Revolute manipulator workspace optimization using a modified bacteria foraging algorithm: A comparative study

Robotic manipulators with three-revolute (3R) motions to attain desired positional configurations are very common in industrial robots. The capability of these robots depends largely on the workspace of the manipulator in addition to other parameters. In this study, an evolutionary optimization algorithm based on the foraging behaviour of the Escherichia coli bacteria present in the human intestine is utilized to optimize the workspace volume of a 3R manipulator. The new optimization method is modified from the original algorithm for faster convergence. This method is also useful for optimization problems in a highly constrained environment, such as robot workspace optimization. The new approach for workspace optimization of 3R manipulators is tested using three cases. The test results are compared with standard results available using other optimization algorithms, i.e. the differential evolution algorithm, the genetic algorithm and the particle swarm optimization algorithm. The present method is found to be superior to the other methods in terms of computational efficiency.     

Nonlinear analysis of an imperfect radially graded annular plate with a heated edge

The present work deals with a geometrically nonlinear finite element analysis of an imperfect radially graded annular plate with a heated edge. The geometrical imperfection of the graded annular plate is assumed in aspect of its little intrinsic transverse deflection. The analysis is mainly for investigating the effects of intrinsic geometrical imperfection and temperature in the graded annular plate on its nonlinear flexural behaviour under a transverse mechanical load. The temperature is uniformly distributed across the thickness of the plate and it varies along the radial direction only. The temperature-dependent material properties are radially graded according to a simple power-law that is formed by power-law exponent and material properties of constituent materials (ceramic and metal). Based on the Von Karman nonlinear strain–displacement relations for imperfect annular plates, the nonlinear finite element equations of equilibrium are derived employing the principle of minimum potential energy. A single nodal displacement-control solution strategy is described for numerical solutions of nonlinear finite element equations of equilibrium. The numerical illustrations show a significant role of geometrical imperfection of the annular plate for its unstable equilibrium and alteration of structural behaviour under thermo-mechanical load. The analysis reveals the usefulness of radially graded annular plate in order to mitigate the unstable equilibrium of imperfect monolithic annular plate under thermo-mechanical load. It is found that the radial location for maximum value of a stress component insignificantly depends on the magnitudes of power-law exponent and applied temperature. The effects of material properties and applied temperature on the critical mechanical load corresponding to the unstable equilibrium of the imperfect radially graded annular plate are also presented.     

A new training strategy for neural network using shuffled frog-leaping algorithm and application to channel equalization

This paper makes use of shuffled frog-leaping algorithm (SFLA) as a training algorithm to train multi-layer artificial neural network (ANN). Next, The SFLA ANNs are used for channel equalization. We, in this paper, also introduce SFLA for channel equalization that is formulated as an optimization problem. In short, this paper introduces a novel strategy for training of ANN and also proposes two novel approaches for channel equalization problem using shuffled frog-leaping algorithm (SFLA). The proposed strategies are tested both in time-invariant and time varying channels and interestingly yield better performance than contemporary approaches as evidenced by simulation results.     

Is PGL-1 also present in Leishmania donovani promastigotes?

We report a 14 year old boy who presented as a neonate with functional pulmonary atresia due to Uhl's disease with emphasis on the later detection of restrictive right ventricular physiology.     

Visualization of the cysteinyl-phosphate intermediate of a protein-tyrosine phosphatase by x-ray crystallography

Protein-tyrosine phosphatases (PTPs) are signal transduction enzymes that catalyze the dephosphorylation of phosphotyrosine residues via the formation of a transient cysteinyl-phosphate intermediate. The mechanism of hydrolysis of this intermediate has been examined by generating a Gln-262 --> Ala mutant of PTP1B, which allows the accumulation and trapping of the intermediate within a PTP1B crystal. The structure of the intermediate at 2.5-A resolution reveals that a conformationally flexible loop (the WPD loop) is closed over the entrance to the catalytic site, sequestering the phosphocysteine intermediate and catalytic site water molecules and preventing nonspecific phosphoryltransfer reactions to extraneous phosphoryl acceptors. One of the catalytic site water molecules, the likely nucleophile, forms a hydrogen bond to the putative catalytic base, Asp-181. In the wild-type enzyme, the nucleophilic water molecule would be coordinated by the side chain of Gln-262. In combination with our previous structural data, we can now visualize each of the reaction steps of the PTP catalytic pathway. The hydrolysis of the cysteinyl-phosphate intermediate of PTPs is reminiscent of GTP hydrolysis by the GTPases, in that both families of enzymes utilize an invariant Gln residue to coordinate the attacking nucleophilic water molecule.     

Dual role of betel leaf extract on thyroid function in male mice

The effects of betel leaf extract (0.10, 0.40, 0.80 and 2.0 g kg-1 day-1 for 15 days) on the alterations in thyroid hormone concentrations. lipid peroxidation (LPO) and on the activities of superoxide dismutase (SOD) and catalase (CAT) were investigated in male Swiss mice. Administration of betel leaf extract exhibited a dual role, depending on the different doses. While the lowest dose decreased thyroxine (T4) and increased serum triiodothyronine (T3) concentrations, reverse effects were observed at two higher doses. Higher doses also increased LPO with a concomitant decrease in SOD and CAT activities. However, with the lowest dose most of these effects were reversed. These findings suggest that betel leaf can be both stimulatory and inhibitory to thyroid function, particularly for T3 generation and lipid peroxidation in male mice, depending on the amount consumed.     

Outcomes following mechanical ventilation in children undergoing bone marrow transplantation

Between 1976 and 1992, 869 patients <19 years of age underwent BMT at the University of Minnesota for a variety of malignant and non-malignant disorders. One hundred and ninety-six required mechanical ventilation (MV) at some time from the start of pre-BMT cyto reduction through the first year following BMT. Reasons for MV included respiratory compromise, upper airway management and non-pulmonary indications for respiratory support. In multivariate models, underlying diagnosis, receipt of HLA-mismatched marrow and the presence of acute graft-versus-host disease (aGVHD) were independent predictors of the need for MV. Indication for MV, underlying diagnosis, and presence of aGVHD were independent predictors of successful extubation. Overall survival at 2 years was 14% among MV patients and 52% among non-MV patients. While the need for MV during BMT reduces the overall likelihood of survival, 40% of children who required MV were successfully extubated; 35% of these extubated patients were long-term survivors. This outcome is better than that reported for adult BMT patients requiring respiratory support, who show survival of <5% at 6 months following BMT. Our data suggest extrapolation of outcome data from adult to pediatric patients is not appropriate and aggressive care of pediatric patients requiring respiratory support is not futile.