass filter is used to smoothen the discontinuous element and minimize unwanted *** stability theory is utilized to prove the asymptotic stability of the controlled *** studies are performed to validate the proposed controller′s ***,to investigate the possibility of realizing the proposed dynamic control method in practical applications,experiments are conducted on a 14DoF coordinated links(COOL)dual-arm robotic manipulator *** evidence indicates adequate efficiency in trajectory tracking and guarantees robustness in the presence of parametric uncertainty and external disturbance.

关键词： Integral sliding mode control position synchronization dual-arm robotic manipulator chattering robust control

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Surveillance of Chikungunya virus activity in some North-eastern states of India

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Asian Pacific Journal of Tropical Medicine 2019年第1期12卷 19-25页

作者： Prafulla Dutta Siraj A.Khan Anil C.phukan Sarat Hazarika Naba K.Hazarika sumi Chetry Abdul M.Khan Harpreet Kaur ICMR-Regional Medical Research Center North Eastern Indira Gandhi Regional Institute of Health & Medical Sciences Jorhat Medical College & Hospital Gauhati Medical College & Hospital Indian Council of Medical Research

Objective: To detect the prevalence pattern of Chikungunya virus in three states of Northeast India. Methods: A total of 1 510 samples were collected from different private and government hospitals of Assam, Arunachal Pradesh and Meghalaya. Serum was tested for the presence of IgM antibodies against Chikungunya virus followed by RT-PCR for amplification of Chikungunya E1 gene region using specific primers. Results: Overall, 11.83%(172/1 454) clinical samples were positive by MAC-ELISA and/or RT-PCR assay. Asymptomatic infection was seen in 17.86%. Males were more affected than females and age group 16-30 years was mostly affected. Fever(100.00%) was the primary symptom followed by headache(72.03%) and arthralgia(41.53%). Only 118 Chikungunya positive cases could be traced, of which 25.42% complained about sequelae of infection. In entomological investigation, Aedes aegypti was more predominant(92.10%) than Aedes albopictus(7.90%). No mosquito pools could be incriminated for Chikungunya virus. Conclusions: In this study, Chikungunya was observed to be prevalent in Assam, Arunachal Pradesh and Meghalaya. Though Chikungunya is a selflimiting infection, increasing morbidity by CHIKV infection is affecting social and economic status of individual. Thus, a community empowerment to effectively control mosquito population by employing different mosquito control measures along with personal protection is mandatory to tackle future outbreak of the disease.

关键词： Chikungunya Northeast India Aedes aegypti Aedes albopictus

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