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.
To study the comparative use of some soil minerals (zeolite, bentonite, phosphate rock, and limestone) in the adsorption and release of lead and its removal rates from its aqueous solutions using adsorption equations. Two laboratory experiments were carried out for the adsorption and release of lead. The adsorption experiment took 0.5 g of some of the above soil minerals. Lead was added as Pb (NO3)2 at levels of 3.0, 2.0, 1.5, 1.0, 0.5, and 0.0 mmol L-1 containing a concentration of 0.01M of calcium chloride. The experimental unit’s number was 72, the concentration of dissolved lead in the equilibrium solution was estimated and the amount of lead adsorbed was calculated. As for the lead release experiment, samples fo
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The Importance of Effort and its Impact in Building the Society in the Light of
the Holy Book and Sunna.
Thank for God and peace be upon Prophet Muhammad, His hose hold and
Companions.
This research is to refute a fault : that Islam as a religioncalls for laziness and
dependence and this in first, Second, to show the originality of the Islamic method in
building and construction.
This research Starts with an introduction in which I refer to the nature of the
Islamic method and its way of work in life: that it is a divine method that is achieved
by the effort of the people them selfves and not through a divine extraordinary power:
The research explains the shift in the peoples life who were addressed by this<
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Reaction of  p-fluoro benzoic acid with the thiosemicarbazide and salcialdehyde gave the new bidentate ligand .The prepared ligand Identified by FT-I.R and U.V-Visible spectcopic technique .Treatment of the prepared   ligand   with following metal ions  M=Tb(III),Eu(III),Nd(III) and La(III) ,in ethanol with a (1:1) M:L ratio and at pH=7 yielded series of neutral complexes as the general formula  [M LCl (H O ]. The prepared complexes were characterized using (FT-IR, UV-Vis) spectra , melting point, molar conductivity measurements . chloride ion content were also evolution by (mhor method) . The proposed structure of the complexes using program , chem office 3D(2004) .
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Background: One effective second-generation triptan for migraine attacks is sumatriptan. Following oral use, it has a 40% restricted bioavailability because of the first-pass metabolism. Aim: To develop the best intranasal Solusomes formula as a substitute that delivers into the brain directly, improving its bioavailability, and removing the first-pass outcome was the aim of this effort. Methodology: We developed solute formulations based on the Box-Behnken design and subsequently produced them via thin-film hydration. The quality by design technique was used to establish a correlation between the formulation parameters (Soluplus® and phosphatidylcholine (PC) concentrations) and signif¬icant quality powers (entrapment efficiency (
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The article describes a study on the role of vitamin C as a protective agent for the teeth, gum, and implants using quantum chemical calculations and polarization tests. The Density Functional Theory (DFT) at 6-311G (d, p) basis set is used to estimate the ability of vitamin C to inhibit the corrosion of the abovementioned parts. The experimental study was performed in a at human body media simulator (Hank’s balanced salt solution) at a temperature of 37°C. The compound was optimized for its ground state, physical properties, and corrosion parameters. Further, HOMO, LUMO, energy gap, dipole moment, and other parameters were used to predict the inhibitor’s efficiency. Gaussian 09, UCA-FUKUI, MGL tools, DSV, and LigPlus software was used
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Recent research has examined the improvement of physical and dielectric properties of BaTiO3 ceramic material by small addition of excess TiO2 or BaCO3. The prepared samples sintered at different temperatures and varying soaking time. The results show that increasing the sintering temperature within 1350°C and soaking time of 10 hrs give better electrical and physical properties, which indicate the reaction is complete at higher temperature and period.
Background: Coronary artery disease (CAD) is a major contributor to morbidity and mortality worldwide. Early-onset CAD, also known as PCAD, is a severe form of CAD associated with high mortality and a poor prognosis. Early diagnosis is crucial to reducing complications. While hsCRP is an established biomarker for CAD, kalirin is a potential novel biomarker due to its role in promoting smooth muscle proliferation and endothelial dysfunction. Objective: To evaluate the relationship between serum kalirin and hsCRP levels with the presence and severity of PCAD and to compare the diagnostic value of both biomarkers. Method: The study recruited 92 participants into two groups: the PCAD group (46) included patients with confirmed CAD by an
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