Researchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centred environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.
Cybersecurity refers to the actions that are used by people and companies to protect themselves and their information from cyber threats. Different security methods have been proposed for detecting network abnormal behavior, but some effective attacks are still a major concern in the computer community. Many security gaps, like Denial of Service, spam, phishing, and other types of attacks, are reported daily, and the attack numbers are growing. Intrusion detection is a security protection method that is used to detect and report any abnormal traffic automatically that may affect network security, such as internal attacks, external attacks, and maloperations. This paper proposed an anomaly intrusion detection system method based on a
... Show MoreThe study aimed to identify career engagement among school principals, the researcher used descriptive approach and reached the study sample (230) school, principals. The researcher instruments used: career engagement, has been checked and face validity, and construction and consistency of the instruments using internal consistency Cronbach's alpha The study came to the following findings: - The degree of career engagement among school principals was (29.0200) this refers to a higher level, compared with the theoretical average of (27) and the study showed that the results showed no significant statistical differences between school principals in the level of career engagement due to the variable sex.
This paper presents an approach to license plate localization and recognition. A proposed method is designed to control the opening of door gate based on the recognition of the license plates number in Iraq. In general the system consists of four stages; Image capturing, License plate cropping, character segmentation and character recognition. In the first stage, the vehicle photo is taken from standard camera placed on the door gate with a specific distance from the front of vehicle to be processed by our system. Then, the detection method searches for the matching of the license plate in the image with a standard plate. The segmentation stage is performed by is using edge detection. Then character recognition, done by comparing with templ
... Show MoreThe family found itself confused any of the methods of dealing (Control - democracy) follow to reach the best level in education, what was favorite yesterday about a father dealing with his children control which showed generations characterized by high levels of self-esteem and decision-making, today rejected and opposed it. As some believe that a sense of control generates a negative represented by fear and frustration.
Find the goal of preparing the current scale of the father control when junior high students.
To achieve this goal, has been preparing a tool to measure the father control after that, the researcher extract the validity and reliability of the scale, and then applied to a sample of 500 students from junior high sch
This paper presents a robust control method for the trajectory control of the robotic manipulator. The standard Computed Torque Control (CTC) is an important method in the robotic control systems but its not robust to system uncertainty and external disturbance. The proposed method overcome the system uncertainty and external disturbance problems. In this paper, a robustification term has been added to the standard CTC. The stability of the proposed control method is approved by the Lyapunov stability theorem. The performance of the presented controller is tested by MATLAB-Simulink environment and is compared with different control methods to illustrate its robustness and performance.
It is the regression analysis is the foundation stone of knowledge of statistics , which mostly depends on the ordinary least square method , but as is well known that the way the above mentioned her several conditions to operate accurately and the results can be unreliable , add to that the lack of certain conditions make it impossible to complete the work and analysis method and among those conditions are the multi-co linearity problem , and we are in the process of detected that problem between the independent variables using farrar –glauber test , in addition to the requirement linearity data and the lack of the condition last has been resorting to the
... Show MoreIn this paper, one of the Machine Scheduling Problems is studied, which is the problem of scheduling a number of products (n-jobs) on one (single) machine with the multi-criteria objective function. These functions are (completion time, the tardiness, the earliness, and the late work) which formulated as . The branch and bound (BAB) method are used as the main method for solving the problem, where four upper bounds and one lower bound are proposed and a number of dominance rules are considered to reduce the number of branches in the search tree. The genetic algorithm (GA) and the particle swarm optimization (PSO) are used to obtain two of the upper bounds. The computational results are calculated by coding (progr
... Show MoreFinancial fraud remains an ever-increasing problem in the financial industry with numerous consequences. The detection of fraudulent online transactions via credit cards has always been done using data mining (DM) techniques. However, fraud detection on credit card transactions (CCTs), which on its own, is a DM problem, has become a serious challenge because of two major reasons, (i) the frequent changes in the pattern of normal and fraudulent online activities, and (ii) the skewed nature of credit card fraud datasets. The detection of fraudulent CCTs mainly depends on the data sampling approach. This paper proposes a combined SVM- MPSO-MMPSO technique for credit card fraud detection. The dataset of CCTs which co
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