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SUMMARYIn this paper, we present and implement a novel approach for position-based visual servoing. The challenge of controlling the mobile robot while simultaneously estimating the camera to mobile robot transformation is solved. This is achieved using gradient descent (GD)-based estimation and the sliding-mode approach. The GD approach allows online parameter estimation for controlling the robot to achieve a desired position and orientation. The adaptive nature of the parameters demonstrates the robustness of the system. In contrast to existing work, the proposed technique achieves both estimation and control tasks in a single experiment. Simulation and experimental results are provided to validate the performance of the proposed scheme.

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Introduction: Plants have been utilized as a natural source of medicinal compounds for thousands of years. Humans use numerous plants and plant-derived products to cure and relieve various physical and mental illnesses. These plants are used in traditional Chinese, Ayurveda, Siddha, Unani, and Tibetan medicines. Ancient literature such as Rigveda, Yajurveda, Atharvaveda, CharakSamhita, and Sushrut Samhita also describes the use of plants for the treatment of various health problems. In recent times, the focus on plant research has increased worldwide, and a large body of evidence has been collected to show the immense potential of medicinal plants used in various traditional systems.Materials and Methods: The present study was carried out to evaluate the hepatoprotective activity of ethanolic extract of Cnidoscolus Phyllacanthus(ECP) leaves against D-galactosamine induced liver damage in Wistar rats. Hepatotoxicity was induced by D-Galactosamine (270 mg/kg body weight) administered intraperitoneally (i.p.) on the 14th day of a total two-week experiment. In contrast, the extract of the investigated plant was given orally throughout the whole experiment at 200 and 400 mg/kg body weight. Silymarin (100 mg/kg body weight) was given orally as a standard hepatoprotective drug.Results and Discussion: Histological studies showed that 400 mg/kg CP attenuated hepatocellular necrosis in d-GalN intoxicated rats. It was concluded from the results that the ethanolic extract of Cnidoscolus Phyllacanthus leaves reduces D-galactosamine-induced hepatotoxicity in rats.