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Sliding mode control based on high-order extended state observer for flexible joint robot under time-varying disturbance
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Abstract. In this paper, a high order extended state observer (HOESO) based a sliding mode control (SMC) is proposed for a flexible joint robot (FJR) system in the presence of time varying external disturbance. A composite controller is integrated the merits of both HOESO and SMC to enhance the tracking performance of FJR system under the time varying and fast lumped disturbance. First, the HOESO estimator is constructed based on only one measured state to precisely estimate unknown system states and lumped disturbance with its high order derivatives in the FJR system. Second, the SMC scheme is designed based on such accurate estimations to govern the nominal FJR system by well compensating the estimation errors in the states and the lumped disturbance. To verify the tracking trajectory performance, several simulations have been conducted on the simulated FJR plant model. In addition, a comparative study is carried out between the proposed method and the full state feedback linearization control (FLC) with first order ESO (ESO1).

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Publication Date
Tue Apr 22 2025
Journal Name
Sciences Journal Of Physical Education
Use different means rehabilitative according some bio-kinematics variables and their impact on increasing range of motion for people with shoulder joint
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Publication Date
Thu Dec 27 2018
Journal Name
International Journal Of Hydrogen Energy
Compressional wave velocity of hydrate-bearing bentheimer sediments with varying pore fillings
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A potential alternative energy resource to meet energy demands is the vast amount of gas stored in hydrate reserves. However, major challenges in terms of exploration and production surround profitable and effective exploitation of these reserves. The measurement of acoustic velocity is a useful method for exploration of gas hydrate reserves and can be an efficient method to characterize the hydrate-bearing sediments. In this study, the compressional wave velocity (P-wave velocity) of consolidated sediments (Bentheimer) with and without tetrahydrofuran hydrate-bearing pore fillings were measured using the pulse transmission method. The study has found that the P-wave velocity of consolidated sediments increase with increasing hydrate format

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Publication Date
Mon Jun 01 2020
Journal Name
Iop Conference Series: Materials Science And Engineering
“Impact of culvature and magnetic force on waveform transition of Pseudo plastic fluid in flexible channel”
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Abstract<p>Waveform transport of Pseudo plastic fluid in complaint symmetric channel with culvature properties has designed. The efforts of magnetic force, which has applied by radiate direction in the analysis, is considered by using the influence of Hartmann number. Walls properties with slip conditions on velocity distribution as well as stream function are used. The analysis of" heat and mass transfer" has taken into account. More popularized factual constraints known by the convective conditions are applied. The partial differential equations of motion, temperature and concentration is reduced under the simulation of low quantity of wave number and Reynolds number and then transformed to or</p> ... Show More
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Publication Date
Sun Jul 09 2023
Journal Name
Journal Of Engineering
Influence of Aging Time on Asphalt Pavement Performance
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Aging of asphalt pavements typically occurs through oxidation of the asphalt and evaporation of the lighter maltenes from the binder. The main objective of this study is to evaluate influence of aging on performance of asphalt paving materials.nAsphalt concrete mixtures, were prepared, and subjected to short term aging (STA) procedure which involved heating the loose mixtures in an oven for two aging period of (4 and 8) hours at a temperature of 135 o C. Then it was subject to Long term aging (LTA) procedure using (2 and 5) days aging periods at 85 o C for Marshall compacted specimens. The effect of aging periods on properties of asphalt concrete at optimum asphalt content such as Marshall Properties, indirect tensile strength at 25 o C,

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Publication Date
Wed Jan 01 2020
Journal Name
Biochemical And Cellular Archives
Histological disturbance in liver and spleen of visceral leishmaniasis infected mice with the progression of infection
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Leishmania parasites reproduce wherever there are cells of the mononuclear phagocyte system, almost in macrophages. These are most copious in the liver and spleen;therefore, infection leads to an expansion of both of them. This study determined the burden of visceral leishmaniasis (VL) infection on liver and spleen. A total of 20 mice were infected peritoneally with 2x107promastigotes of Leishmania donovani / ml and other 12 mice left without infection as a healthy control. The weight of whole body, liver and spleen were measured and the histological development using hematoxylin and eosin stains were determined after 15, 30, 45-and 60-days post infection. The results represent that the mean weights of liver and spleen were increased in inf

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Publication Date
Sun Mar 06 2011
Journal Name
Baghdad Science Journal
The Approximated Solution for The Nonlinear Second Order Delay Multi-Value Problems
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This paper is attempt to study the nonlinear second order delay multi-value problems. We want to say that the properties of such kind of problems are the same as the properties of those with out delay just more technically involved. Our results discuss several known properties, introduce some notations and definitions. We also give an approximate solution to the coined problems using the Galerkin's method.

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Publication Date
Sat Jan 20 2024
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Derivation of Embedded Diagonally Implicit Methods for Directly Solving Fourth-order ODEs
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EDIRKTO, an Implicit Type Runge-Kutta  Method of Diagonally Embedded pairs, is a novel approach presented in the paper that may be used to solve 4th-order ordinary differential equations of the form . There are two pairs of EDIRKTO, with three stages each: EDIRKTO4(3) and EDIRKTO5(4). The derivation techniques of the method indicate that the higher-order pair is more accurate, while the lower-order pair provides superior error estimates. Next, using these pairs as a basis, we developed variable step codes and applied them to a series of -order ODE problems. The numerical outcomes demonstrated how much more effective their approach is in reducing the quantity of function evaluations needed to resolve fourth-order ODE issues.

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Publication Date
Wed Jan 01 2020
Journal Name
Journal Of King Saud University - Science
Three iterative methods for solving second order nonlinear ODEs arising in physics
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Publication Date
Tue Sep 01 2009
Journal Name
2009 5th International Conference On Wireless Communications, Networking And Mobile Computing
Cooperation Spectrum Sensing Using Optimal Joint Detecting
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In cognitive radio networks, there are two important probabilities; the first probability is important to primary users called probability of detection as it indicates their protection level from secondary users, and the second probability is important to the secondary users called probability of false alarm which is used for determining their using of unoccupied channel. Cooperation sensing can improve the probabilities of detection and false alarm. A new approach of determine optimal value for these probabilities, is supposed and considered to face multi secondary users through discovering an optimal threshold value for each unique detection curve then jointly find the optimal thresholds. To get the aggregated throughput over transmission

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Publication Date
Wed Jul 27 2022
Journal Name
Journal Of Positive School Psychology
Exercises Of Varying Resistances And Muscular Work Exchange Effects On Physical Adequacy And The Completion Of 200m - Meter Freestyle Swimming
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This research aims to prepare exercises of varying resistances and muscular work exchange for 200m freestyle swimmers, in addition to these exercises’ effects on physical adequacy and the time needed to complete this distance. The experimental method is the basis for the design of the experimental group and the control group of a 100% intentionally chosen sample from a community of&nbsp; elite-youth swimmers of 200m freestyle swimming for the sport season of 2020-2021 at the Police Sports Club. The sample consists of 15 swimmers that were divided, randomly, into two groups; 7 of them in the experimental group while 8 were in the control group. Physical adequacy was calculated with the use of swimmers’ mechanical energy measurements

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