Robot manipulator is a multi-input multi-output system with high complex nonlinear dynamics, requiring an advanced controller in order to track a specific trajectory. In this work, forward and inverse kinematics are presented based on Denavit Hartenberg notation to convert the end effector planned path from cartesian space to joint space and vice versa where a cubic spline interpolation is used for trajectory segments to ensure the continuity in velocity and acceleration.  Also, the derived mathematical dynamic model is based on Eular Lagrange energy method to contain the effect of friction and disturbance torques beside the inertia and Coriolis effect. Two types of controller are applied ; the nonlinear computed torque control (CTC

For modeling a photovoltaic module, it is necessary to calculate the basic parameters which control the current-voltage characteristic curves, that is not provided by the manufacturer. Generally, for mono crystalline silicon module, the shunt resistance is generally high, and it is neglected in this model. In this study, three methods are presented for four parameters model. Explicit simplified method based on an analytical solution, slope method based on manufacturer data, and iterative method based on a numerical resolution. The results obtained for these methods were compared with experimental measured data. The iterative method was more accurate than the other two methods but more complexity. The average deviation of

  The present study included  the impact of the follow-up variation in the temperature of aqueous medium in the vertical migration behavior of different groups of Zooplankton, consisted species Cyclops vernalis, Daphnia magna, Diaptomus dilopatus, that have been grown in controlled in terms of light and pH laboratory conditions, so choosing temperature of respectively 16,20,24,28, and 32 ËšC. The result showed a clear change in the migration behavior of testing planktonic species, it was a negative relationship between temperatures arises and individual of D. magna in the water column.While being appositive relationship with individual of C. vernalis and the same with D. dilopatus. Also, the result revealed a different impact

The main aim of this paper is to introduce the relationship between the topic of coding theory and the projective plane of order three. The maximum value of size of code over finite field of order three and an incidence matrix with the parameters,  (length of code),  (minimum distance of code) and  (error-correcting of code ) have been constructed. Some examples and theorems have been given.

Diabetic foot ulcer (DFU) is one of the chronic wound infection and leads to non-traumatic lower limb amputation. Advances in diabetes research are significant and much needed because diabetes is on the rise worldwide and is considered by some experts already to be at an epidemic level. Among diabetic patients 70% were males and 30% were females. Aerobic bacteria 104(82%) were the most frequently isolated than anaerobic bacteria 23(18%). Among aerobes Gram negative bacteria 67(64.4%) were more commonly isolated than Gram positive 37(35.5%). The three most frequently found that S. aureus 28(22%) followed by P. mirabilis 22(17.3%) then E. coli 14(11%). Among anaerobic bacteria Gram negative bacteria 16(69.5%) were predominantly isolated th

In medical practice, nonsteroidal anti-inflammatory drugs (NSAIDs) are often used to treat osteoarthritis and rheumatoid arthritis. Ibuprofen is a well-known NSAID, analgesic, and antipyretic medication. This chemical is an active ingredient of several oral medications that are offered in tablet, gel pellet, and syrup forms and has higher efficacy, tolerance, and side effect rates than other compounds, including pyrazolone derivatives. We present a unique plasma-assisted desorption/ionization mass spectrometry (PADI-MS) approach for improving pharmaceutically important solids using an ibuprofen tablet as a model solid sample. The goal of the study is to create an innovative mass spectrometric method that could be used for quick and accur

This paper proposed a new  method to study functional non-parametric regression data analysis with conditional expectation in the case that the covariates  are functional and the Principal Component Analysis was utilized to de-correlate the multivariate response variables. It  utilized the formula of the Nadaraya Watson estimator (K-Nearest Neighbour (KNN)) for prediction with different types of the semi-metrics, (which are based on Second Derivative and Functional Principal Component Analysis (FPCA))  for measureing the closeness between curves.  Root Mean Square Errors is used for the  implementation of this model which is then compared to the independent response method. R program is used for analysing data. Then, when  the cov

Seismic facies analysis constrained with well log information have been used to predict lithofacies distribution across the Okam Field of Niger Delta. Density and gamma ray logs were cross-plotted and the seismic section was subdivided vertically into different seismic facies. The delineated lithologies, from well logs were correlated with seismic facies signatures using lines of intersection across the wells. Gamma ray and resistivity logs were used to identify the interfaces between the lithofacies and correlated across the field. Structural interpretation was carried out. Time slices were generated and examined at different intervals within the identified reservoirs. Stratigraphic related attribute and envelope were extracted on these

The presented work includes the Homotopy Transforms of Analysis Method (HTAM). By this method, the approximate solution of nonlinear Navier- Stokes equations of fractional order derivative was obtained.  The Caputo's derivative was used in the proposed method. The desired solution was calculated by using the convergent power series to the components. The obtained results are demonstrated by comparison with the results of Adomain decomposition method, Homotopy Analysis method and exact solution, as explained in examples (4.1) and (4.2). The comparison shows that the used method is powerful and efficient.