BACKGROUND: Clavicle fractures are common injuries in young active individuals, the mid third of the clavicle is most commonly fractured part(80% of clavicle fracture) OBJECTIVE: To compare the outcomes of operative and non operative management of displaced and or comminuted closed fracture of the mid third of clavicle in young adults PATIENTS AND METHODS: This prospective observational study of 24 patients of fracture of the mid third of the clavicle was conducted in Alkindy teaching hospital from July 2015 to January 2017 and divided into two groups; one managed by operative treatment with plate and screws and the other by non operative sling immobilization after taking the consent and the patients were seen at 2, 4, 6 weeks,3, 6, and 9 months RESULTS: The mean time of functional recovery in the operative group was 3.75 weeks while in the non operative group was 8.09(P value=0.005) which is highly significant, the mean time of fracture healing(radiological union) in the operative group was 14.25 while in the non operative group was 28.72 with P value 0.005 which is statistically highly significant, there was no significant differences between the two groups in the range of movements although the adduction was better in the operative group but not significant P value=0.120, the DASH score was 11.25, 22.25 in the operative and non operative group respectively which is highly significant P value=0.005. CONCLUSION: Operative fixation of the clavicle results in improvement in the functional outcome, shorter time of union, lower complication rate in 9 month follow up
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The flexible joint robot manipulators provide various benefits, but also present many control challenges such as nonlinearities, strong coupling, vibration, etc. This paper proposes optimal second order integral sliding mode control (OSOISMC) for a single link flexible joint manipulator to achieve robust and smooth performance. Firstly, the integral sliding mode control is designed, which consists of a linear quadratic regulator (LQR) as a nominal control, and switching control. This control guarantees the system robustness for the entire process. Then, a nonsingularterminal sliding surface is added to give a second order integral sliding mode control (SOISMC), which reduces chartering effect and gives the finite time convergence as well. S
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