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. Simulation results show superiority of the proposed algorithm over LQR and ISMC in terms of tracking performance and chattering mitigation.
Cancer disease has a complicated pathophysiology and is one of the major causes of death and morbidity. Classical cancer therapies include chemotherapy, radiation therapy, and immunotherapy. A typical treatment is chemotherapy, which delivers cytotoxic medications to patients to suppress the uncontrolled growth of cancerous cells. Conventional oral medication has a number of drawbacks, including a lack of selectivity, cytotoxicity, and multi-drug resistance, all of which offer significant obstacles to effective cancer treatment. Multidrug resistance (MDR) remains a major challenge for effective cancer chemotherapeutic interventions. The advent of nanotechnology approach has developed the field of tumor diagnosis and treatment. Cancer nanote
... Show MoreThis paper proposes a neuro-fuzzy system to model β-glucosidase activity based on the reaction’s pH level and temperature. The developed fuzzy inference system includes two input variables (pH level and temperature) and one output (enzyme activity). The multi-input fuzzy inference system was developed in two stages: first, developing a single input-single output fuzzy inference system for each input variable (pH, temperature) separately, using the robust adaptive network-based fuzzy inference system (ANFIS) approach. The neural network learning techniques were used to tune the membership functions based on previously published experimental data for β-glucosidase. Second, each input’s optimized membership functions from the ANF
... Show MorePolycystic ovary syndrome (PCOS) is a common endocrine disorder affecting women of reproductive age, characterized by anovulatory, infertility and metabolic disturbances. This study aimed to assess the diagnostic accuracy of Leucine-rich alpha-2-glycoprotein-1 (LRG1) and xanthine oxidase (XO) activity as novel biomarkers for PCOS, as well as to explore the relationship between LRG1 and XO activity across different groups. A total of 150 married women, aged 18-46 years were enrolled and divided into three groups: 50 with PCOS under treatment, 50 PCOS without treatment conditions shared by women with polycystic ovary conditions, and 50 healthy women. Serum samples were analysed to measure LRG1, xanthine oxidase (XO) activity,
... Show MoreHistorical cultural environments are a repository of values and symbols that pass down across generations through spatial experiences. Despite their intellectual and cultural potential, their role in fostering belonging and identity has declined; they are often viewed as silent landmarks, isolated from lived experiences. This highlights the need for an integrated model that makes spatial experience a stimulating process for reinvigorating the meaning inherent in historical contexts and reconnecting the new generation with their cultural roots. This research aims to explore how cultural meaning in historical contexts can be reactivated through spatial experience. To achieve this, the study proposes a triadic model – physical encoun
... Show MoreA modification to cascaded single-stage distributed amplifier (CSSDA) design by using active inductor is proposed. This modification is shown to render the amplifier suitable for high gain operation in small on-chip area. Microwave office program simulation of the Novel design approach shows that it has performance compatible with the conventional distributed amplifiers but with smaller area. The CSSDA is suitable for optical and satellite communication systems.
Biodiesel is popular as an eco-friendly fossil fuel alternative. Neem oil is manufactured from Azadirachta indica seeds. Transesterifying triglycerides with alcohol in the presence of a synthesized CaO nanocatalyst is the most common biodiesel synthesis procedure—recent advances, difficulties, and prospects in laser feedstock pretreatment to boost reactivity and reduce energy use. Oil pre-treatment with a 540-nm green laser is cost-effective and environmentally friendly. This study examined neem oil with and without laser pretreatment for biodiesel synthesis. CaO nanocatalysts were synthesised using Sol–gel and characterised using XRD and SEM. According to catalyst recyclability, the CaO nanocatalyst did not lose activity after five re
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