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In Greek vocables, the term entomopathogenic nematodes comes from “entomos”, “insects”, “pathê”, “disease” and “guenos”, “producing” means a group of nematodes which have the ability to cause disease in insects by suppressing the immune system of insects. “Entomopathogenicity clarified: “
S. No | Species | Place | Reference | S. No | Species | Place | Reference |
---|---|---|---|---|---|---|---|
Germany | [4] | Italy | [5] | ||||
New Jersey | [6] | Chile | [7] | ||||
Russia | [8] | Chile | [9] | ||||
Denmark | [10, 11] | France | [12] | ||||
Czechoslovakia | [13] | China | [14] | ||||
Carolina, USA | [15] | Brazil | [16] | ||||
Córdoba, Argentina | [17] | Germany | [18] | ||||
Shizuoka, Japan | [19] | Thailand | [20] | ||||
Córdoba, Argentina | [21] | Iran | [22] | ||||
Uruguay | [23] | South Africa | [24] | ||||
China | [25] | Nepal | [26] | ||||
Florida, USA | [27] | Nepal | [28] | ||||
China | [29] | Nepal | [26] | ||||
Cuba | [30] | Florida, USA | [31] | ||||
Texas, USA | [32] | China | [33] | ||||
Loiza, Puerto Rico | [34] | China | [35] | ||||
Serbia | [36] | Ethiopia | [37] | ||||
Oregon, USA | [38] | China | [39] | ||||
Sultanate of Oman | [40] | China | [41] | ||||
Russia | [42] | Cameroon | [43] | ||||
China | [44] | Cameroon | [43] | ||||
Korea | [45] | South Africa | [46] | ||||
Kenya | [47] | South Africa | [48] | ||||
Thailand | [49] | Vietnam | [50] | ||||
Vietnam | [51] | Czech Republic | [52] | ||||
Vietnam | [53] | South Africa | [54] | ||||
Vietnam | [55] | South Africa | [56] | ||||
Vietnam | [53] | Venezuela | [57] | ||||
Karanchi, Pakistan | [58] | South Africa | [59] | ||||
Pakistan | [60] | Tanzania | [61] | ||||
Florida | [62] | South Africa | [63] | ||||
Turkey | [64] | South Africa | [65] | ||||
New Jersey, USA | [66] | South Africa | [67] | ||||
Czech Republic | [68] | Mexico | [69] | ||||
Italy | [70] | South Africa | [71] | ||||
China | [72] | Georgia, USA | [73] | ||||
Indonesia | [74] | Florida, USA | [75] | ||||
USA | [76] | Taiwan | [77] | ||||
Japan | [78] | South Africa | [79] | ||||
Ethiopia | [80] | Spain | [81] | ||||
China | [82] | Poland | [83] | ||||
China | [84] | South Africa | [85] | ||||
China | [86] | Australia | [87] | ||||
Vietnam | [88] | USA | [89] | ||||
Germany | [90] | South Africa | [91] | ||||
Japan | [92] | India | [93] | ||||
Vietnam | [94] | Oregon, USA | [95] | ||||
Vietnam | [94] | Egypt | [96] | ||||
Vietnam | [94] | Ireland | [97] | ||||
Vietnam | [94] | Vietnam | [98] | ||||
South Africa | [99] | Mexico | [100] | ||||
China | [101] | Brazil | [102] | ||||
China | [103] | Florida, USA | [104] | ||||
China | [105] | Georgia, USA | [106] | ||||
Costa Rica | [107] | South Africa | [108] | ||||
Costa Rica | [107] | Chili | [109] | ||||
Texas | [110] | China | [111] | ||||
China | [112] | South Africa | [113] | ||||
Colombia | [114] |
List of valid
A-Nematodes enters into host insect; B,C- First generation female of Steinernematidae; D- First generation hermaphrodite female of Heterorhabditidae; E,F-Second generation female and male of Steinernematidae; G,H-Second generation of Amphimictic female and male of Heterorhabditidae; I,J-Infective juvenile (IJ) stage of Heterorhabditidae and Steinernematidae.
The IJs feed on the dead insect cadaver and mature into the fourth stage juveniles (J4) which differentiate into males and females, generally 3 days post insect infestation. After mating, the first generation (G1) females lay eggs, either in the external medium or remaining in the maternal body, which hatch into the first-stage juveniles (J1). At that point, two scenarios are possible depending on the amount of food available in the insect cadaver. In case of scarce food, J1 molts into the second-stage juvenile (J2) within 2 or 3 days. Then J2 ceases to feed and molts into pre-infective stage juvenile, also called immature IJs, before becoming infective juvenile. Then the newly generated IJ emerge from the depleted insect cadaver to actively look for another susceptible insect prey. On the contrary, if food is abundant in the cadaver, then several generations of males and females can be produced in the same cadaver. After hatching from the G1 females’ eggs, J1 molt successively into J2, non-infective J3 and J4 developing into the second generation (G2) adults. After mating, G2 females produce eggs that mature into J1, thereby initiating a new cycle. EPNs usually reproduce 2 or 3 generations before total depletion of the food resources in the insect cadaver occurs [124]. The entire reproductive cycle lasts between 7 and 14 days, mainly depending on temperature, after insect invasion by IJs. Both
The reproductive life cycle of most
Mating between males and females consists in introducing sperm to fertilize the female’s eggs. Male introduces its spicule to the vulva of female and produces spermatozoids and release them in vulva. The male’s sperm fertilizes female’s eggs in the uterus. For hermaphrodites, sperm is produced and stored into the spermatic vesicles described as distal swelling of the uterus. When the female starts laying eggs, they are automatically fertilized by the sperm contained within the spermatic vesicles [127, 130]. Since the females are larger in size, males have to find a way to scan the entire female body to be able to find the vulva. Male finds the vulva of the female body by the two ways. These two reproductive behaviors point out another distinction between
After mating, a lot of eggs are retained inside the EPN maternal body, offspring hatch and start feeding inside their maternal body. This phenomenon is known as
The 3rd stage infective juveniles of
Only 3rd stage of EPNs is considered as infective and pathogenic which is called the infective juvenile (IJ). Infective juveniles are the only free-living stage of EPNs, while other developmental stages are only found inside infected insect hosts. The IJs are stress tolerant, non-feeding, bacterial vectoring stages that seeks out insects to infect and kill. The IJs penetrate the host insect either through natural openings like spiracles, mouth, and anus or in some species through intersegmental membranes of the cuticle, and then enter into the homocoel [110, 125, 147].
Life cycle of the Entomopathogenic nematodes inside the host insect.
The process of reproduction in heterorhabditid and steinernematid nematodes shows few differences. The IJ of steinernematids develop into amphimictic males and females in all the adult generations (gonochorisism) while in heterorhabditid nematode IJ develop into self-fertilizing hermaphrodites in the first generation and in second generation, produce males, females and hermaphrodites [153]. The insect cadaver becomes red if the insects are killed by heterorhabditids and brown or tan if killed by Steinernematids [150]. The color of the host body is indicative of the pigments produced by the monoculture of mutualistic bacteria growing in the hosts.
Morphology is one of the major key components of classical taxonomy. It briefs out the genetic organization of organisms as genes themselves are expressed in the form of phenotype.
Based on the length of IJs four ‘species groups’ have been created:
Adults (1st and 2nd generations) and IJs of
Now-a-days, morphological characterization does not give reliable outcomes as there has been an increase in the number of species which makes the molecular characterization mandatory for the identification of species. Morphology is entirely dependent on the external features of the specimen; however, some genes have the tendency to not express themselves in the form of phenotype although they possess some conserved regions which are very important from the taxonomic point of view. Furthermore, morphology is a tedious task and requires good skilled taxonomists with the expertise in this area. This creates a demand for the molecular identification and validation of a particular species. Advancements in the molecular techniques help in the precise identification and placement of the species in its appropriate position in the classification. A number of molecular techniques are being used for more precise identification of EPNs like immunological techniques [161]; isoenzyme patterns [162]; total protein patterns [6] and RFLP detection within total genomic DNA [163, 164, 165]. Nowadays, regions of taxonomic importance which include the internal transcribed spacer (ITS) of the ribosomal DNA (rDNA) repeat unit, 18S and 28S rDNA and the cytochrome oxidase subunit II (COII) are widely used for nematode identification [166, 167, 168, 169].
With the advancement in molecular identification, techniques like polymerase chain reaction, amplification and sequencing of the amplified products of the conserved areas became possible. 28S- and 18S rDNA are used compare the distant taxa that had diverged a long time ago. Besides this, IGS, ITS1, ITS2 and ETS are being used to compare the phylogeny of closely related species as compared to 28S and 18S rDNA genes [170]. D2D3 is highly variable expansion segment of 28S rDNA, which have been used for molecular taxonomy and phylogenetic relationship of the nematodes species [171]. 18S ribosomal DNA sequences are used to find out the unknown as well as new species of the nematodes by correlating sequence variations with the genetic differences among the nematode populations [172]. Comparison of the small ribosomal RNA (18S rRNA) nucleotide sequence allows distinguishing steinernematidae from heterorhabditidae [173, 174, 175]. Due to its high variability, the ITS sequence lying between the 18S and 28S rRNA genes can be used to distinguish between
India is a power house of agriculture and has made a great improvement in agriculture, but the crops are damaged by more than 10, 000 species of insects, 30, 000 species of weeds, 1, 00, 000 diseases (caused by fungi, viruses, bacteria and other microorganisms) and 1, 000 species of nematodes [180, 181]. To reduce global crop losses, it has been estimated that around US $ 40 billion are used annually worldwide for the application of 3 million metric tons of pesticides, plus the use of various biological and other non-chemical controls worldwide [182, 183]. Out of total 70,000 estimated pests destroying 35–40% crops, insects are contributing around 14% [183]. To feed a large population of our country, the surge for production of horticultural crops is increasing day by day, due to indiscriminate, unfettered, nonjudicious and rampant use of chemical pesticides and fertilizers and without their use, it is very likely that pests would consume higher percentage and cause huge losses to productivity. A recent United Nations report (2017) assessed that 2, 00, 000 people across the world die per year from toxic exposure of pesticides and cancer problems are increasing from past few years which are directly or indirectly linked to pesticide poisoning (https://www.aljazeera.com/news/2017/03/200000-die-year-pesticide-poisoning-170308140641105.html). Currently, agronomists search for alternate approaches of pest control which are eco-friendly and cost effective like the use of biocontrol agents. One of the earliest examples of classical biological control targeting an insect pest in an agricultural setting is the use of the vedalia beetle,
The species specific EPNs are being used worldwide as biocontrol agents under different trade names
Important contribution by various workers seems to be low because nematodes belong to the phylum which is taxonomically, ecologically and geographically diverse group. Nematodes usually comprise 90% of metazoan fauna and a very large number of these creatures are waiting for their discovery. Because the number of species is far from the identified species, progress in this field is still continue and new species are being added but it need tremendous research effort to know the “monopolized kingdom of nematode very well”. Lack of adequate taxonomic expertise and non-availability of literature on various described species have been major constraints to identify the species of nematode parasites of insects [193].
The taxonomy of EPNs using molecular tools has made EPN systematics a lot more exciting, and probably will continue to do so in future. The rapid development of molecular techniques promoted the description of several new species and has become the technique of choice for diagnosing EPNs [194]. But morphological investigation too is important and therefore, it would be a mistake to replace traditional (morphological) methods with molecular techniques. The better procedure therefore, is the use of combination of both the approaches which offers a more resourceful perspective for resolving a variety of questions in nematode taxonomy, and particularly for EPNs. The molecular tools should be supplemented with morpho-taxometrical and hybridization tests for validation of a new species. It was found that the combined dataset of molecular and morphology represented the best working of evolutionary history for
The authors are thankful to Department of Science and Technology (DST), New Delhi for providing financial assistance through DST WOS-A (SR/WOS-A/LS-1083/2014) to Aasha and DST Inspire Fellowship/2014/76 to Aashaq Hussain Bhat.
“The authors declare no conflict of interest.”
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Joint coordinates and end-effector coordinates of the manipulator are functions of independent coordinates, i.e., joint parameters. This chapter explained forward kinematics task and issue of inverse kinematics task on the structure of the DOBOT manipulator. Linearization of forward kinematic equations is made with usage of Taylor Series for multiple variables. The inversion of Jacobian matrix was used for numerical solution of the inverse kinematics task. The chapter contains analytical equations, which are solution of inverse kinematics task. It should be noted that the analytical solution exists only for simple kinematic structures, for example DOBOT manipulator structure. Subsequently, simulation of the inverse kinematics of the above-mentioned kinematic structure was performed in the Matlab Simulink environment using the SimMechanics toolbox.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Ondrej Hock and Jozef Šedo",authors:[{id:"208453",title:"Dr.Ing.",name:"Ondrej",middleName:null,surname:"Hock",slug:"ondrej-hock",fullName:"Ondrej Hock"},{id:"209566",title:"Dr.Ing.",name:"Jozef",middleName:null,surname:"Šedo",slug:"jozef-sedo",fullName:"Jozef Šedo"}]},{id:"57605",doi:"10.5772/intechopen.71409",title:"Optimization Approach for Inverse Kinematic Solution",slug:"optimization-approach-for-inverse-kinematic-solution",totalDownloads:1675,totalCrossrefCites:4,totalDimensionsCites:4,abstract:"Inverse kinematics of serial or parallel manipulators can be computed from given Cartesian position and orientation of end effector and reverse of this would yield forward kinematics. Which is nothing but finding out end effector coordinates and angles from given joint angles. Forward kinematics of serial manipulators gives exact solution while inverse kinematics yields number of solutions. The complexity of inverse kinematic solution arises with the increment of degrees of freedom. Therefore it would be desired to adopt optimization techniques. Although the optimization techniques gives number of solution for inverse kinematics problem but it converses the best solution for the minimum function value. The selection of suitable optimization method will provides the global optimization solution, therefore, in this paper proposes quaternion derivation for 5R manipulator inverse kinematic solution which is later compared with teachers learner based optimization (TLBO) and genetic algorithm (GA) for the optimum convergence rate of inverse kinematic solution. An investigation has been made on the accuracies of adopted techniques and total computational time for inverse kinematic evaluations. It is found that TLBO is performing better as compared GA on the basis of fitness function and quaternion algebra gives better computational cost.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Panchanand Jha and Bibhuti Bhusan Biswal",authors:[{id:"209316",title:"Dr.",name:"Panchanand",middleName:null,surname:"Jha",slug:"panchanand-jha",fullName:"Panchanand Jha"},{id:"209681",title:"Dr.",name:"Bibhuti Bhusan",middleName:null,surname:"Biswal",slug:"bibhuti-bhusan-biswal",fullName:"Bibhuti Bhusan Biswal"}]},{id:"57452",doi:"10.5772/intechopen.71406",title:"Kinematic Performance Measures and Optimization of Parallel Kinematics Manipulators: A Brief Review",slug:"kinematic-performance-measures-and-optimization-of-parallel-kinematics-manipulators-a-brief-review",totalDownloads:1604,totalCrossrefCites:1,totalDimensionsCites:2,abstract:"This chapter covers a number of kinematic performance indices that are instrumental in designing parallel kinematics manipulators. These indices can be used selectively based on manipulator requirements and functionality. This would provide the very practical tool for designers to approach their needs in a very comprehensive fashion. Nevertheless, most applications require a more composite set of requirements that makes optimizing performance more challenging. The later part of this chapter will discuss single-objective and multi-objectives optimization that could handle certain performance indices or a combination of them. A brief description of most common techniques in the literature will be provided.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Abdur Rosyid, Bashar El-Khasawneh and Anas Alazzam",authors:[{id:"209597",title:"Dr.",name:"Bashar",middleName:null,surname:"El-Khasawneh",slug:"bashar-el-khasawneh",fullName:"Bashar El-Khasawneh"},{id:"217882",title:"Mr.",name:"Abdur",middleName:null,surname:"Rosyid",slug:"abdur-rosyid",fullName:"Abdur Rosyid"},{id:"217884",title:"Dr.",name:"Anas",middleName:null,surname:"Alazzam",slug:"anas-alazzam",fullName:"Anas Alazzam"}]},{id:"57479",doi:"10.5772/intechopen.71444",title:"A New Methodology for Kinematic Parameter Identification in Laser Trackers",slug:"a-new-methodology-for-kinematic-parameter-identification-in-laser-trackers",totalDownloads:1239,totalCrossrefCites:2,totalDimensionsCites:2,abstract:"In recent years, there has been an increasing interest in measurement systems such as laser trackers (LT) for the verification of large-scale parts in the aeronautic, spatial or naval sectors because of their advantages in terms of portability, flexibility, high speed in data acquisition, accuracy, and reliability. These systems present systematic errors caused by geometrical misalignments, environmental conditions, mechanical wear and tear and other unpredictable variables. Different standards such as the ASME B89.4.19 and the VDI 2617-10 suggest tests to calculate the geometric errors of the LT. In this work, we present an alternative calibration method based on a new errors model. The LT can be considered as an open kinematic chain, so it is possible to shape a kinematic model of the LT. Once the kinematic model has been set, the error model is defined. The model has been validated with synthetic data. Then, experimental tests based on the measurement of a mesh of reflectors placed at suitable places for different locations of the LT have been performed to ensure the reliability of the method proposed. A sensitivity analysis shows the best experimental setup to perform a calibration test. The calibration results have been validated with nominal data.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Ana Cristina Majarena, Javier Conte, Jorge Santolaria and Raquel\nAcero",authors:[{id:"5350",title:"Dr.",name:"Jorge",middleName:null,surname:"Santolaria",slug:"jorge-santolaria",fullName:"Jorge Santolaria"},{id:"153147",title:"Dr.",name:"Ana Cristina",middleName:null,surname:"Majarena Bello",slug:"ana-cristina-majarena-bello",fullName:"Ana Cristina Majarena Bello"},{id:"209623",title:"Mr.",name:"Javier",middleName:null,surname:"Conte",slug:"javier-conte",fullName:"Javier Conte"},{id:"209624",title:"Dr.",name:"Raquel",middleName:null,surname:"Acero",slug:"raquel-acero",fullName:"Raquel Acero"}]},{id:"57491",doi:"10.5772/intechopen.71407",title:"How to Expand the Workspace of Parallel Robots",slug:"how-to-expand-the-workspace-of-parallel-robots",totalDownloads:1386,totalCrossrefCites:2,totalDimensionsCites:2,abstract:"In this chapter, methods for expanding the workspace of parallel robots are introduced. Firstly, methods for expanding the translational workspace of the parallel robot are discussed. The parallel robot has multiple solutions of the inverse and forward displacement analysis. By changing its configurations from one solution to another, the parallel robot can expand its translational workspace. However, conventional nonredundant parallel robot encounters singularity during the mode change. Singularity-free mode changes of the parallel robot by redundant actuation are introduced. Next, methods for expanding the rotational workspace of the parallel robot are shown. In order to achieve the large rotation, some mechanical gimmicks by gears, pulleys, and helical joints have been embedded in the moving part. A novel differential screw-nut mechanism for expanding the rotational workspace of the parallel robot is introduced.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Takashi Harada",authors:[{id:"57026",title:"Dr.",name:"Takashi",middleName:null,surname:"Harada",slug:"takashi-harada",fullName:"Takashi Harada"}]}],mostDownloadedChaptersLast30Days:[{id:"57435",title:"Kinematic Model for Project Scheduling with Constrained Resources Under Uncertainties",slug:"kinematic-model-for-project-scheduling-with-constrained-resources-under-uncertainties",totalDownloads:1178,totalCrossrefCites:0,totalDimensionsCites:0,abstract:"Project management practitioners and researchers recognize that the project scheduling efforts are made based on information with many uncertainties and in an environment with constrained resources. This chapter presents the kinematic model named as Coupled Estimate Technique for project scheduling with constrained resources under uncertainties. The Coupled Estimate Technique provides tools of analytical analysis, given that the modelled duration depends on the planned duration and on the resource variability (aleatory uncertainty), as well as the modelled resource depends on the planned resource and on the duration variability (aleatory uncertainty), and also provides tools of graphical analysis, given that the durations and resources of activities, work packages or phases of the project are represented in the bidimensional graphics. In developing the mathematical formulation of the Coupled Estimate Technique, the project precedence diagram was considered as a kinematic chain of robotic manipulators, which may be in chain configuration open (serial), closed (parallel) and/or hybrid. This chapter describes the resource-constrained project scheduling problem (RCPSP) under uncertainties, identifies the limitations and opportunities in the previous work on planning under uncertainties and presents the fundamentals and method of the kinematic model for project scheduling with constrained resources under uncertainties along with a short example of implementation.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Giuliani Paulineli Garbi and Francisco José Grandinetti",authors:[{id:"208870",title:"Dr.",name:"Giuliani",middleName:null,surname:"Garbi",slug:"giuliani-garbi",fullName:"Giuliani Garbi"},{id:"221823",title:"Dr.",name:"Francisco José",middleName:null,surname:"Grandinett",slug:"francisco-jose-grandinett",fullName:"Francisco José Grandinett"}]},{id:"57578",title:"Kinematic and Biodynamic Model of the Long Jump Technique",slug:"kinematic-and-biodynamic-model-of-the-long-jump-technique",totalDownloads:1951,totalCrossrefCites:0,totalDimensionsCites:1,abstract:"The main aim of the study was to determine the kinematic model for long jump and define the kinematic and dynamic parameters of an elite long jumper’s technique. The theoretical model was based on real data where the jumper was defined with a joint mass point. In view of certain previous similar studies, our study identified kinematic and dynamic parameters directly without using the inverse mechanics method. The analysis was made on two jumps of the top level athlete G.C., who won the bronze medallion in long jump at the World Championships in Seville. The kinematic parameters of the take-off, flight and landing were measured with a 3-D video ARIEL system (Ariel Dynamics Inc., USA). The dynamic characteristics of take-off in the X, Y and Z axes were registered with a force-platform (KISTLER-9287), which was installed immediately prior the take-off board. The take-off efficiency was defined best by the following parameters: horizontal velocity, VXTO—8.10 m s−1; vertical velocity, VYTO—3.90 m s−1; angle of projection, PATO—24.1°; duration of compression phase, TDMKF—84 ms, duration of lift phase, MKFTO—43 ms and maximal force in Y-vertical axis, FYMAX—5132 N. An important factor of a rational technique of long jump is also the landing, which is defined by the landing distance and fall-back distance. The efficiency of the landing depended on the landing distance L3—0.63 m and fall-back distance LFB, which amounted to 0.15 m.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Milan Čoh, Milan Žvan and Otmar Kugovnik",authors:[{id:"208530",title:"Ph.D.",name:"Milan",middleName:null,surname:"Čoh",slug:"milan-coh",fullName:"Milan Čoh"}]},{id:"57610",title:"Forward and Inverse Kinematics Using Pseudoinverse and Transposition Method for Robotic Arm DOBOT",slug:"forward-and-inverse-kinematics-using-pseudoinverse-and-transposition-method-for-robotic-arm-dobot",totalDownloads:2252,totalCrossrefCites:7,totalDimensionsCites:8,abstract:"Kinematic structure of the DOBOT manipulator is presented in this chapter. Joint coordinates and end-effector coordinates of the manipulator are functions of independent coordinates, i.e., joint parameters. This chapter explained forward kinematics task and issue of inverse kinematics task on the structure of the DOBOT manipulator. Linearization of forward kinematic equations is made with usage of Taylor Series for multiple variables. The inversion of Jacobian matrix was used for numerical solution of the inverse kinematics task. The chapter contains analytical equations, which are solution of inverse kinematics task. It should be noted that the analytical solution exists only for simple kinematic structures, for example DOBOT manipulator structure. Subsequently, simulation of the inverse kinematics of the above-mentioned kinematic structure was performed in the Matlab Simulink environment using the SimMechanics toolbox.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Ondrej Hock and Jozef Šedo",authors:[{id:"208453",title:"Dr.Ing.",name:"Ondrej",middleName:null,surname:"Hock",slug:"ondrej-hock",fullName:"Ondrej Hock"},{id:"209566",title:"Dr.Ing.",name:"Jozef",middleName:null,surname:"Šedo",slug:"jozef-sedo",fullName:"Jozef Šedo"}]},{id:"57605",title:"Optimization Approach for Inverse Kinematic Solution",slug:"optimization-approach-for-inverse-kinematic-solution",totalDownloads:1677,totalCrossrefCites:4,totalDimensionsCites:4,abstract:"Inverse kinematics of serial or parallel manipulators can be computed from given Cartesian position and orientation of end effector and reverse of this would yield forward kinematics. Which is nothing but finding out end effector coordinates and angles from given joint angles. Forward kinematics of serial manipulators gives exact solution while inverse kinematics yields number of solutions. The complexity of inverse kinematic solution arises with the increment of degrees of freedom. Therefore it would be desired to adopt optimization techniques. Although the optimization techniques gives number of solution for inverse kinematics problem but it converses the best solution for the minimum function value. The selection of suitable optimization method will provides the global optimization solution, therefore, in this paper proposes quaternion derivation for 5R manipulator inverse kinematic solution which is later compared with teachers learner based optimization (TLBO) and genetic algorithm (GA) for the optimum convergence rate of inverse kinematic solution. An investigation has been made on the accuracies of adopted techniques and total computational time for inverse kinematic evaluations. It is found that TLBO is performing better as compared GA on the basis of fitness function and quaternion algebra gives better computational cost.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Panchanand Jha and Bibhuti Bhusan Biswal",authors:[{id:"209316",title:"Dr.",name:"Panchanand",middleName:null,surname:"Jha",slug:"panchanand-jha",fullName:"Panchanand Jha"},{id:"209681",title:"Dr.",name:"Bibhuti Bhusan",middleName:null,surname:"Biswal",slug:"bibhuti-bhusan-biswal",fullName:"Bibhuti Bhusan Biswal"}]},{id:"57413",title:"Optimization of Single-Sided Lapping Kinematics Based on Statistical Analysis of Abrasive Particles Trajectories",slug:"optimization-of-single-sided-lapping-kinematics-based-on-statistical-analysis-of-abrasive-particles-",totalDownloads:1374,totalCrossrefCites:1,totalDimensionsCites:1,abstract:"The chapter presents the influence of selected kinematic parameters on the geometrical results of the single-sided lapping process. The optimization of these parameters is aimed at improving the quality and flatness of the machined surfaces. The uniformity of tool wear was assumed as main optimization criterion. Lapping plate wear model was created and in detail was analyzed. A Matlab program was designed to simulate the abrasive particles trajectories and to count their distribution. In addition, the influence of additional guiding movements of the conditioning ring has been verified and the idea of a flexible single-sided lapping system assisted with a robot, which ensures the optimal constant wear over the diameter was presented.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Adam Barylski and Norbert Piotrowski",authors:[{id:"208566",title:"M.Sc.",name:"Norbert",middleName:null,surname:"Piotrowski",slug:"norbert-piotrowski",fullName:"Norbert Piotrowski"},{id:"209144",title:"Prof.",name:"Adam",middleName:null,surname:"Barylski",slug:"adam-barylski",fullName:"Adam Barylski"}]}],onlineFirstChaptersFilter:{topicId:"1286",limit:6,offset:0},onlineFirstChaptersCollection:[],onlineFirstChaptersTotal:0},preDownload:{success:null,errors:{}},subscriptionForm:{success:null,errors:{}},aboutIntechopen:{},privacyPolicy:{},peerReviewing:{},howOpenAccessPublishingWithIntechopenWorks:{},sponsorshipBooks:{sponsorshipBooks:[],offset:0,limit:8,total:null},allSeries:{pteSeriesList:[{id:"14",title:"Artificial Intelligence",numberOfPublishedBooks:9,numberOfPublishedChapters:87,numberOfOpenTopics:6,numberOfUpcomingTopics:0,issn:"2633-1403",doi:"10.5772/intechopen.79920",isOpenForSubmission:!0},{id:"7",title:"Biomedical Engineering",numberOfPublishedBooks:12,numberOfPublishedChapters:98,numberOfOpenTopics:3,numberOfUpcomingTopics:0,issn:"2631-5343",doi:"10.5772/intechopen.71985",isOpenForSubmission:!0}],lsSeriesList:[{id:"11",title:"Biochemistry",numberOfPublishedBooks:27,numberOfPublishedChapters:288,numberOfOpenTopics:4,numberOfUpcomingTopics:0,issn:"2632-0983",doi:"10.5772/intechopen.72877",isOpenForSubmission:!0},{id:"25",title:"Environmental Sciences",numberOfPublishedBooks:1,numberOfPublishedChapters:9,numberOfOpenTopics:4,numberOfUpcomingTopics:0,issn:"2754-6713",doi:"10.5772/intechopen.100362",isOpenForSubmission:!0},{id:"10",title:"Physiology",numberOfPublishedBooks:11,numberOfPublishedChapters:139,numberOfOpenTopics:4,numberOfUpcomingTopics:0,issn:"2631-8261",doi:"10.5772/intechopen.72796",isOpenForSubmission:!0}],hsSeriesList:[{id:"3",title:"Dentistry",numberOfPublishedBooks:8,numberOfPublishedChapters:129,numberOfOpenTopics:0,numberOfUpcomingTopics:2,issn:"2631-6218",doi:"10.5772/intechopen.71199",isOpenForSubmission:!1},{id:"6",title:"Infectious Diseases",numberOfPublishedBooks:13,numberOfPublishedChapters:107,numberOfOpenTopics:3,numberOfUpcomingTopics:1,issn:"2631-6188",doi:"10.5772/intechopen.71852",isOpenForSubmission:!0},{id:"13",title:"Veterinary Medicine and Science",numberOfPublishedBooks:10,numberOfPublishedChapters:103,numberOfOpenTopics:3,numberOfUpcomingTopics:0,issn:"2632-0517",doi:"10.5772/intechopen.73681",isOpenForSubmission:!0}],sshSeriesList:[{id:"22",title:"Business, Management and Economics",numberOfPublishedBooks:1,numberOfPublishedChapters:12,numberOfOpenTopics:2,numberOfUpcomingTopics:1,issn:"2753-894X",doi:"10.5772/intechopen.100359",isOpenForSubmission:!0},{id:"23",title:"Education and Human Development",numberOfPublishedBooks:0,numberOfPublishedChapters:0,numberOfOpenTopics:2,numberOfUpcomingTopics:0,issn:null,doi:"10.5772/intechopen.100360",isOpenForSubmission:!1},{id:"24",title:"Sustainable Development",numberOfPublishedBooks:0,numberOfPublishedChapters:11,numberOfOpenTopics:4,numberOfUpcomingTopics:1,issn:null,doi:"10.5772/intechopen.100361",isOpenForSubmission:!0}],testimonialsList:[{id:"6",text:"It is great to work with the IntechOpen to produce a worthwhile collection of research that also becomes a great educational resource and guide for future research endeavors.",author:{id:"259298",name:"Edward",surname:"Narayan",institutionString:null,profilePictureURL:"https://mts.intechopen.com/storage/users/259298/images/system/259298.jpeg",slug:"edward-narayan",institution:{id:"3",name:"University of Queensland",country:{id:null,name:"Australia"}}}},{id:"13",text:"The collaboration with and support of the technical staff of IntechOpen is fantastic. 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He is the president of the Travel Medicine Committee of the Pan-American Infectious Diseases Association (API), as well as the president of the Colombian Association of Infectious Diseases (ACIN). He is a member of the Committee on Tropical Medicine, Zoonoses, and Travel Medicine of ACIN. He is a vice-president of the Latin American Society for Travel Medicine (SLAMVI) and a Member of the Council of the International Society for Infectious Diseases (ISID). Since 2014, he has been recognized as a Senior Researcher, at the Ministry of Science of Colombia. He is a professor at the Faculty of Medicine of the Fundacion Universitaria Autonoma de las Americas, in Pereira, Risaralda, Colombia. He is an External Professor, Master in Research on Tropical Medicine and International Health, Universitat de Barcelona, Spain. He is also a professor at the Master in Clinical Epidemiology and Biostatistics, Universidad Científica del Sur, Lima, Peru. 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Saxena is a vice dean and professor at King George's Medical University, Lucknow, India. His research interests involve understanding the molecular mechanisms of host defense during human viral infections and developing new predictive, preventive, and therapeutic strategies for them using Japanese encephalitis virus (JEV), HIV, and emerging viruses as a model via stem cell and cell culture technologies. His research work has been published in various high-impact factor journals (Science, PNAS, Nature Medicine) with a high number of citations. He has received many awards and honors in India and abroad including various Young Scientist Awards, BBSRC India Partnering Award, and Dr. JC Bose National Award of Department of Biotechnology, Min. of Science and Technology, Govt. of India. 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He obtained a Master’s degree in Public Health and PhD in Public Health and Epidemiology. He has a background in Clinical Medicine and has taken courses at higher diploma levels in public health from University of Transkei, Republic of South Africa, and African Medical and Research Foundation (AMREF) in Nairobi, Kenya. Dr. Kasenga worked in different places in and outside Malawi, and has held various positions, such as Licensed Medical Officer, HIV/AIDS Programme Officer, HIV/AIDS resource person in the International Department of Diakonhjemet College, Oslo, Norway. He also managed an Integrated HIV/AIDS Prevention programme for over 5 years. He is currently working as a Director for the Health Ministries Department of Malawi Union of the Seventh Day Adventist Church. Dr. Kasenga has published over 5 articles on HIV/AIDS issues focusing on Prevention of Mother to Child Transmission of HIV (PMTCT), including a book chapter on HIV testing counseling (currently in press). 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