A systematic approach is presented to achieve the stable grasping of objects through a two-finger robotic hand, in which each finger cavity was filled with granular media. The compaction of the latter, controlled by vacuum pressure, was used to adjust the structural and contact stiffness of the finger. The grasping stability was studied under the concurrent effect of an external torque and applied vacuum pressure. Stable grasping was defined as the no slippage condition between the grasped object and the two fingers. Three control schemes were adopted and applied experimentally to ensure the effectiveness of the grasping process. The results showed that stable and unstable grasping regions exist for each combination of applied torqu

Dam operation and management have become more complex recently because of the need for considering hydraulic structure sustainability and environmental protect on. An Earthfill dam that includes a powerhouse system is considered as a significant multipurpose hydraulic structure. Understanding the effects of running hydropower plant turbines on the dam body is one of the major safety concerns for earthfill dams. In this research, dynamic analysis of earthfill dam, integrated with a hydropower plant system containing six vertical Kaplan turbines (i.e., Haditha dam), is investigated. In the first stage of the study, ANSYS-CFX was used to represent one vertical Kaplan turbine unit by designing a three-dimensional (3-D) finite element (F

       Using orbit- motion limited theory, as the exact theory in calculating the ion and electron current in dusty plasma, the variations of charge number on a dust grain in Ar-plasma are studied by changing various charging parameters. Most of dependences of charge number on plasma parameters in this paper take into account the close packed effect.

The Internet is the hallmark of the age of technology and this technology is complemented by the presence of software which is one of the basic components of the operation of the network and it is used in almost all daily life aspects such as industry, commerce and others. Because the digital documents and objects can be easily replicated and distributed at an economically low cost and as the software is a type of digital object, the problem of software watermarking risen as related to how to protect data from piracy. Therefore, various techniques have been developed to protect codes from misusing and unauthorized alteration. Each of them is known as watermarking technology that protects data by inserting secret information into software

The locations of the Moon, velocity and distance were determined through hundred years using a modified formula Meeus 1998, which is used to calculate the orbit's elements, Additionally which allows us to specify the possible date for monitoring the crescent moon. In this project we describe the orbits, orbit types and orbital elements than describe the orbit of the Moon and the perturbations effect on shape and direction of the Moon's orbit, the orbital elements effect by the all perturbation were calculated directly using empirical formula. The orbital elements of the Moon's orbit for 1326 anomalies months are calculated by our Q. Basic programs and the time variation of the Moon's orbital element with perturbations can be computed by

In this paper, the solar attraction effect on the Moon orbital elements had been studied. The solar attraction considered a third body perturbation. The initial values of the Moon orbital elements at 2015-1-21.5 which are used (semi major axis=380963.78 km, eccentricity =0.056o, Eular angles (Ω=30°, ω=40°, , i=18.4°). The Moon in a perigee of its orbit at the initial time. A program which designed, was used to calculate the Moon position ,velocity and orbital elements through the years (2015-2035). The position and velocity components of the Moon were calculated by solving the equation of Kepler for elliptical orbit using Newton Raphson's method for (1000) periods and hundred steps of time for each period. The results show a secular

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Many water supplies are now contaminated by anthropogenic sources such as domestic and agricultural waste, as well as manufacturing activities, the public's concern about the environmental effects of wastewater contamination has grown. Several traditional wastewater treatment methods, such as chemical coagulation, adsorption, and activated sludge, have been used to eliminate pollution; however, there are several drawbacks, most notably high operating costs, because of its low operating and repair costs, the usage of aerobic waste water treatment as a reductive medium is gaining popularity. Furthermore, it is simple to produce and has a high efficacy and potential to degrade pollu

Systematic Reviews in Pharmacy is a monthly Peer-review open access Journal,different scientists involved in Pharmaceutical research and development