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Hamilton–Jacobi Inequality Adaptive Robust Learning Tracking Controller of Wearable Robotic Knee System
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A Wearable Robotic Knee (WRK) is a mobile device designed to assist disabled individuals in moving freely in undefined environments without external support. An advanced controller is required to track the output trajectory of a WRK device in order to resolve uncertainties that are caused by modeling errors and external disturbances. During the performance of a task, disturbances are caused by changes in the external load and dynamic work conditions, such as by holding weights while performing the task. The aim of this study is to address these issues and enhance the performance of the output trajectory tracking goal using an adaptive robust controller based on the Radial Basis Function (RBF) Neural Network (NN) system and Hamilton–Jacobi Inequality (HJI) approach. WRK dynamics are established using the Lagrange approach at the outset of the analysis. Afterwards, the L2 gain technique is applied to enhance the control motion solutions and provide the main features of the designed WRK control systems. To prove the stability of the controlled system, the HJI approach is investigated next using optimization techniques. The synthesized RBF NN algorithm supports the easy implementation of the adaptive controller, as well as ensuring the stability of the WRK system. An analysis of the numerical simulation results is performed in order to demonstrate the robustness and effectiveness of the proposed tracking control algorithm. The results showed the ability of the suggested controller of this study to find a solution to uncertainties.

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Publication Date
Sat Mar 01 2008
Journal Name
Iraqi Journal Of Physics
Smoothing of Image using adaptive Lowpass Spatial Filtering
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Lowpass spatial filters are adopted to match the noise statistics of the degradation seeking
good quality smoothed images. This study imply different size and shape of smoothing
windows. The study shows that using a window square frame shape gives good quality
smoothing and at the same time preserving a certain level of high frequency components in
comparsion with standard smoothing filters.

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Publication Date
Wed Feb 01 2023
Journal Name
International Journal Of Engineering, Ije Transactions B: Applications
Adaptive Polynomial Coding of Multi-Base Hybrid Compression
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Publication Date
Sun Dec 01 2013
Journal Name
Baghdad Science Journal
Food dyes as an alternative tracking dye for DNA gel electrophoresis
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The chemical, physical and toxicological effects on health of synthetic dyes that used as tracking dye in the electrophoresis requires seriously search about alternative tracking dye. The present study is aimed to find an alternative dye from safe food dyes which commonly used in food coloring. Five dyes were selected depending on their chemical properties and the availability in local market: Brilliant Blue FCF, Tartrazine, Sunset Yellow FCF, Carmoisine, and green traditional, three dyes were chosen to be mixed as loading buffer: Brilliant Blue FCF, Sunset Yellow FCF as a basic because it give the whole range size of most traditional loading buffers that available in market, and adding the Carmoisine as a new indicator for the bands less t

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Publication Date
Mon Mar 01 2010
Journal Name
Al-khwarizmi Engineering Journal
Bionics-Based Approach for Object Tracking to Implement in Robot Applications
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In this paper, an approach for object tracking that is inspired from human oculomotor system is proposed and verified experimentally. The developed approach divided into two phases, fast tracking or saccadic phase and smooth pursuit phase. In the first phase, the field of the view is segmented into four regions that are analogue to retinal periphery in the oculomotor system. When the object of interest is entering these regions, the developed vision system responds by changing the values of the pan and tilt angles to allow the object lies in the fovea area and then the second phase will activate. A fuzzy logic method is implemented in the saccadic phase as an intelligent decision maker to select the values of the pan and tilt angle based

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Publication Date
Mon Aug 03 2020
Journal Name
Rawal Medical Journal
Functional outcomes of sandwich reconstruction technique for giant cell tumor around the knee joint
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Objective: To evaluate the functional outcomes after extended curettage and reconstruction using a combination of bone graft and bone cement (sandwich). Methodology: In this prospective case series 16 skeletally mature patients with primary giant cell tumor around the knee were included. Patients with previous surgically treated, malignant transformation, degenerative knee changes and those presenting with pathological fracture were excluded. The tumor was excised with bone graft filling space beneath the articular cartilage and a block of gel foam was placed over the cortical surface of picked bone graft. Remaining cavity was filled with polymethylmethacrylate cement (sandwich) with or without internal fixation. The func tional evaluation

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Scopus
Publication Date
Fri Jan 01 2016
Journal Name
International Archives Of Medicine
The role of MRI in the diagnosis of intra articular knee derangement: A prospective study
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Publication Date
Fri Apr 12 2019
Journal Name
Journal Of Economics And Administrative Sciences
The robust estimators of reliability function using sample technique AM & POT
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Abstract 

The Phenomenon of Extremism of Values ​​(Maximum or Rare Value) an important phenomenon is the use of two techniques of sampling techniques to deal with this Extremism: the technique of the peak sample and the maximum annual sampling technique (AM) (Extreme values, Gumbel) for sample (AM) and (general Pareto, exponential) distribution of the POT sample. The cross-entropy algorithm was applied in two of its methods to the first estimate using the statistical order and the second using the statistical order and likelihood ratio. The third method is proposed by the researcher. The MSE comparison coefficient of the estimated parameters and the probability density function for each of the distributions were

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Publication Date
Fri Jul 21 2023
Journal Name
Journal Of Engineering
Face Identification Using Back-Propagation Adaptive Multiwavenet
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Face Identification is an important research topic in the field of computer vision and pattern recognition and has become a very active research area in recent decades. Recently multiwavelet-based neural networks (multiwavenets) have been used for function approximation and recognition, but to our best knowledge it has not been used for face Identification. This paper presents a novel approach for the Identification of human faces using Back-Propagation Adaptive Multiwavenet. The proposed multiwavenet has a structure similar to a multilayer perceptron (MLP) neural network with three layers, but the activation function of hidden layer is replaced with multiscaling functions. In experiments performed on the ORL face database it achieved a

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Publication Date
Fri Jul 21 2023
Journal Name
Journal Of Engineering
FACE IDENTIFICATION USING BACK-PROPAGATION ADAPTIVE MULTIWAVENET
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Face Identification is an important research topic in the field of computer vision and pattern recognition and has become a very active research area in recent decades. Recently multiwavelet-based neural networks (multiwavenets) have been used for function approximation and recognition, but to our best knowledge it has not been used for face Identification. This paper presents a novel approach for the Identification of human faces using Back-Propagation Adaptive Multiwavenet. The proposed multiwavenet has a structure similar to a multilayer perceptron (MLP) neural network with three layers, but the activation function of hidden layer is replaced with multiscaling functions. In experiments performed on the ORL face database it achieved a

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Publication Date
Thu Jun 01 2023
Journal Name
2023 Ieee 36th International Symposium On Computer-based Medical Systems (cbms)
Toward a Minimal sEMG Setup for Knee and Ankle Kinematic Estimation during Gait
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