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.
Most young children provoke negative reactions from parentral interference. These reactions worsen child's behavior. Starting a harmful pattern leading to emergence of an aggressive behavior. A cross sectional study was carried out in Al-Sadr city, Baghdad. The target population was represented by all students attending governmental secondary schools, who are resident in Al-Sadr city aged between 13 and 21 year. The data collected by self-reported questionnaire (Aggression—Problem Behavior Frequency Scale). A total of 720 students contributed in this study. Out of the total, there were 257 (35.7%) students raised by illiterate mothers. Out of those, there were 241 (93.8%) students reported aggressive behavior.
... Show MoreWe use the idea of the grill. This study generalized a new sort of linked space like -connected and -hyperconnected and investigated its features, as well as the relationship between it and previously described notions. It also developed new sorts of functions, such as hyperconnected space, and identified their relationship by offering numerous instances and attributes that belong to this set. This set will serve as a starting point for further research into the set many future possibilities. We also use some theorems and observations previously studied and related to the grill and the semi-open to obtain results in this research. We applied the concept of connected to them and obtained results related to connected. The sources related t
... Show MoreTo make iron oxide nanoparticles (IONPs), a simple chemical approach was used to combine iron chloride (FeCl2+FeCl3) salt with onion peel extract. According to the study, iron salts can be converted into IONPs by the biomolecules in onion peel extract. From FeCl2+FeCl3 to γ -Fe2O3, the approach changes iron oxide NPs' size, shape, purity and phases. In water treatment, γ -Fe2O3 NPs are critical for the removal of the color methylene blue (MB). X-ray diffraction (XRD), scanning electron microscopy (SEM), ultraviolet (UV-Vis) and photoluminescence (PL) spectroscopy were used to identify IONPs. Results from the XRD experiment showed crystals having a
... Show MoreSingle crystals of pure and Cu+2,Fe+2 doped potassium sulfate were grown from aqueous solutions by the slow evaporation technique at room temperature. with dimension of (11x9 x4)mm3 and ( 10x 8x 5)mm3 for crystal doping with Cu &Fe respectively. The influence of doping on crystal growth and its structure revealed a change in their lattice parameters(a=7.479 Ã… ,b=10.079 Ã… ,c=5.772 Ã…)for pure and doping (a=9.687 Ã…, b=14.926 Ã… ,c= 9.125 Ã…) & (a=9.638 Ã… , b= 8.045 Ã… ,c=3.271 Ã…) for Cu & Fe respectively. Structure analysis of the grown crystals were obtained by X-Ray powder diffraction measurements. The diffraction patterns were analyzed by the Rietveld refinement method. Rietveld refinement plo
... Show MoreIn this paper, the Normality set will be investigated. Then, the study highlights some concepts properties and important results. In addition, it will prove that every operator with normality set has non trivial invariant subspace of .
The aim of this paper is to translate the basic properties of the classical complete normed algebra to the complete fuzzy normed algebra at this end a proof of multiplication fuzzy continuous is given. Also a proof of every fuzzy normed algebra without identity can be embedded into fuzzy normed algebra with identity and is an ideal in is given. Moreover the proof of the resolvent set of a non zero element in complete fuzzy normed space is equal to the set of complex numbers is given. Finally basic properties of the resolvent space of a complete fuzzy normed algebra is given.
Background: Intestinal infections are frequently occur among children with cancer who receive chemotherapy. On the other hand, diarrhea is especially common and severe among cancer patients that develop neutropenia, either due to the disease itself or due to the intensive chemotherapy. There are many causes of diarrhea among those patients, but intestinal infections still an important etiology among them.
Objectives: to study the frequency of diarrhea among neutropenic children, with its infectious etiologies, especially the bacterial, fungal and parasitic causes.
Type of the study:Cross-sectional study.
Methods: the study was done in the Oncology
... Show MoreThe purpose of this paper is to prove the following result: Let R be a 2-torsion free ring and T: R?R an additive mapping such that T is left (right) Jordan ?-centralizers on R. Then T is a left (right) ?-centralizer of R, if one of the following conditions hold (i) R is a semiprime ring has a commutator which is not a zero divisor . (ii) R is a non commutative prime ring . (iii) R is a commutative semiprime ring, where ? be surjective endomorphism of R . It is also proved that if T(x?y)=T(x)??(y)=?(x)?T(y) for all x, y ? R and ?-centralizers of R coincide under same condition and ?(Z(R)) = Z(R) .
An algebra has been constructed from a (D, A)-stacked algebra A, under the conditions that , A 1 and . It is shown that when the construction of algebra B is built from a (D, A)-stacked monomial algebra A then B is a d-Koszul monomial algebra.
Research summary
Praise be to God, and prayers and peace be upon our master Muhammad, his family and companions until the Day of Judgment.
As for after:
It is the right of every nation to take care of its scientific heritage, and to reveal its human civilizational impact, and the Arabs are the richest nations in heritage, as they had in every period of time a sign and pride, the Arabs fulfilled their duty towards humanity, and they carried out a large part of their scientific activity towards humanity.
Therefore, highlighting some of the scientific aspects of the civilized activity of the Arabs, and removing some of the illusions spread by some malicious people, is a human duty before it is a national duty.
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