There are two main categories of force control schemes: hybrid position-force control and impedance control. However, the former does not take into account the dynamic interaction between the robot’s end effector and the environment. In contrast, impedance control includes regulation and stabilization of robot motion by creating a mathematical relationship between the interaction forces and the reference trajectories. It involves an energetic pair of a flow and an effort, instead of controlling a single position or a force. A mass-spring-damper impedance filter is generally used for safe interaction purposes. Tuning the parameters of the impedance filter is important and, if an unsuitable strategy is used, this can lead to unstable contact. Humans, however, have exceptionally effective control systems with advanced biological actuators. An individual can manipulate muscle stiffness to comply with the interaction forces. Accordingly, the parameters of the impedance filter should be time varying rather than value constant in order to match human behavior during interaction tasks. Therefore, this paper presents an overview of impedance control strategies including standard and extended control schemes. Standard controllers cover impedance and admittance architectures. Extended control schemes include admittance control with force tracking, variable impedance control, and impedance control of flexible joints. The categories of impedance control and their features and limitations are well introduced. Attention is paid to variable impedance control while considering the possible control schemes, the performance, stability, and the integration of constant compliant elements with the host robot.
« This paper presents the indicators of the development of excellent public relations in the institutions of higher education that are possible for three contextual variables: institutional, professional, professional, and effective communication. Therefore, the study used six indicators to measure the excellent public relations in institutions of higher education and scientific research. These indicators are based on the theory of excellence in public relations . Research Objectives: The aim of the research paper is to uncover the institutional, professional, and professional indicators of effective communication of excellent public relations in higher education institutions. Resea |
In this work, the linear properties of Vitamin D3-5000IU soft gel were investigated by measuring its absorption and fluorescence spectra. It was observed that there was a shift towards longer wavelength within limits (75 nm), with quantitative efficiency equal to (33.58%). The values of absorbance were used to calculate the extinction coefficient, optical refractive index, optical conductivity and optical dielectric constant values.
The non-linear properties of Vitamin D3-5000IU soft gel was also studied using the Z-Scan technique by using Neodymium-doped Yttrium Garnet (Nd: YAG) continuous laser (CW) emitting in &n
... Show MoreConservation of Concept among Children: Semantic Study
Aluminum alloy 5052 had been anodized by sulfuric acid as an electrolyte under constant voltage and the anodic oxide film produce will be testing by potentiostatic anodic polarization .Two variables, which were considered as important variables, were studied. These variables are anodizing time 15,30 min. and sealing time 10,20 min., and the test by potentiostatic anodic polarization through electro chemical polarization measurements in solutions of 1N na2so4 ( PH= 1 ). The results are discussed in light of the rate of ionic current flow through the coating during anodic polarization measurements.
PVC-LiF composites films with different lithium fluoride (LiF) concentrations (0, 30, 50, and 70 weight %) were prepared by using the casting method. This research deals with the investigation of dielectric properties for PVC-LiF composite films as a function of frequency and temperature in the ranges of 100 to 107 Hz and 293 - 370 K, respectively. The A.C activation energy values estimated from Arrhenius equation were 0.03820, 0.3174, 0.2009, and 0.1845 eV for the different PVC-LiF films with different LiF concentrations, respectively. It was found that the activation energy decreases by increasing LiF concentration and frequency. The exponent (s) showed a progressive increase with LiF for PVC-LiF films, while it showed
... Show MoreThat less duration takes larva mature into a virgin under field conditions is one day during Alguetrh from April to October and last longer to more than a day during Alguetrh from November to February and up to nine days in January when low minimum temperature to zero degreespercentage that these larvae can not be a high percentage in the field ranging from 90-100% reduced Hessian Alnsphaly 85% during the months of July and Cape
The method of measurement dosimetry in neutron – gamma field by using CaSo4 : Dy (PTFE) disc which has a diameter of 1.3mm and thickness of 0.2mm and using hydrogenated material as a converters of neutron to recoil protons (n-p) reaction, the discs were irradiated by neutron source (241Am-Be) with flux of 4.5?105 n/cm2s for different time to obtain different dose. The TL signals, which we have been obtained by using the converters, are increases to 71%. So we can resolve the neutron and gamma in mixed field.
Interface bonding between asphalt layers has been a topic of international investigation over the last thirty years. In this condition, a number of researchers have made their own techniques and used them to examine the characteristics of pavement interfaces. It is obvious that test findings won't always be comparable to the lack of a globally standard methodology for interface bonding. Also, several kinds of research have shown that factors like temperature, loading conditions, materials, and others have an impact on surface qualities. This study aims to solve this problem by thoroughly investigating interface bond testing that might serve as a basis for a uniform strategy. First, a general explanation of how
... Show MoreBackground: Chronic atrophic gastritis is a precancerous lesion. A commonly used test for the diagnosis of chronic atrophic gastritis, gastric endoscopy with biopsy collection, and a good
serological test would be best include low levels of pepsinogen I (PGI) or a low PGI/PGII ratio.
Aim of the study: T o confirm the use of serum pepsinogens as a screening marker in atrophic gastritis.
Patients and Methods: A study was conducted in the period between December 2005 and March 2006 on 25 patients with atrophic gastritis attending Gastroenterology and Hepatology Teaching Hospital in Baghdad, and 25 healthy control subjects. Sera were tested for PGI and PGII by ELISA test.
Results and Conclusions: th
The electrical properties of thin film interdigital metalÂ
phthalocyanine - metal devices have been studied with regard to purity and electrode material . Devices utilising phthalocyanines ( H2 Pc ,
NiPc and CuPc) films with Au, Ag , Cu ' In and AI electrodes have been prepared with Pc layers fabricated from both as - supplied Pc powder and entrainer - subeimed material . The results indicate that
sublimed phthalocyanine with gold electrodes offers the best material
combination with regard to linearity , reversibility and reproducibility. Measurements of current &nbs
... Show More