Sumit Kumar

Soixante-dix pour cent de la terre est entour e d'eau et il peut y avoir beaucoup de mati res premi res encore inexplor es. Un tre humain ne peut pas plonger plus longtemps car la respiration peut tre l'une des principales contraintes. Pour les applications en eaux profondes telles que l'enl vement des d bris, l'inspection des pipelines, les enqu tes, l'assistance aux t l communications, la recherche et la maintenance, il faut une technologie capable de s'aventurer au fond de l'eau sans aucune contrainte. La technologie des robots sous-marins est la meilleure solution, car les robots n'ont pas besoin de respirer comme les tres humains. Mais les robots sous-marins posent des probl mes. L'un des principaux probl mes est le contr le de la trajectoire du lien. En raison du couplage dynamique entre la base et le lien, sur lequel diverses forces agissent sur le lien et le manipulateur, le bras d vie de sa trajectoire d sir e en pr sence de forces de flottabilit . Ce travail de th se pr sente la mod lisation dynamique et le contr le de la trajectoire d'un robot sous-marin l'aide d'un graphe de liaison, qui comprend la base de l'installation, un bras de liaison et le moteur. Le robot sous-marin est mod lis avec l'int gration du contr leur crasant. Le mod le de bond graph int gr est galement r alis pour le v hicule sous-marin complet.

Setenta por cento da terra est rodeada de gua e pode haver muita mat ria-prima ainda por explorar. Um ser humano n o pode mergulhar durante mais tempo porque a respira o pode ser um dos maiores constrangimentos. Para as aplica es em guas profundas, como a remo o de detritos, a inspe o de condutas, os inqu ritos, o apoio s telecomunica es, a investiga o e a manuten o, deve ser necess ria uma tecnologia que possa aventurar-se sem quaisquer restri es. A tecnologia dos robots subaqu ticos a melhor solu o para este problema, porque os robots n o t m de respirar como um ser humano. Mas h problemas no caso dos robots subaqu ticos. Um dos principais problemas o controlo da trajet ria da liga o. Devido ao acoplamento din mico entre a base e a liga o, em que v rias for as actuam na liga o e no manipulador, o bra o desvia-se da sua trajet ria desejada na presen a de for as de flutua o. Este trabalho de disserta o apresenta a modela o din mica e o controlo da trajet ria de um rob subaqu tico utilizando gr ficos de liga es, que incluem a base da planta, um bra o de liga o e o motor. O rob subaqu tico modelado com a integra o do controlador esmagador. O modelo gr fico de liga o integrado tamb m feito para o ve culo subaqu tico completo.

Siebzig Prozent der Erde sind von Wasser umgeben, und es k nnte noch viele unerforschte Rohstoffe geben. Ein Mensch kann nicht l nger tauchen, weil die Atmung eine der gr ten Einschr nkungen sein k nnte. F r Tiefseeanwendungen wie die Beseitigung von Tr mmern, die Inspektion von Pipelines, Vermessungen, Telekommunikationsunterst tzung, Forschung und Wartung wird eine Technologie ben tigt, die sich ohne Einschr nkungen nach unten wagen kann. Die Unterwasserrobotertechnologie ist die beste L sung daf r, da Roboter nicht wie Menschen atmen m ssen. Aber es gibt Probleme bei Unterwasserrobotern. Eines der Hauptprobleme ist die Steuerung der Flugbahn der Verbindung. Aufgrund der dynamischen Kopplung zwischen der Basis und dem Glied, bei der verschiedene Kr fte auf das Glied und den Manipulator wirken, weicht der Arm in Gegenwart von Auftriebskr ften von seiner gew nschten Flugbahn ab. In dieser Dissertation werden die dynamische Modellierung und die Steuerung der Flugbahn eines Unterwasserroboters mit Hilfe eines Bindungsgraphen vorgestellt, der die Basis der Anlage, einen Verbindungsarm und den Motor umfasst. Der Unterwasserroboter wird mit der Integration des berw ltigenden Reglers modelliert. Das integrierte Bond-Graph-Modell wird auch f r das komplette Unterwasserfahrzeug erstellt.

Il 70% della Terra circondato dall'acqua e potrebbero esserci molte materie prime ancora inesplorate. Un essere umano non pu immergersi pi a lungo perch la respirazione potrebbe essere una delle principali limitazioni. Per le applicazioni in alto mare, come la rimozione di detriti, l'ispezione di condutture, i rilievi, il supporto alle telecomunicazioni, la ricerca e la manutenzione, necessario disporre di una tecnologia in grado di avventurarsi in profondit senza alcuna limitazione. La tecnologia dei robot subacquei la soluzione migliore, perch i robot non devono respirare come un essere umano. Ma i robot subacquei presentano dei problemi. Uno dei problemi principali il controllo della traiettoria del collegamento. A causa dell'accoppiamento dinamico tra la base e il link, su cui agiscono varie forze, il braccio devia dalla traiettoria desiderata in presenza di forze di galleggiamento. Questo lavoro di tesi presenta la modellazione dinamica e il controllo della traiettoria di un robot subacqueo utilizzando un grafo di legame, che include la base dell'impianto, un braccio di collegamento e il motore. Il robot subacqueo viene modellato con l'integrazione di un controllore travolgente. Il modello integrato di bond graph stato realizzato anche per il veicolo subacqueo completo.

Traumatische Hirnverletzungen (TBI) betreffen einen gro en Teil der Bev lkerung weltweit und werden zunehmend als ein bedeutendes Gesundheitsproblem erkannt, das durch ein breites Spektrum pathologischer Symptome und langfristige Behinderungen gekennzeichnet ist. Die verschiedenen akuten und chronischen Mechanismen nach der Verletzung k nnen zur Neurodegeneration beitragen. Bei Patienten mit einem Sch del-Hirn-Trauma in der Vorgeschichte ist die Wahrscheinlichkeit gr er, dass sie eine Proteinopathie entwickeln, die ein pathologisches Merkmal neurodegenerativer Erkrankungen ist. Dieses Buch befasst sich haupts chlich mit der Epidemiologie, der Pathophysiologie und den Tiermodellen, die mit dem Sch del-Hirn-Trauma in Zusammenhang stehen. Ein Fenster f r therapeutische Interventionen bieten die sekund ren Hirnverletzungen, die auf den ersten Hirninsult folgen und dazu f hren, dass das Parenchym sofortige, schwere und dauerhafte Sch den erleidet. Bisher sind Degeneration der Axone, oxidativer Stress, oxidativer Stress, mitochondriale Fehlfunktion, Exzitotoxizit t und apoptotischer Zelltod von Neuronen und Glia die charakteristischen Ph nomene nach einer verz gerten sekund ren ZNS-Verletzung. Trotz der Tatsache, dass jeder Fall von Sch del-Hirn-Trauma einzigartig ist und die Betroffenen unterschiedliche Sch digungsgrade, unterschiedliche lokale Verletzungsmuster und ein unterschiedliches Erholungsprofil aufweisen.

Les l sions c r brales traumatiques (LCT) touchent une grande partie de la population mondiale et sont de plus en plus reconnues comme un probl me de sant important, caract ris par un large ventail de sympt mes pathologiques suivis d'une invalidit long terme. Les diff rents m canismes aigus et chroniques post-l sionnels peuvent contribuer la neurod g n rescence. Les patients ayant des ant c dents de traumatisme cr nien sont plus susceptibles de d velopper une prot inopathie, qui est une caract ristique pathologique des maladies neurod g n ratives. Ce livre se concentre principalement sur l' pid miologie, la pathophysiologie et les mod les animaux li s aux traumatismes cr niens. Les l sions c r brales secondaires qui suivent le premier traumatisme cr nien constituent une fen tre pour les interventions th rapeutiques, car le parenchyme subit alors des dommages imm diats, graves et permanents. ce jour, la d g n rescence des axones, le stress oxydatif, le dysfonctionnement mitochondrial, l'excitotoxicit et la mort cellulaire apoptotique des neurones et des cellules gliales sont des ph nom nes caract ristiques d'une l sion secondaire retard e du SNC. Malgr le fait que chaque cas de TBI est unique et que les personnes affect es pr sentent des niveaux de dommages variables, des sch mas de l sions localis es variables et un profil de r cup ration diff rent.

O traumatismo cr nio-encef lico (TCE) afecta uma grande parte da popula o mundial e cada vez mais reconhecido como um problema de sa de significativo, caracterizado por um vasto espetro de sintomas patol gicos seguidos de incapacidade a longo prazo. Os v rios mecanismos agudos e cr nicos p s-les o podem contribuir para a neurodegenera o. Os doentes com antecedentes de TCE s o mais suscept veis de desenvolver proteinopatia, que uma carater stica patol gica das doen as neurodegenerativas. Este livro centra-se principalmente na epidemiologia, na fisiopatologia e no modelo animal relacionados com o TCE. As les es cerebrais secund rias que se seguem ao primeiro insulto cerebral constituem uma janela para as interven es terap uticas, provocando danos imediatos, graves e permanentes no par nquima. Atualmente, a degeneresc ncia dos ax nios, o stress oxidativo, o mau funcionamento das mitoc ndrias, a excitotoxicidade e a morte celular apopt tica dos neur nios e da glia s o fen menos caracter sticos ap s uma les o secund ria tardia do SNC. Apesar do facto de cada caso de TCE ser nico e de as pessoas afectadas apresentarem n veis de danos vari veis, padr es de les es localizadas vari veis e um perfil de recupera o diferente.

Le lesioni cerebrali traumatiche (TBI) colpiscono un'enorme percentuale della popolazione mondiale e sono sempre pi riconosciute come un importante problema di salute caratterizzato da un ampio spettro di sintomi patologici seguiti da disabilit a lungo termine. I vari meccanismi acuti e cronici successivi alla lesione possono contribuire alla neurodegenerazione. I pazienti con una storia di TBI hanno maggiori probabilit di sviluppare una proteinopatia, che un segno distintivo delle malattie neurodegenerative. Questo libro si concentra principalmente sull'epidemiologia, la fisiopatologia e i modelli animali legati alla TBI. Una finestra per gli interventi terapeutici fornita dalle lesioni cerebrali secondarie che seguono il primo insulto cerebrale, che porta il parenchima a subire danni immediati, gravi e permanenti. Ad oggi, la degenerazione degli assoni, lo stress ossidativo, il malfunzionamento mitocondriale, l'eccitotossicit e la morte cellulare apoptotica di neuroni e glia sono fenomeni caratteristici delle lesioni secondarie ritardate del SNC. Nonostante il fatto che ogni caso di TBI sia unico e che le persone colpite mostrino livelli di danno diversi, modelli di lesione localizzati diversi e profili di recupero diversi.

Automotive industry is continuously working for the development of the vehicles. New innovative features and advance methods of power generation are being innovated so that the industry can minimize the use of fossil fuels such as petrol and diesel to save them for future. Global warming has also become a major problem for the world and to control the temperature increase, we have to control the emission of vehicle exhaust. The electric vehicles are the best alternative for this and to solve the problem of more consumption of electric power, the vehicles with the installed solar panels can be the best option because we know that sun is the best renewable energy source which is going to last till the existence of human life. This report concludes the designing parameters required for the designing of the vehicle according to the need of future utilization and which can be merged with the solar and electric power source. The objective of the report is to design a vehicle which consist the features like light weight, good ergonomics, compatible with electric system on safety parameters, and good aesthetics.

Tourism is one of the fastest growing industries and influential part of service sector having large positive and negative externalities. Tourism can contribute to economic development through many direct, indirect and induced effects. Apart from economic benefits, tourism is also considered as an essential part of a healthy lifestyle. It brings joy and peace to a hectic and monotonous human life, especially when performed for recreational purposes. Besides recreation, tourism also facilitates religious, medical, shopping, adventure, and social needs. It is vital for a well-balanced life of citizens in a country, so that they become better human resources of the nation. Therefore, policy makers, governments, and stakeholders for the welfare of tourism and tourists ought to be cautious of the micro factors influencing tourism. The book focuses on factors impacting the decision to travel, choice of travel mode, choice of destination and frequency of travelling, and also expenditure on travelling of Indians.

This book examines the patterns, characteristics, causes and coping mechanisms of the poor in Afghanistan applying econometric and statistical techniques. The authors address and identify the extent of poverty in Afghanistan over the years, the spatial patterns and regional imbalances of poverty in Afghanistan, the distinguishing characteristics of the poor in Afghanistan, and explore shocks faced by the poor in Afghanistan as well as subsequent coping strategies. Based on household level data collected under the ‘National Risk Vulnerability Assessment’ (NRVA) survey of 2003, 2005, 2007/08 and 2011/12 of Afghanistan, the authors identify options that may enable policy makers and other stakeholders to further enable the inclusion of the poor in development processes and to successfully cope with poverty and its adverse outcomes. This short book will be of interest to students, researchers, academicians, policymakers, international agencies and NGOs at international and national levels.

Unleash the data processing and analytics capability of Apache Spark with the language of choice: Java About This Book • Perform big data processing with Spark—without having to learn Scala! • Use the Spark Java API to implement efficient enterprise-grade applications for data processing and analytics • Go beyond mainstream data processing by adding querying capability, Machine Learning, and graph processing using Spark Who This Book Is For If you are a Java developer interested in learning to use the popular Apache Spark framework, this book is the resource you need to get started. Apache Spark developers who are looking to build enterprise-grade applications in Java will also find this book very useful. What You Will Learn • Process data using different file formats such as XML, JSON, CSV, and plain and delimited text, using the Spark core Library. • Perform analytics on data from various data sources such as Kafka, and Flume using Spark Streaming Library • Learn SQL schema creation and the analysis of structured data using various SQL functions including Windowing functions in the Spark SQL Library • Explore Spark Mlib APIs while implementing Machine Learning techniques to solve real-world problems • Get to know Spark GraphX so you understand various graph-based analytics that can be performed with Spark In Detail Apache Spark is the buzzword in the big data industry right now, especially with the increasing need for real-time streaming and data processing. While Spark is built on Scala, the Spark Java API exposes all the Spark features available in the Scala version for Java developers. This book will show you how you can implement various functionalities of the Apache Spark framework in Java, without stepping out of your comfort zone. The book starts with an introduction to the Apache Spark 2.x ecosystem, followed by explaining how to install and configure Spark, and refreshes the Java concepts that will be useful to you when consuming Apache Spark's APIs. You will explore RDD and its associated common Action and Transformation Java APIs, set up a production-like clustered environment, and work with Spark SQL. Moving on, you will perform near-real-time processing with Spark streaming, Machine Learning analytics with Spark MLlib, and graph processing with GraphX, all using various Java packages. By the end of the book, you will have a solid foundation in implementing components in the Spark framework in Java to build fast, real-time applications. Style and approach This practical guide teaches readers the fundamentals of the Apache Spark framework and how to implement components using the Java language. It is a unique blend of theory and practical examples, and is written in a way that will gradually build your knowledge of Apache Spark.