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Function approximation technique-based adaptive virtual decomposition control for a serial-chain manipulator
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SUMMARY<p>The virtual decomposition control (VDC) is an efficient tool suitable to deal with the full-dynamics-based control problem of complex robots. However, the regressor-based adaptive control used by VDC to control every subsystem and to estimate the unknown parameters demands specific knowledge about the system physics. Therefore, in this paper, we focus on reorganizing the equation of the VDC for a serial chain manipulator using the adaptive function approximation technique (FAT) without needing specific system physics. The dynamic matrices of the dynamic equation of every subsystem (e.g. link and joint) are approximated by orthogonal functions due to the minimum approximation errors produced. The control, the virtual stability of every subsystem and the stability of the entire robotic system are proved in this work. Then the computational complexity of the FAT is compared with the regressor-based approach. Despite the apparent advantage of the FAT in avoiding the regressor matrix, its computational complexity can result in difficulties in the implementation because of the representation of the dynamic matrices of the link subsystem by two large sparse matrices. In effect, the FAT-based adaptive VDC requires further work for improving the representation of the dynamic matrices of the target subsystem. Two case studies are simulated by Matlab/Simulink: a 2-R manipulator and a 6-DOF planar biped robot for verification purposes.</p>
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Publication Date
Wed Dec 01 2021
Journal Name
Journal Of Economics And Administrative Sciences
Comparison of Some Non-Parametric Quality Control Methods
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    Multivariate Non-Parametric control charts were used to monitoring the data that generated by using the simulation, whether they are within control limits or not. Since that non-parametric methods do not require any assumptions about the distribution of the data.  This research aims to apply the multivariate non-parametric quality control methods, which are Multivariate Wilcoxon Signed-Rank ( ) , kernel principal component analysis (KPCA) and k-nearest neighbor (

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Publication Date
Mon Jan 28 2019
Journal Name
Journal Of The College Of Education For Women
Preparation Scale father control when junior high students
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The 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

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Publication Date
Tue Nov 01 2011
Journal Name
Advanced Materials Research
Experimental Test of Magneto-Rheological Directional Control Valve
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Directional control valve is the main part in hydraulic system which has complex construction, such as moving spool to control the direction of actuator for required speed. Utilizing MR fluid properties, direct interface can be realized between magnetic field and fluid power without the need for moving parts like spool in directional control valves. This paper dedicates the experimental test of four ways, three position MR directional control valve. The experimental methods were done by connecting the MR directional control valve with hydraulic actuators. The experiment was conducted to show the principle work of the valve functionally and performance test for valve was done. The valve works proportionally to control the direction a

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Publication Date
Fri Mar 01 2024
Journal Name
Al-khwarizmi Engineering Journal
Control System Development of Cap-Seal Assembling Machine
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Publication Date
Mon Mar 01 2010
Journal Name
Journal Of Economics And Administrative Sciences
Two side properties of EWMA control panels unilaterally
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This study, establishes two stochastic monotonicity results concerning the run length of an upper one –sided Exponentially Weighted Moving Average (EWMA) control charts, based on the logarithm of the sample variance, for monitoring a process standard deviation, these properties cast interesting light on the control chart performance, and their extension to other one –sided EWMA control charts.

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Publication Date
Fri Mar 19 2021
Journal Name
Periodicals Of Engineering And Natural Sciences (pen)
New cost control techniques in mega construction projects
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Publication Date
Thu Nov 01 2018
Journal Name
Journal Of Economics And Administrative Sciences
Comparison of Estimates Nonparametric In Multiple Regression Analysis Function (Gamma ,Beta)
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The use of non-parametric models and subsequent estimation methods requires that many of the initial conditions that must be met to represent those models of society under study are appropriate, prompting researchers to look for more flexible models, which are represented by non-parametric models                  

          In this study, the most important and most widespread estimations of the estimation of the nonlinear regression function were investigated using Nadaraya-Watson and Regression Local Ploynomial, which are one of the types of non-linear

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Publication Date
Sun Aug 13 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Studying Of Image Intensity Distribution Of Elliptical Object (Elliptical Spread Function)
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      In this work, a new formula of intensity distribution in image plane of elliptical object was founded (Elliptical spread function), by using optical system including circular aperture. The Gauss quadrature method of numerical integral was used for calculating equation's integrals. Curves are shown for system having focal error and intensity distribution in focal axis.  

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Publication Date
Fri Jan 01 2021
Journal Name
Annals Of Tropical Medicine & Public Health
Assessment of Left Ventricular Function in Body builders using conventional echocardiography
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Background: Powerlifters and bodybuilders use anabolic androgenic steroids (AAS) especially – as many as 55 percent of elite powerlifters admitted using these agents. In contrast to numerous documented toxic and hormonal effects of AAS their impact on the structure and function of the left ventricular (LV) was not yet fully understood.

Publication Date
Thu Nov 21 2019
Journal Name
Journal Of Engineering
Thermal Buckling of Angle-Ply Laminated Plates Using New Displacement Function
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ABSTRACT

Critical buckling temperature of angle-ply laminated plate is developed using a higher-order displacement field. This displacement field used by Mantari et al based on a constant ‘‘m’’, which is determined to give results closest to the three dimensions elasticity (3-D) theory. Equations of motion based on higher-order theory angle ply plates are derived through Hamilton, s principle, and solved using Navier-type solution to obtain critical buckling temperature for simply supported laminated plates. Changing (α2/ α1) ratios, number of layers, aspect ratios, E1/E2 ratios for thick and thin plates and their effect on thermal

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