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Bhaishajya Kalpana is a branch of Ayurveda which deals mainly with Aushadha nirmana, by using the tools like Samyoga, Vishlesha, Kala, Samskara and Yukti. Sneha Kalpana is one such aushadha kalpanas which contains water and lipid soluble active principles. Adityapaka (heating through Sunrays/solar radiation/solar resource)is a type of sneha kalpana where taila or ghrita is processed on mild temperature produced by the exposure to sunlight for a specic time period at times in specc vessels (iron, copper, steel etc). This method is practiced to prepare taila or ghrita paka from the drugs that possibly are having volatile property and are heat sensitive in nature. Very minimum references regarding such procedure of Aditya paka are available that too scattered in classics. This is an attempt to collect information on such formulations by reviewing classical texts and various databases through various search engines like Google scholar, Pubmed etc. Total 29 references of Aditya paka found in different texts of Ayurveda. These formulations are routinely prescribed for topical application

Objective: Shelf life is the period during which the potency (Virya) of a drug remains unaffected due to environmental factors or from microbial contamination. Considering the growing popularity of Ayurveda products, it becomes important to maintain the quality of all such products. Shelf life is one of the essential components under quality and needs to be evaluated for all products. Dantashodhana paste (DP) is a polyherbal toothpaste containing Vyosha (Zingiber officinale Roxb., Piper nigrum Linn., and Piper longum Linn.), Trijata (Cinnamomum zeylanicum Blume., Elettaria cardamomum Maton., Cinnamomum tamala (Buch.-Ham.) T.Nees and Eberm.), Tejovati (Zanthoxylum armatum DC.), Saindhava (rock salt), and other excipients. Methods: DP was prepared with the following standard guidelines. The samples were subjected to accelerated stability study by maintaining temperature and humidity 40±2°C and 75±5%, respectively. Relevant analytical parameters were analyzed at an interval of 0, 1, 3, and 6 months to check the degradation levels in the formulation. Results: DP was found to be free from microbial contamination. Heavy metals were within the prescribed limits for toothpaste complying the official standards. There were insignificant changes in physicochemical profiles at different intervals. On extrapolation of the observations, the shelf life of DP was found to be 12.16 years. Conclusion: Shelf life of DP is found to be much longer than the standards specified in the D and C act. This prolonged shelf life may be contributed to care taken during drug preparation, storage, and properties of herbal drugs used in the formulation.

Target centric deviated cyclic pursuit is a variant of the deviated cyclic pursuit strategy designed to track a target. Deviated cyclic pursuit has more flexibility as compared to the classical cyclic pursuit laws. In this work, we obtain a scalable formation of the UAV5 around the target. The formation is scaled in a decentralized manner by changing a parameter of any of the vehicles. The strategy uses only bearing angle information of the target and the neighbours. We carried out the analysis assuming simple kinematic model for each vehicle. At equilibrium, the vehicles get into a rigid polygonal formation which rotates around the target. The size of the polygon is scalable. We analysed the local stability of equilibrium formations. Simulation results are presented to demonstrate effectiveness of the proposed strategy. The strategy is applied to miniature areal vehicles (MAV) represented by 6-DOF dynamics in a hardware in-loop simulator, which includes all on-board electronics of the MAV5. (C) 2015 European Control Association. Published by Elsevier Ltd. All rights reserved.

This paper deals with the study of balanced circular formation for n unicycles agents. It has been presented in the literature that there exists more than one balanced circular formation when the agents are following cyclic pursuit strategy. We modify cyclic pursuit strategy by introducing a parameter called deviation angle with the hope to get unique equilibrium formation. The modified strategy is called deviated cyclic pursuit. Monte Carlo simulations has been carried out to find the range of deviation angle where a unique equilibrium formation exists.

Objective: Apamarga Kshara Yoga (APK), a classical Ayurvedic formulation containing Apamarga Kshara (alkaline substance of Achyranthes aspera Linn . ), Manahshila (Arsenic Disulphide) and Gomutra (cow’s urine) is effective in cases of Shvitra (vitiligo). As the formulations has short shelf life, inconvenient to patients and involve longer duration of pharmaceutical preparation; it is planned to convert into more convenient form. Design: Raw materials were authenticated and APK was prepared. Further, organoleptic and physico-chemical properties were evaluated. Results: An average 909.8 gm (90.98 %) yield after Taila Paka and 1379.6 gm ointment was observed in the process. Conclusions: As observed in present study, addition of wax to attain ointment consistency is mandate. Residue as Apamarga Kshara and Manahshila incorporated in preparation of ointment yielded more without losing its consistency.

Decentralised strategies for target tracking has been studied extensively in the literature. In this paper, we present a strategy which gives the flexibility to change formation while the UAVs are executing a mission. A target is assumed to be enclosed if the UAVs encircle the target at a given radius while being uniformly distributed around it. If we want to close on to the target or if we want to enclose a wider area around the target, the radius needs to change. In a decentralised scheme, all the vehicles have to be informed about the new radius, which is difficult when the number of vehicles are larger. The strategy proposed in this paper can induce a change in radius by changing a parameter in one of the vehicles picked randomly from the group. The idea is based on consensus in deviated pursuit. The control law is simple to compute and requires only bearing angle measurement. We have analysed the system assuming unicycle kinematics. The strategy is then implemented in 6-DOF dynamical model of the UAVs and simulated in MATLAB and in Hardware-in-loop simulator.

This paper is concerned with obstacle avoidance control strategy of unicycle mobile robot in a dynamic environment. We propose a control algorithm based on collision cone approach to avoid collision with stationary obstacle. The algorithm is simple and easy to implement in the real world applications. The proposed algorithm is extended to the case of moving obstacle as well as irregular obstacle. The effectiveness of the proposed control algorithms are demonstrated through various simulations.