Caesarean section rates are inexorably rising which has led to the possibility of negative impact on m aternal and neonatal health. Present study was aimed to compare the factors associated with caesarean and vaginal births among pregnant women. A retrospective study was con ducted in Obstetrics and Gynaecology Department, Pu njab Institute of Medical Sciences, Jalandhar (Punjab, Iduring the period of April, 2012 to June, 201 2. Details of age group, parity, socioeconomic status, antenatal booking, mode of delivery, obstetric complications, gestational age at delivery, maternal and neonatal outcomes wer e explored. The prevalence of Caesarean Sections (6 5%) was higher over vaginal births (35%). It had higher num ber of Emergency (52.31%) over Elective (47.70%) ca esarean sections. Multiparity (55.38%; p<0.05), high socioe conomic status (18.46%), 21 to 30 yrs of age group (78.46%) and booked status (44.62%) were associated with Cae sarean Sections while primiparity (65.71%) and low socioeconomic status (22.86%) with vaginal births. The commonest reasons for Caesarean Sections were F etal Distress (30.77%) and Repeat Caesarean Sections (29.23%). Ca esarean sections rate is high. High number of referred patients who underwent Emergency sections was the main reason. Trial of vaginal birth after C aesarean Section in approximate cases and confirmation of su spected fetal distress through fetal blood acid bas e study are recommended.

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Available online a t www.pelagiaresearchlibrary.com

Beside the humanoid platform both in the male and female form, a huge numbers of researches are advancing to design and develop the humanoid robot kits ensuring the educational, research and business value. Because of the smart design with few numbers of actuators, smaller in size and weight, lower power having simplified controller and modest price make the humanoid robot kits more attractive, charismatic and representable to the general public. In this paper the small sized biped robot called TODDLER is delineated intricately. The paper also exemplifies the design strategies of a novel walking gait for this robot kit. A new control architecture is also proposed and designed based on PIC 16F877A which makes the biped system more valuable for educational activities on robotics research especially for humanoid robots. A rudimentary algorithm, that helps the biped kit to perform its gait to navigate, is represented and its simulated results are also scrutinized in this paper.

A novel gait for Toddler biped and its control using PIC 16F877A

— For disaster mitigation as well as for urban search and rescue missions, it is often necessary to place sensors or cameras into dangerous or inaccessible areas to get better situation awareness for the rescue personnel, before they enter a possibly dangerous area. Robots are predestined to this task, but the requirements for such mobile systems are demanding. They should be quick and agile and, at the same time, be able to deal with rough terrain and even to climb stairs. This paper presents the design and implementation of a feedback control system for an RF remote-controlled stair-climbing robot. The robot is controlled using PIC 16F877A.The paper presents a complete integrated control architecture and communication strategy for a system of reconfigurable robots that can climb stairs. Its mechanical design is suitable with back wheel to drive the robot over rubble, and large wheels in the front driven by dc motor for climbing stairs. The operator can monitor the robot operation by using video that are captured through a camera on the surface of the robot. The robot system is implemented by using MikroC and visual basic programs. Experimental trials showed that the implementation of the behavior control systems was successful.

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Design and Implementation of Stair-Climbing Robot for Rescue Applications

The Thermoelectric cooler (TEC) is widely known device which have low coefficient of performance (COP) as compare to the conventional compressed refrigerator. However, it is suitable for portable refrigeration that requires light weight, small and fast control. Therefore, the proportional integral derivatives (PID) control was implemented to control input and output while reducing its power consumption. Mathematical model for TEC was develop base on black box model to get its transfer function. The transfer function consist of ratio output and input that been used for analysis during development of controller. This study is focus on performance of PID controller in simulation and real hardware in order to reduce time constrain. The method proposed is integral of time multiplied absolute value of error (ITAE) criteria to determine the coefficient of PID controller. The finding shows that the lowest temperature is 7 °C and the time taken is around 940 second.

Design and development of controller for Thermoelectric cooler system

The increased interest in the development of wall climbing robot has been shown in the past decade. Wall climbing robot with the ability to maneuver on vertical surfaces capable of performing dangerous operations such as multi-storey building inspection, surveillance, reconnaissance, assist in firefighting and rescue. By using this wall climbing robot costs become cheaper and less risky. Design wall climbing robots are wheeled robot. This robot is configured with two motors for the wheels, a suction motors, batteries, control movement, and sensors. To create a robot attached to the wall, the robot is equipped with suction. The main sensors used are pressure sensors, to monitor the level of pressure in the vacuum space. Sensors connected to arduino mega generate control inputs for suction motors. The controller used is proportional controller. Proportional controller is used to keep the pressure on the robot to remain constant at surface conditions that vary according to a certain set point.

Pressure control of a wheeled wall climbing robot using proporsional controller

The Robot, named as TRAIN WALL BOT, is designed to navigate on smooth vertical surfaces with the capability to avoid obstacles and overcome if the height is about 1cm The design is inspired from train steel wheel movement that contains two actuated legs with rotary motion provided by a DC motor The Robot uses pneumatic system and the suction force is supplied by an air compressor that turns on intermittently The suction force ensures the attachment of the robot with the wall by using 3 vacuum valves and 6 vacuum pads The robot is controlled using PIC 16F877A Two limit switches are used to acknowledge the contact with its navigating surface Vacuum suction is controlled based on the ON OFF priority of the limit switches Though the design is quiet simple but it is capable to walk, climb vertical smooth surfaces and avoid obstacles Forward and backward movements are also faster, smoother and more stable (because of the coupling design) than other existing wall climbing Robots In this paper, various aspects of prototype design and development of the Climbing Robot are conveyed including the body, leg, feet design and gait dynamics

Design and development of a wall climbing Robot and its control system

Single photon avalanche diode (SPAD) is a temperature sensitive device. Even a slight variation of temperature can cause unstable performance in quantum efficiency, responsitivity and dark counts. Due to these reasons, unstable temperature could cause overall poor performance of SPAD. It is common for thermoelectric cooler (TEC) to be used as cooling of photodetectors. SPAD was mounted onto the TEC where it needs to be maintained at a constant low temperature under variation of ambient temperature. The system is simulated using Fuzzy Logic Toolbox in MATLAB Simulink. Simulated using P-type fuzzy logic with the set point temperature of −20°C and ambient temperature of 16°C, produce a result of −19.44°C. The P-type fuzzy logic control design has shown a good overall performance where the steady state error is ±0.56°C, which is equivalent to ±2.8% and the settling time for the output simulation, ts, is 35.91s.

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Fuzzy logic based temperature control of thermoelectric cooler (TEC) for single photon avalanche diode (SPAD) application

The purpose of this study is to model the Thermoelectric Coolers (TEC) by means of computational intelligence system identification. Thermoelectric coolers are widely used in cooling, maintaining and stabilizing the temperature of the Single Photon Avalanche Diode (SPAD). SPAD is a temperature sensitive optoelectronic device, where even a slight variation in temperature can cause unstable performance in quantum efficiency, responsibility and dark counts. However, it is not a simple task to derive a mathematical model for TEC since it varies with the operating condition. In this study, Particle Swarm Optimization (PSO) was used to identify the mathematical model of the multistage TEC (1639733 from Element 14), which encapsulates dynamics of the SPAD, heat sink and components of the cooling heat exchanger. The model was validated by correlation tests, percentage accuracy and also by comparing its time and frequency responses against that of the TEC. It was found that the obtained model has a good representation of the actual system.

Nurul Izzati Samsuddin

Papers

Design and development of a wall climbing Robot and its control system

Fuzzy logic based temperature control of thermoelectric cooler (TEC) for single photon avalanche diode (SPAD) application

Parametric system identification of thermoelectric cooler for single photon avalanche diode application