Researchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centred environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.
We define and study new ideas of fibrewise topological space namely fibrewise multi-topological space . We also submit the relevance of fibrewise closed and open topological space . Also fibrewise multi-locally sliceable and fibrewise multi-locally section able multi-topological space . Furthermore, we propose and prove a number of statements about these ideas. On the other hand, extend separation axioms of ordinary topology into fibrewise setting. The separation axioms are said to be fibrewise multi-T0. spaces, fibrewise multi-T1spaces, fibrewise multi-R0 spaces, fibrewise multi-Hausdorff spaces, fibrewise multi-functionally Hausdorff spaces, fibrewise multi-regular spaces, fibrewise multi-completely regular spaces, fibrewise multi-normal
... Show MoreModify Multi-Connect Architecture (MMCA) associative memory
The development of the internet of things (IoT) and the internet of robotics (IoR) are becoming more and more involved with our daily lives. It serves a variety of tasks some of them are essential to us. The main objective of SRR is to develop a surveillance system for detecting suspicious and targeted places for users without any loss of human life. This paper shows the design and implementation of a robotic surveillance platform for real-time monitoring with the help of image processing, which can explorer places of difficult access or high risk. The robotic live streaming is via two cameras, the first one is fixed straight on the road and the second one is dynamic with tilt-pan ability. All cameras have image processing capabilities t
... Show MoreThe estimation of the regular regression model requires several assumptions to be satisfied such as "linearity". One problem occurs by partitioning the regression curve into two (or more) parts and then joining them by threshold point(s). This situation is regarded as a linearity violation of regression. Therefore, the multiphase regression model is received increasing attention as an alternative approach which describes the changing of the behavior of the phenomenon through threshold point estimation. Maximum likelihood estimator "MLE" has been used in both model and threshold point estimations. However, MLE is not resistant against violations such as outliers' existence or in case of the heavy-tailed error distribution. The main goal of t
... Show MoreAnkylosing spondylitis (AS) represents one kind of advanced arthritis formed via inflammatory stimuli long-term in the spin‘s joints. Interleukin (IL)-29 (interferon- lambda1(IFN- λ1)), interleukin (IL)-28A (interferon- lambda 2 (IFN- λ2)) and interleukin (IL)-28B (interferon- lambda 3(IFN-λ3)) are three interferon lambda (IFN- λs) molecules that have recently been identified as new members of the IFN family. IL-28B expression in ankylosing spondylitis (AS) is not well understood. 150 male healthy controls ((HC) and 160 males with AS as patients group participated in this study. Serum level and gene polymorphism were assessed using an enzyme-linked immunosorbent assay and Sanger sequencing for IL-28B, respectively. The results showed
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All the economic units whether productive or service units , strive to achieve specific objectives , their presence and continuity depend on them and the quality of the performance and service present to the society . This units to be able to achieve their objectives , must own basic assets to perform the activities , and apply laws , systems , and instructions , in addition to legal , managerial , and financial authorities . So this units to endeavor maintain this assets , in addition to sound application of laws ,systems . and procedures to enhance their performance . For this purpose arise the role of internal control and internal check in maintenance of assets and sound application of&n
... Show MoreThe Feedback Concept has been spread as an organized trend for scientific research since it has a significant importance for human behavior and how it has been directed and controlled by the individual, feedback has numerous definitions but the simplest definition is; feedback is the information received by the individual from the output of his behavior, In addition to the mutual relationship between the individual and the stimulation that provide him with the basic information by the biological control of his behavior, Since feedback cannot be accomplished without receiving information from the inner and outer environment, the biological and physiological information become the ma
... Show MoreIn this paper We introduce some new types of almost bi-periodic points in topological bitransfprmation groups and thier effects on some types of minimaliy in topological dynamics