The tiger, a poster child for conservation, remains an endangered apex predator. Continued surviv... more The tiger, a poster child for conservation, remains an endangered apex predator. Continued survival and recovery will require a comprehensive understanding of their genetic diversity and the use of such information for population management. A high-quality tiger genome assembly will be an important tool for conservation genetics, especially for the Indian tiger, the most abundant subspecies in the wild. Here, we present high-quality near-chromosomal genome assemblies of a female and a male wild Indian tiger (Panthera tigris tigris). Our assemblies had a scaffold N50 of >140□Mb, with 19□scaffolds, corresponding to the 19 numbered chromosomes, containing 95% of the genome. Our assemblies also enabled detection of longer stretches of runs of homozygosity compared to previous assemblies which will improve estimates of genomic inbreeding. Comprehensive genome annotation identified 26,068 protein-coding genes, including several gene families involved in key morphological features such ...
Oxford Textbook of Suicidology and Suicide Prevention
Suicidal behaviours still remain one of the hardest challenges for clinicians and researchers wor... more Suicidal behaviours still remain one of the hardest challenges for clinicians and researchers worldwide. In 2006, a Section on Suicide and Suicide Prevention was established by the European Psychiatric Association General Assembly, whose name was later changed in 2007 into the EPA Section on Suicidology and Suicide Prevention (EPA-SSSP). The original impulse for the creation of the Section was to offer a logistic frame and reference to the scientific activity of European psychiatrists. Since then, the EPA-SSSP has had an ongoing growth process. Currently, the main Section’s activities include: congress and educational activities (in the context of the annual EPA congress as well as of other congresses of national, European, and worldwide importance); Scientific activities (developing specific guidelines for the treatment of suicidal patients, sharing knowledge about suicide and suicide prevention, and fostering debate among researchers); research activities (creation of networks, ai...
2020 4th International Conference on Automation, Control and Robots (ICACR)
A novel low-cost robotic solution is proposed to automate the library inventory management proces... more A novel low-cost robotic solution is proposed to automate the library inventory management process of book arrangement with little to no human intervention. A line following robot with multiple sensors and actuators has been designed to operate on a path connecting bookshelves and the drop location. A CAD model for the robot is designed and various subsystems have been described in detail. The riser subsystem has been simulated to evaluate the design parameters with a desirable factor of safety. The working principle of the robot and control algorithms involved in path planning and locomotion has then been discussed through the electronic architecture and software stack sections. A simple PID control scheme for lower-level actuation has been used to control the four traction motors. The feasibility of the proposed scheme is then validated with the development of a simple pilot prototype.
Transposable elements (TEs) are selfish genomic parasites that increase their copy number at the ... more Transposable elements (TEs) are selfish genomic parasites that increase their copy number at the expense of host fitness. The “success,” or genome-wide abundance, of TEs differs widely between species. Deciphering the causes for this large variety in TE abundance has remained a central question in evolutionary genomics. We previously proposed that species-specific TE abundance could be driven by the inadvertent consequences of host-direct epigenetic silencing of TEs—the spreading of repressive epigenetic marks from silenced TEs into adjacent sequences. Here, we compared this TE-mediated “epigenetic effect” in six species in the Drosophila melanogaster subgroup to dissect step-by-step the role of such effect in determining genomic TE abundance.We found that TE-mediated spreading of repressive marks is prevalent and substantially varies across and even within species. While this TE-mediated effect alters the epigenetic states of adjacent genes, we surprisingly discovered that the tran...
International Journal of Adaptive Control and Signal Processing, 2021
Steer‐by‐wire (SBW) systems are considered as one of the most significant innovations among the t... more Steer‐by‐wire (SBW) systems are considered as one of the most significant innovations among the technologies developed for advanced driver‐assistance systems and autonomous vehicles. The main control challenge in a SBW system is to follow the steering commands in the face of parametric uncertainties and external disturbances; crucially, perturbations in inertial parameters and damping forces give rise to state‐dependent uncertainties, which cannot be bounded a priori by a constant. However, the state‐of‐the‐art control methods of SBW system rely on a priori bounded uncertainties, and thus, become inapplicable when state‐dependent dynamics become unknown. This work, to the best of the authors' knowledge for the first time, proposes an adaptive control framework that can tackle the state‐dependent uncertainties and external disturbances in a typical SBW system without any a priori knowledge of their structures and of their bounds. The stability of the closed‐loop system is studied analytically via uniformly ultimately bounded notion and the effectiveness of the proposed solution is verified via simulations against the state‐of‐the‐art solution.
Smith-Waterman is a well-known local sequence alignment algorithm that is used for finding region... more Smith-Waterman is a well-known local sequence alignment algorithm that is used for finding regions of maximum similarity between two biological sequences and is known to be a highly compute intensive task. As it is based on dynamic programming it guarantees optimal results. But Dynamic Programming has its own drawbacks such as heavy memory consumption and significant amount of computations. Many academicians and researchers have tried variety of methods to harness the large amount of computational capabilities provided by the GPU in order to make this algorithm run faster. This paper proposes a version of Parallel Scan Smith-Waterman algorithm to improve performance of its phase-2. Here, we have also compared and evaluated performance of proposed work with other approaches like anti-diagonal and blocked anti-diagonal for both constant gap model and affine gap model and have observed remarkable performance gain.
This paper describes the mechanical, electronic and software designs developed by Kharagpur RoboS... more This paper describes the mechanical, electronic and software designs developed by Kharagpur RoboSoccer Students’ Group (KRSSG) team to compete in RoboCup 2018. All designs are in agreement with the rules and regulations of Small Size League 2018. Software Architecture implemented over Robot Operating System(ROS), trajectory planning and velocity profiling, dribbler/kicker design and embedded circuits over the last year have been listed.
The link between economic growth and employment generation had been testified in the post reform ... more The link between economic growth and employment generation had been testified in the post reform period. The research paper attempted to scrutinise the variation in unemployment and economic growth in the recent past. the data had been collected from Centre for Monitoring Indian Economy, Reserve Bank of India, NSSO rounds and Periodic Labour Force Survey for the study. It was observed that LFPR gradually declined for females in a greater proportion then males. Further, LFPR was higher in rural areas then the urban areas. The lower female LFPR is cause of concern. The recent economic slowdown was an amalgamation of various labour market and money market variables. The down turn in economic growth started from 2018-19. The structural changes of demonetisation and GST affected the GDP growth in the short run while global economic slowdown affected the long run growth. The domestic savings were not able to support the investment which forced the use of foreign savings to boost the gr...
We devise a new adaptive-robust control framework for tracking the control problem of a class of ... more We devise a new adaptive-robust control framework for tracking the control problem of a class of uncertain systems having state-dependent uncertainty and under the influence of time-varying input delay. In comparison to the existing adaptive-robust control (ARC) strategies, the proposed ARC framework removes the conservative assumption of a priori bounded uncertainty. In addition, the Razumikhin-theorem-based stability analysis allows the proposed scheme to deal with arbitrary variation in input delay. The effectiveness of the proposed ARC is verified via simulations and experimentations using a wheeled mobile robot demonstrating improved tracking accuracy compared to the state of the art.
Increasing habitat fragmentation leads to wild populations becoming small, isolated, and threaten... more Increasing habitat fragmentation leads to wild populations becoming small, isolated, and threatened by inbreeding depression. However, small populations may be able to purge recessive deleterious alleles as they become expressed in homozygotes, thus reducing inbreeding depression and increasing population viability. We used whole genomes sequencing from 57 tigers to estimate individual inbreeding and mutation loads in a small-isolated, and two large-connected populations in India. As expected, the small-isolated population had substantially higher average genomic inbreeding (FROH=0.57) than the large-connected (FROH=0.35 and FROH=0.46) populations. The small-isolated population had the lowest loss-of-function mutation load, likely due to purging of highly deleterious recessive mutations. The large populations had lower missense mutation loads than the small-isolated population, but were not identical, possibly due to different demographic histories. While the number of the loss-of-f...
In the context of static real-time optimization, the use of measurements allows dealing with unce... more In the context of static real-time optimization, the use of measurements allows dealing with uncertainty in the form of plant-model mismatch and disturbances. Modifier adaptation (MA) is a measurement-based scheme that uses first- order corrections to the model cost and constraint functions so as to achieve plant optimality upon convergence. However, first-order corrections rely crucially on the estimation of plant gradients, which typically requires costly plant experiments. The present paper proposes to implement real-time optimization via MA but use recursive Gaussian processes to represent the plant-model mismatch and estimate the plant gradients. This way, one can (i) attenuate the effect of measurement noise, and (ii) avoid plant-gradient estimation by means finite- difference schemes and, often, additional plant experiments. We use steady-state optimization data to build Gaussian-process regression functions. The efficiency of the proposed scheme is illustrated via a constrained variant of the Williams-Otto reactor problem.
The tiger, a poster child for conservation, remains an endangered apex predator. Continued surviv... more The tiger, a poster child for conservation, remains an endangered apex predator. Continued survival and recovery will require a comprehensive understanding of their genetic diversity and the use of such information for population management. A high-quality tiger genome assembly will be an important tool for conservation genetics, especially for the Indian tiger, the most abundant subspecies in the wild. Here, we present high-quality near-chromosomal genome assemblies of a female and a male wild Indian tiger (Panthera tigris tigris). Our assemblies had a scaffold N50 of >140□Mb, with 19□scaffolds, corresponding to the 19 numbered chromosomes, containing 95% of the genome. Our assemblies also enabled detection of longer stretches of runs of homozygosity compared to previous assemblies which will improve estimates of genomic inbreeding. Comprehensive genome annotation identified 26,068 protein-coding genes, including several gene families involved in key morphological features such ...
Oxford Textbook of Suicidology and Suicide Prevention
Suicidal behaviours still remain one of the hardest challenges for clinicians and researchers wor... more Suicidal behaviours still remain one of the hardest challenges for clinicians and researchers worldwide. In 2006, a Section on Suicide and Suicide Prevention was established by the European Psychiatric Association General Assembly, whose name was later changed in 2007 into the EPA Section on Suicidology and Suicide Prevention (EPA-SSSP). The original impulse for the creation of the Section was to offer a logistic frame and reference to the scientific activity of European psychiatrists. Since then, the EPA-SSSP has had an ongoing growth process. Currently, the main Section’s activities include: congress and educational activities (in the context of the annual EPA congress as well as of other congresses of national, European, and worldwide importance); Scientific activities (developing specific guidelines for the treatment of suicidal patients, sharing knowledge about suicide and suicide prevention, and fostering debate among researchers); research activities (creation of networks, ai...
2020 4th International Conference on Automation, Control and Robots (ICACR)
A novel low-cost robotic solution is proposed to automate the library inventory management proces... more A novel low-cost robotic solution is proposed to automate the library inventory management process of book arrangement with little to no human intervention. A line following robot with multiple sensors and actuators has been designed to operate on a path connecting bookshelves and the drop location. A CAD model for the robot is designed and various subsystems have been described in detail. The riser subsystem has been simulated to evaluate the design parameters with a desirable factor of safety. The working principle of the robot and control algorithms involved in path planning and locomotion has then been discussed through the electronic architecture and software stack sections. A simple PID control scheme for lower-level actuation has been used to control the four traction motors. The feasibility of the proposed scheme is then validated with the development of a simple pilot prototype.
Transposable elements (TEs) are selfish genomic parasites that increase their copy number at the ... more Transposable elements (TEs) are selfish genomic parasites that increase their copy number at the expense of host fitness. The “success,” or genome-wide abundance, of TEs differs widely between species. Deciphering the causes for this large variety in TE abundance has remained a central question in evolutionary genomics. We previously proposed that species-specific TE abundance could be driven by the inadvertent consequences of host-direct epigenetic silencing of TEs—the spreading of repressive epigenetic marks from silenced TEs into adjacent sequences. Here, we compared this TE-mediated “epigenetic effect” in six species in the Drosophila melanogaster subgroup to dissect step-by-step the role of such effect in determining genomic TE abundance.We found that TE-mediated spreading of repressive marks is prevalent and substantially varies across and even within species. While this TE-mediated effect alters the epigenetic states of adjacent genes, we surprisingly discovered that the tran...
International Journal of Adaptive Control and Signal Processing, 2021
Steer‐by‐wire (SBW) systems are considered as one of the most significant innovations among the t... more Steer‐by‐wire (SBW) systems are considered as one of the most significant innovations among the technologies developed for advanced driver‐assistance systems and autonomous vehicles. The main control challenge in a SBW system is to follow the steering commands in the face of parametric uncertainties and external disturbances; crucially, perturbations in inertial parameters and damping forces give rise to state‐dependent uncertainties, which cannot be bounded a priori by a constant. However, the state‐of‐the‐art control methods of SBW system rely on a priori bounded uncertainties, and thus, become inapplicable when state‐dependent dynamics become unknown. This work, to the best of the authors' knowledge for the first time, proposes an adaptive control framework that can tackle the state‐dependent uncertainties and external disturbances in a typical SBW system without any a priori knowledge of their structures and of their bounds. The stability of the closed‐loop system is studied analytically via uniformly ultimately bounded notion and the effectiveness of the proposed solution is verified via simulations against the state‐of‐the‐art solution.
Smith-Waterman is a well-known local sequence alignment algorithm that is used for finding region... more Smith-Waterman is a well-known local sequence alignment algorithm that is used for finding regions of maximum similarity between two biological sequences and is known to be a highly compute intensive task. As it is based on dynamic programming it guarantees optimal results. But Dynamic Programming has its own drawbacks such as heavy memory consumption and significant amount of computations. Many academicians and researchers have tried variety of methods to harness the large amount of computational capabilities provided by the GPU in order to make this algorithm run faster. This paper proposes a version of Parallel Scan Smith-Waterman algorithm to improve performance of its phase-2. Here, we have also compared and evaluated performance of proposed work with other approaches like anti-diagonal and blocked anti-diagonal for both constant gap model and affine gap model and have observed remarkable performance gain.
This paper describes the mechanical, electronic and software designs developed by Kharagpur RoboS... more This paper describes the mechanical, electronic and software designs developed by Kharagpur RoboSoccer Students’ Group (KRSSG) team to compete in RoboCup 2018. All designs are in agreement with the rules and regulations of Small Size League 2018. Software Architecture implemented over Robot Operating System(ROS), trajectory planning and velocity profiling, dribbler/kicker design and embedded circuits over the last year have been listed.
The link between economic growth and employment generation had been testified in the post reform ... more The link between economic growth and employment generation had been testified in the post reform period. The research paper attempted to scrutinise the variation in unemployment and economic growth in the recent past. the data had been collected from Centre for Monitoring Indian Economy, Reserve Bank of India, NSSO rounds and Periodic Labour Force Survey for the study. It was observed that LFPR gradually declined for females in a greater proportion then males. Further, LFPR was higher in rural areas then the urban areas. The lower female LFPR is cause of concern. The recent economic slowdown was an amalgamation of various labour market and money market variables. The down turn in economic growth started from 2018-19. The structural changes of demonetisation and GST affected the GDP growth in the short run while global economic slowdown affected the long run growth. The domestic savings were not able to support the investment which forced the use of foreign savings to boost the gr...
We devise a new adaptive-robust control framework for tracking the control problem of a class of ... more We devise a new adaptive-robust control framework for tracking the control problem of a class of uncertain systems having state-dependent uncertainty and under the influence of time-varying input delay. In comparison to the existing adaptive-robust control (ARC) strategies, the proposed ARC framework removes the conservative assumption of a priori bounded uncertainty. In addition, the Razumikhin-theorem-based stability analysis allows the proposed scheme to deal with arbitrary variation in input delay. The effectiveness of the proposed ARC is verified via simulations and experimentations using a wheeled mobile robot demonstrating improved tracking accuracy compared to the state of the art.
Increasing habitat fragmentation leads to wild populations becoming small, isolated, and threaten... more Increasing habitat fragmentation leads to wild populations becoming small, isolated, and threatened by inbreeding depression. However, small populations may be able to purge recessive deleterious alleles as they become expressed in homozygotes, thus reducing inbreeding depression and increasing population viability. We used whole genomes sequencing from 57 tigers to estimate individual inbreeding and mutation loads in a small-isolated, and two large-connected populations in India. As expected, the small-isolated population had substantially higher average genomic inbreeding (FROH=0.57) than the large-connected (FROH=0.35 and FROH=0.46) populations. The small-isolated population had the lowest loss-of-function mutation load, likely due to purging of highly deleterious recessive mutations. The large populations had lower missense mutation loads than the small-isolated population, but were not identical, possibly due to different demographic histories. While the number of the loss-of-f...
In the context of static real-time optimization, the use of measurements allows dealing with unce... more In the context of static real-time optimization, the use of measurements allows dealing with uncertainty in the form of plant-model mismatch and disturbances. Modifier adaptation (MA) is a measurement-based scheme that uses first- order corrections to the model cost and constraint functions so as to achieve plant optimality upon convergence. However, first-order corrections rely crucially on the estimation of plant gradients, which typically requires costly plant experiments. The present paper proposes to implement real-time optimization via MA but use recursive Gaussian processes to represent the plant-model mismatch and estimate the plant gradients. This way, one can (i) attenuate the effect of measurement noise, and (ii) avoid plant-gradient estimation by means finite- difference schemes and, often, additional plant experiments. We use steady-state optimization data to build Gaussian-process regression functions. The efficiency of the proposed scheme is illustrated via a constrained variant of the Williams-Otto reactor problem.
Uploads
Papers by Harsh Shukla