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Intelligent and safe overtaking maneuvering is always a challenging task for autonomous vehicles. This paper proposes and experimentally implements a novel approach of overtaking maneuvering using modified form of Rendezvous Guidance (RG) algorithm for trajectory planning and obstacle avoidance, considering driver safety and comfort during autonomous overtaking. The simulations for all possible scenarios are conducted to ensure the effectiveness of proposed modified RG algorithm. These scenarios involved presence and absence of obstacle vehicle in overtaking lane alongside leading vehicle in driving lane. In addition, the enhanced performance of modified RG algorithm is established over conventional RG algorithm by comparative analysis. The results indicate that overtaking maneuvering period could be decreased by 10% using a modified RG algorithm and vehicle will cover less distance to complete overtaking. The efficacy of proposed method is justified by performing experiments using mobile robots. The experimental results and simulation results of modified RG algorithm are compared, and their plots are almost identical.

Intelligent and safe overtaking maneuvering is always a challenging task for autonomous vehicles. This paper proposes and experimentally implements a novel approach of overtaking maneuvering using modified form of Rendezvous Guidance (RG) algorithm for trajectory planning and obstacle avoidance, considering driver safety and comfort during autonomous overtaking. The simulations for all possible scenarios are conducted to ensure the effectiveness of proposed modified RG algorithm. These scenarios involved presence and absence of obstacle vehicle in overtaking lane alongside leading vehicle in driving lane. In addition, the enhanced performance of modified RG algorithm is established over conventional RG algorithm by comparative analysis. The results indicate that overtaking maneuvering period could be decreased by 10% using a modified RG algorithm and vehicle will cover less distance to complete overtaking. The efficacy of proposed method is justified by performing experiments using mobile robots. The experimental results and simulation results of modified RG algorithm are compared, and their plots are almost identical.

Genus Trichogramma Westwood is being utilized in various biological control programme worldwide. Trichogramma spp. are egg parasitoids which lay their eggs inside the host eggs. More than 240 species are known, of which, 45 species are recorded from India. It is quite difficult to identify and differentiate among the species of Trichogramma due to smaller size. In present study, we hypothesized a methodology to identify the Trichogramma species based on potential morphometric characteristics. The males and females of five different species of Trichogramma namely, T. brassicae, T. chilotraeae, T. danaidiphaga, T. danausicida and T. dendrolimi were morphometrically analysed. A total of 33 characters in males and 27 in females were taken into consideration for morphometric identification and analysis using principal component method. It was observed that few characters of male like body length, length of flagellar hair, maximum marginal hair length of fore wing, genitalia characters including aedeagus length, distance between chelate structure and gonoforceps, and others were identified as important morphometric characters. Similarly, in females, ovipositor length, body and head length, eye width, antennal club width and number of setae in forewings were found important for taxonomic identification. Male and female of each species are clearly identified from high definition microscopic images.

This paper presents analysis, design and experimentation of a high voltage DC power supply (HVDCPS) with power factor correction based on LLC resonant converter. For power factor correction improvement, the proposed topology has an input rectifier with two filter capacitors, two inductors with a bus capacitor (Cbus) and a resonant tank. To prevent the reverse current flow towards the source diodes (D9 & D10) are employed. A couple of power switches are inserted in a single leg that makes a half-bridge network. To form an LLC resonance circuit, a capacitor and two inductors are connected to the primary winding of the high voltage transformer (HVT). To rectify the high frequency and high voltage, a full-bridge rectifier is inserted to secondary side of high voltage transformer (HVT). The secondary diodes always get on and off under zero current switching (ZCS) due to discontinuous conduction mode of proposed topology. It is found that due to power factor correction, less cost, lower losses and smaller size, the proposed topology achieves several major improvements over the conventional high voltage power supply. To obtain zero voltage switching (ZVS) the converter operate in a narrow frequency range. The output voltage can be varied or regulate through pulse width modulation of power switches. Due to ZVS and ZCS, the proposed topology has minimum switching losses and therefore higher efficiency. To verify the feasibility of the proposed topology a prototype is being implemented and verified by simulation & experimental results for 1.5KV prototype of the proposed topology. The results make sure the achievement, good efficiency and successful operation of the proposed topology.

[This corrects the article DOI: 10.1371/journal.pone.0239008.].