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Hierarchical non-singular terminal sliding mode controller for a single link flexible joint robot manipulator
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—This paper studies the control motion of a single link flexible joint robot by using a hierarchical non-singular terminal sliding mode controller (HNTSMC). In comparison to the conventional sliding mode controller (CSMC), the proposed algorithm (NTSMC) not only can conserve characteristics of the convention CSMC, such as easy implementation, guaranteed stability and good robustness against system uncertainties and external disturbances, but also can ensure a faster convergence rate of the systems states to zero in a finite time and singularity free. The flexible joint robot (FJR) is a two degree of freedom (2DOF) nonlinear and underactuated system. The system here is modeled as a fourth order system by using Lagrangian method. Based on the modeling dynamics, the system is decomposed hierarchically into two-second order subsystems, namely, a rigid body and a flexible subsystem. In the first level, the sliding manifold for each subsystem is designed based on the NTS surfaces. Then, in the second level, the total sliding surface is constructed as the linear combination of NTS surfaces of two subsystems. Thereafter, a HNTSM control is obtained based on Lyapunov theorem to drive both subsystems to their equilibrium points in the finite time. Simulation results demonstrate the effectiveness of proposed scheme (HNTSMC) over (HCSMC).

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Publication Date
Mon Jan 01 2024
Journal Name
Ieee Transactions On Emerging Topics In Computational Intelligence
Reservoir Network With Structural Plasticity for Human Activity Recognition
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Publication Date
Tue May 01 2018
Journal Name
Journal Of Physics: Conference Series
Experimental study of some shielding parameters for composite shields
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Publication Date
Sat Jan 01 2022
Journal Name
Ieee Access
Fast Computation of Hahn Polynomials for High Order Moments
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Publication Date
Tue Sep 01 2009
Journal Name
Al-khwarizmi Engineering Journal
Propagation Mechanisms for Surface Initiated Cracking in Composite Pavements
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The primary objective of this study was to identify the mechanisms for the development and propagation of longitudinal cracks that initiate at the surface of composite pavement. In this study the finite element program ANSYS version (5.4) was used and the model worked out using this program has the ability to analyze a composite pavement structure of different layer properties. Also, the aim of this study was modeling and analyzing of the composite pavement structure with the physical presence of crack induced in concrete underlying layer. The results obtained indicates that increasing the thickness of the asphalt layer tends to decrease the stress intensity factor, which may be attributed to the rapidly decrease of horizontal tensile st

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Publication Date
Sat Jan 01 2011
Journal Name
Software Engineering And Computer Systems
Practical Adoptions of T-Way Strategies for Interaction Testing
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Publication Date
Wed Feb 15 2023
Journal Name
International Journal Of Emerging Technologies In Learning (ijet)
Recruitment of Teachers for Cooperative Education in Educational Institutions
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The study of cooperative education is important not only for researchers but also for those interested in studying educational methods, such as university professors, teachers in schools, and all educational institutions. This is because of its effectiveness in teaching students, developing their skills, developing their ideas and employing them in the study and finding appropriate solutions to the questions posed by the teacher. It also helps in instilling a spirit of cooperation among the students by dividing them into groups to achieve the desired goals. The aim of the study is to clarify how important it is for teachers to use cooperative education in addressing the educational, social and psychological aspects when teaching stu

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Publication Date
Tue Nov 05 2019
Journal Name
Cardiff University
Technology development for nanoscale InSb quantum split-gate structures
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Publication Date
Tue Jan 08 2019
Journal Name
Iraqi Journal Of Physics
Polymer electrolytes based PAN for dye-sensitized solar cells
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Solar cells has been assembly with electrolytes including I−/I−3 redox duality employ polyacrylonitrile (PAN), ethylene carbonate (EC), propylene carbonate (PC), with double iodide salts of tetrabutylammonium iodide (TBAI) and Lithium iodide (LiI) and iodine (I2) were thoughtful for enhancing the efficiency of the solar cells. The rendering of the solar cells has been examining by alteration the weight ratio of the salts in the electrolyte. The solar cell with electrolyte comprises (60% wt. TBAI/40% wt. LiI (+I2)) display elevated efficiency of 5.189% under 1000 W/m2 light intensity. While the solar cell with electrolyte comprises (60% wt. LiI/40% wt. TBAI (+I2)) display a lower efficiency of 3.189%. The conductivity raises with the

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Publication Date
Sat Dec 10 2022
Journal Name
Al-rafidain Journal Of Medical Sciences ( Issn: 2789-3219 )
Actual Benefits of Zinc for Cardiovascular Diseases: Mini Review
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The leading causes of death, particularly among the elderly, are cardiovascular illnesses, which are frequently linked to altered lifestyle patterns. Numerous academic studies on health and disease have stressed the role of micronutrients like zinc. Furthermore, both healthy and unwell patients are increasingly consuming dietary supplements that contain micronutrients for wellbeing. Cardiovascular disease can be brought on by trace element deficiencies, particularly zinc insufficiency. This study's goal is to analyze current theories regarding the benefits of zinc supplementation for people with cardiovascular problems. We used reliable websites like Google Scholar, PubMed, and Research Gate to find the most recent papers. Preprints

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Publication Date
Mon Dec 03 2018
Journal Name
Journal Of Engineering
Performance of Different Concatenated Coding Schemes for CDMA System
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In this paper different channel coding and interleaving schemes in DS/CDMA system over multipath fading channel were used. Two types of serially concatenated coding were presented. The first one composed of Reed-Solomon as outer code, convolutional code as inner code and the interleaver between the outer and inner codes and the second consist of convolutional code as outer code, interleaved in the middle and differential code as an inner code. Bit error rate performance of different schemes in multipath fading channel was analyzed and compared. Rack receiver was used in DS/CDMA receiver to combine multipath components in order to enhance the signal to noise ratio at the receiver.

 

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