The regressor-based adaptive control is useful for controlling robotic systems with uncertain parameters but with known structure of robot dynamics. Unmodeled dynamics could lead to instability problems unless modification of control law is used. In addition, exact calculation of regressor for robots with more than 6 degrees of freedom is hard to be calculated, and the task could be more complex for robots. Whereas the adaptive approximation control is a powerful tool for controlling robotic systems with unmodeled dynamics. The local (partitioned) approximation-based adaptive control includes representation of the uncertain matrices and vectors in the robot model as finite combinations of basis functions. Update laws for the weighting matrices are obtained by the Lyapunov-like design. Therefore, this work is focused function approximation-based control algorithms considering centralized and decentralized approaches. In this work, the following control algorithms are designed: (1) Adaptive hybrid regressor-approximation control. This work attempts to combine the features of both the regressor and the approximation techniques in adaptive control. The regressor technique is a powerful tool for adaptive control of the known structure of modeling while the approximation is useful for estimation of time-varying uncertainty. Therefore, this work proposes adaptive hybrid regressor and approximation control for robots in both free and constrained spaces. The control law consists of three terms: (i) regressor term for initial estimation of the known structure of the robot dynamics, e.g. inertia matrix, Coriolis and centripetal matrix and gravity vector, and (ii) approximation term for estimation of internal and external disturbances resulted from the inexact calculation of regressor matrix and unknown modeling of friction, etc, and (iii) robust term consists of switching sgn(.) function. The control law is designed based on updating the uncertain parameters and the weighting coefficients corresponding to regressor and approximation respectively with position/force tracking purposes. The proposed controller is stable in the sense of Lyapunov stability. (2) Decentralized adaptive partitioned approximation control. Partitioned approximation control is avoided in most decentralized control algorithms; however, it is essential to design feedforward control with improved tracking accuracy. As a result, this work is focused on decentralized adaptive partitioned approximation control for complex robotic systems using the orthogonal basis functions as strong approximators. In essence, the partitioned approximation technique is intrinsically decentralized with some modifications. The proposed decentralized control law consists of three terms: the partitioned approximation-based feedforward term that is necessary for precise tracking, the high gain-based feedback term, and the adaptive sliding gain-based term for compensation of modeling error. The passivity property is essential to prove the stability of local stability of the individual subsystem with guaranteed global stability. Simulation experiments on 2-link robot and 6-link biped robot are performed to prove the effectiveness of the proposed algorithms.
In this paper, tunable optical band-pass filters based on Polarization Maintaining Fiber –Mach Zehnder Interferometer presented. Tunability of the band-pass filter implemented by applying different mechanical forces N on the micro-cavities splicing regions (MCSRs). The micro-cavity formed by using three variable-lengths of single-mode polarization-maintaining fiber with (8, 16, 24) cm lengths, splice between two segments of (SMF-28) with (26, 13) cm lengths, using the fusion splicing technique. Ellipsoidal shape micro-cavities experimentally achieved parallel to the propagation axis having dimensions between (12-24) μm of width and (4-12) μm of length. A micro-cavity with width and length as high as 24 μm and 12 μ
... Show MoreThe launch of the EU’s Eastern Partnership in 2009 intended to signal a new, elevated level of EU engagement with its Eastern neighborhood. Yet there remain several long-simmering and potentially destabilizing conflicts in the region, with which EU engagement thus far has been sporadic at best. The Union’s use of its Common Security and Defense Policy (CSDP) in the region and to help solve these disputes has been particularly ad hoc and inconsistent, wracked by inter-institutional incoherence and undermined by Member States’ inability to agree on a broad strategic vision for engagement with the area.
The three CSDP missions deployed to the region thus far have all suffered from this incoherence to various extents. In particu
... Show MoreBackground : Carpal tunnel syndrome (CTS) is the most common entrapment neuropathy of upper extremities and Open carpal tunnel release is the most frequent surgical procedure and the gold standard for cases that do not respond to conservative treatment. Aims :This study is used to evaluate the functional outcome of limited palmar mini-incision of carpal tunnel release. This study aims to determine the safety and symptomatic and functional efficacy of median nerve decompression with limited incision in carpal tunnel syndrome surgery. Patients and methods:Carpal tunnel release with a 1.5-2 cm limited palmar incision was performed on 20 patients. Patients were evaluated initially at one month after treatment according to symptom severity
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Social media has thrived recently and public organizations at Thi-Qar governorate across different levels are experimenting with launching government social media (GSM) to facilitating two-way interactions between the government and its citizens. Both scholars and practitioners are focusing on understanding the key success factors related to the create of GSM. This study aimed to identify the key success factors by exploring the formation mechanism of individuals’ continuous usage intention. Through the theoretical perspective of the uses and gratifications theory. We identify the gratification factors that stimulate users’ continuance intention toward GSM. Furthermore, we draw upon the stimulus–organism–
... Show MoreThe radial wave functions of the cosh potential within the three-body model of (Core+ 2n) have been employed to investigate the ground state properties such as the proton, neutron and matter densities and the associated rms radii of neutron-rich 6He, 11Li, 14Be, and 17B exotic nuclei. The density distributions of the core and two valence (halo) neutrons are described by the radial wave functions of the cosh potential. The obtained results provide the halo structure of the above exotic nuclei. Elastic electron scattering form factors of these halo nuclei are studied by the plane-wave Born approximation.
Cranberry (Vaccinium macrocarpon) is a North American natural fruit. consumed as food and used for health promotion and prevention of various diseases. Aim. The present study was designed to evaluate the protective effect of cranberry fruit extract on nephrotoxicity induced by cisplatin in mice by measuring selected oxidative stress markers. Methods. Twenty-eight male albino mice were used in this study. The animals were divided into 4 groups as follows: Group I [Negative Control]/orally-administered normal saline for 7 successive days; Group II [Orally-administered cranberry fruit extract alone (200 mg/kg) for 7 successive days; Group III/Mice IP injection with cisplatin (12mg/kg) on day 7 and; Group IV [Orally-administered cr
... Show MoreThe current study discusses one of the most important modern schools in art, and it studies its impact on contemporary Iraqi art, particularly in the art of pottery because of its association to the utilitarian function. However, this study demonstrated that pottery is a unique art, which has exceeded the limits of this function. In addition, pottery has a great role in changing the view and understanding of it. Therefore, this art assists in achieving the concepts, philosophies, and values among other fine arts branches.The most prominent issues in this article is dealing with reflections of the cubical arts on the Iraqi contemporary pottery art by through the works of the most prominent contemporary artists such as (Saad Shakir, SHania
... Show MoreIn this study the faunistic of lady beetles (Coleoptera, Coccinellidae) was studied in Mehriz region (Yazd province) during 2009-2010. The total number of specimens of coccinellid beetles were collected from 6 different localities having altitudes from 1420-2420 m. Altogether 11 species from 8 genera, 3 tribes and 3 subfamilies were collected and identified. External characters plus characteristics male and female genitalia were used in order to diagnose species. Seven species were recorded for the first time from Yazd province (marked*). Many species were predacious, preying on various species of aphids, mites and coccids. Some species were also sent to Dr. Helmut Fursch in Germany for identification or confirmation. T
... Show MoreMammography is at present one of the available method for early detection of masses or abnormalities which is related to breast cancer. The most common abnormalities that may indicate breast cancer are masses and calcifications. The challenge lies in early and accurate detection to overcome the development of breast cancer that affects more and more women throughout the world. Breast cancer is diagnosed at advanced stages with the help of the digital mammogram images. Masses appear in a mammogram as fine, granular clusters, which are often difficult to identify in a raw mammogram. The incidence of breast cancer in women has increased significantly in recent years.
This paper proposes a computer aided diagnostic system for the extracti
Evolutionary algorithms are better than heuristic algorithms at finding protein complexes in protein-protein interaction networks (PPINs). Many of these algorithms depend on their standard frameworks, which are based on topology. Further, many of these algorithms have been exclusively examined on networks with only reliable interaction data. The main objective of this paper is to extend the design of the canonical and topological-based evolutionary algorithms suggested in the literature to cope with noisy PPINs. The design of the evolutionary algorithm is extended based on the functional domain of the proteins rather than on the topological domain of the PPIN. The gene ontology annotation in each molecular function, biological proce
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