The flexible joint robot (FJR) typically experiences parametric variations, nonlinearities, underactuation, noise propagation, and external disturbances which seriously degrade the FJR tracking. This article proposes an adaptive integral sliding mode controller (AISMC) based on a singular perturbation method and two state observers for the FJR to achieve high performance. First, the underactuated FJR is modeled into two simple second-order fast and slow subsystems by using Olfati transformation and singular perturbation method, which handles underactuation while reducing noise amplification. Then, the AISMC is proposed to effectively accomplish the desired tracking performance, in which the integral sliding surface is designed to reduce cha

The presence of different noise sources and continuous increase in crosstalk in the deep submicrometer technology raised concerns for on-chip communication reliability, leading to the incorporation of crosstalk avoidance techniques in error control coding schemes. This brief proposes joint crosstalk avoidance with adaptive error control scheme to reduce the power consumption by providing appropriate communication resiliency based on runtime noise level. By switching between shielding and duplication as the crosstalk avoidance technique and between hybrid automatic repeat request and forward error correction as the error control policies, three modes of error resiliencies are provided. The results show that, in reduced mode, the scheme achie

The aim of this paper is to design a PID controller based on an on-line tuning bat optimization algorithm for the step-down DC/DC buck converter system which is used in the battery operation of the mobile applications. In this paper, the bat optimization algorithm has been utilized to obtain the optimal parameters of the PID controller as a simple and fast on-line tuning technique to get the best control action for the system. The simulation results using (Matlab Package) show the robustness and the effectiveness of the proposed control system in terms of obtaining a suitable voltage control action as a smooth and unsaturated state of the buck converter input voltage of ( ) volt that will stabilize the buck converter sys

In this paper, two new simple, fast and efficient block matching algorithms are introduced, both methods begins blocks matching process from the image center block and moves across the blocks toward image boundaries. With each block, its motion vector is initialized using linear prediction that depending on the motion vectors of its neighbor blocks that are already scanned and their motion vectors are assessed. Also, a hybrid mechanism is introduced, it depends on mixing the proposed two predictive mechanisms with Exhaustive Search (ES) mechanism in order to gain matching accuracy near or similar to ES but with Search Time ST less than 80% of the ES. Also, it offers more control capability to reduce the search errors. The experimental tests

     Recently Tobit  Quantile Regression(TQR) has emerged as an important tool in statistical analysis . in order to improve the parameter estimation in (TQR) we proposed Bayesian hierarchical model with double adaptive elastic net technique  and Bayesian hierarchical model with adaptive ridge regression technique .

 in double adaptive elastic net technique we assume  different penalization parameters  for penalization different regression coefficients in both parameters λ₁and  λ₂  , also in adaptive ridge regression technique we assume different  penalization parameters for penalization different regression coefficients i

Given the increasing global use of antibiotics, it has become necessary to examine and recognize their significance. An antibiotic formulation may contain one or more active components, depending on the antibiotic’s type and formulation. Antibiotics act exclusively against bacterial diseases and are ineffective against viral infections such as the common cold and influenza. The purpose of this review is to analyze the existing literature on the determination of antibiotics and to present the methods used for estimating specific antibiotics, including cephalexin, cloxacillin, piperacillin, nafcillin, and cefamandole, in medicinal preparations and biological fluids, such as blood and urine, from humans and animals. Verifying the quality of

In the last few years, the Internet of Things (IoT) is gaining remarkable attention in both academic and industrial worlds. The main goal of the IoT is laying on describing everyday objects with different capabilities in an interconnected fashion to the Internet to share resources and to carry out the assigned tasks. Most of the IoT objects are heterogeneous in terms of the amount of energy, processing ability, memory storage, etc. However, one of the most important challenges facing the IoT networks is the energy-efficient task allocation. An efficient task allocation protocol in the IoT network should ensure the fair and efficient distribution of resources for all objects to collaborate dynamically with limited energy. The canonic