Preferred Language
Articles
/
Zxem7ZEBVTCNdQwCfJy0
Hierarchical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control
...Show More Authors

Bipedal robotic mechanisms are unstable due to the unilateral contact passive joint between the sole and the ground. Hierarchical control layers are crucial for creating walking patterns, stabilizing locomotion, and ensuring correct angular trajectories for bipedal joints due to the system’s various degrees of freedom. This work provides a hierarchical control scheme for a bipedal robot that focuses on balance (stabilization) and low-level tracking control while considering flexible joints. The stabilization control method uses the Newton–Euler formulation to establish a mathematical relationship between the zero-moment point (ZMP) and the center of mass (COM), resulting in highly nonlinear and coupled dynamic equations. Adaptive approximation-based feedback linearization control (so-called adaptive computed torque control) combined with an anti-windup compensator is designed to track the desired COM produced by the high-level command. Along the length of the support sole, the ZMP with physical restrictions serves as the control input signal. The viability of the suggested controller is established using Lyapunov’s theory. The low-level control tracks the intended joint movements for a bipedal mechanism with flexible joints. We use two control strategies: position-based adaptive approximation control and cascaded position-torque adaptive approximation control (cascaded PTAAC). The interesting point is that the cascaded PTAAC can be extended to deal with variable impedance robotic joints by using the required velocity concept, including the desired velocity and terms related to control errors such as position, force, torque, or impedance errors if needed. A 6-link bipedal robot is used in simulation and validation experiments to demonstrate the viability of the suggested control structure.

Scopus Clarivate Crossref
View Publication
Publication Date
Fri Apr 01 2016
Journal Name
Journal Of Economics And Administrative Sciences
The political changes and economic developments in contemporary Turkish Backgrounds, manifestations and future possibilities
...Show More Authors

         The research entitled "The political changes and economic developments in contemporary Turkish Backgrounds, manifestations and future possibilities" consists of the introduction, four sections and conclusions. The background details, its developments, and the transformation in the economic   sector in Turkey were reviewed. The first section concentrated on the brief introduction about the political developments which happened since the independence of Turkey at 1923 with the highlight on the years after the receipt of the Freedom and Justice Party (Ak PARTi) the Turkish Government rule. The second section demonstrated the reality of Turkish economy before 2002, while the

... Show More
View Publication Preview PDF
Crossref
Publication Date
Fri Sep 17 2021
Journal Name
Political Sciences Journal
Pending issues between the federal government and the Kurdistan region (Constitutional and legal solutions)
...Show More Authors

The federal state is usually based on a number of regions because it is based on the multiplicity of political entities. The federal experiments were based on the existence of two or more regions and each federal system has its own peculiarities. Administrative authority between the federal government and local elected bodies of local people of absolute relative independence does not threaten the entity of the state according to the Constitution and the law and on a regional or reformer basis and exercise its powers within the legal scope prescribed The relationship between the federal authority and the Kurdistan region is the first level of the relationship on the real level, especially since no other region in Iraq has been formed exce

... Show More
View Publication Preview PDF
Crossref
Publication Date
Wed Jan 01 2020
Journal Name
Journal Of Southwest Jiaotong University
The Arithmetic Coding and Hybrid Discrete Wavelet and Cosine Transform Approaches in Image Compression
...Show More Authors

Image compression is one of the data compression types applied to digital images in order to reduce their high cost for storage and/or transmission. Image compression algorithms may take the benefit of visual sensitivity and statistical properties of image data to deliver superior results in comparison with generic data compression schemes, which are used for other digital data. In the first approach, the input image is divided into blocks, each of which is 16 x 16, 32 x 32, or 64 x 64 pixels. The blocks are converted first into a string; then, encoded by using a lossless and dictionary-based algorithm known as arithmetic coding. The more occurrence of the pixels values is codded in few bits compare with pixel values of less occurre

... Show More
View Publication
Crossref (3)
Crossref
Publication Date
Fri Aug 06 2021
Journal Name
Research Journal Of Pharmacy And Technology
Hepatitis B Surface Antigen level and its Correlation with Age, Gender, and Liver Biomarkers
...Show More Authors

Background: Measuring the concentration of hepatitis B surface antigen (HbsAg) in HBV patients can be determined with immunoassay techniques. This study aimed to measure the HbsAg titers in chronic HBV patients and to assess its correlation with patients' ages, gender, and with the levels of liver enzymes and total serum bilirubin. Materials and Method: Fifty-eight chronic hepatitis B infected patients were enrolled in this study. Age and gender of the patients were recorded. HbsAg concentration was tested with automated Immunoanalyzer. The patients were also tested for ALT, AST, ALP, and TSB by automated chemistry analyzer. Results: All the chronic HBV patients have positive HBsAg titers above the negative cutoff (0.05U/L) with mea

... Show More
View Publication
Scopus (2)
Crossref (1)
Scopus Crossref
Publication Date
Tue Mar 01 2011
Journal Name
Journal Of Economics And Administrative Sciences
Foreign Investment and Labor Force Selected Arab Countries(Egypt, Tunisia, Saudi Arabia and Qatar)
...Show More Authors

The world has witnessed in recent years a major development in the movement of investment, especially Foreign Direct Investment has got the developing countries, including Arab states share a small insignificant sometimes, despite the paucity of these flows, they have influenced, directly or indirectly in the labor force, and the provision of employment opportunities or Strengthening unemployment, and their impact in both cases depends on the availability of the determinants to attract foreign investment in host countries, and the extent of indulgence Governments of those countries with foreign investors through investment laws enacted by that may be imposed on foreign investors run a certain percentage of local

... Show More
View Publication Preview PDF
Crossref
Publication Date
Mon Feb 08 2016
Journal Name
International Journal Of Research In Humanities, Arts And Literature
WESTERN MODERNISM TRANSLATED AND RETRANSLATED IN IRAQI POETRY: AL SAYYAB BETWEEN ELIOT AND SITWELL
...Show More Authors

This article is part of the bigger project of my PhD thesis which investigates the influence of the British war poetry of the twentieth century on the development of Iraqi poetry in the century/Plymouth University/UK. The article examines the influences of British poetry on the development of the forms of poetry in Iraq after the Second World War. The aim is to shed the light on the creation of the ‘third product’ or the Iraqi poetry that shows the influences of the translated British poetry or the ‘second product’; which was written in prose for it is almost impossible to transfer the rhyme and rhythm of poetry from one language to another. Those who translated the poetry where also the pioneers of the major formal revolution in Ar

... Show More
Publication Date
Fri Jan 01 2016
Journal Name
International Journal Of Advanced Computer Science And Applications
Face Detection and Recognition Using Viola-Jones with PCA-LDA and Square Euclidean Distance
...Show More Authors

View Publication
Crossref (27)
Crossref
Publication Date
Sat Jun 01 2024
Journal Name
Journal Of Research In Dental And Maxillofacial Sciences
Relationship between Third Molar Impaction and Extraction, and Awareness about the Associated Potential Risks
...Show More Authors

View Publication
Scopus Crossref
Publication Date
Sun Feb 17 2019
Journal Name
Iraqi Journal Of Physics
Density distributions, form factors and reaction cross sections for exotic 11Be and 15C nuclei
...Show More Authors

The ground state proton, neutron and matter densities of exotic 11Be and 15C nuclei are studied by means of the TFSM and BCM. In TFSM, the calculations are based on using different model spaces for the core and the valence (halo) neutron. Besides single particle harmonic oscillator wave functions are employed with two different size parameters  Bc and Bv.  In BCM, the halo nucleus is considered as a composite projectile consisting of core and valence clusters bounded in a state of relative motion. The internal densities of the clusters are described by single particle Gaussian wave functions.

 Elastic electron scattering proton f

... Show More
View Publication Preview PDF
Crossref
Publication Date
Tue Sep 01 2020
Journal Name
Rawal Medical Journal
HOMA-IR and TyG Index as acute phase reactants in obese and lean subjects
...Show More Authors

Objective: To evaluate biomarkers of insulin resistance and acute phase reactants in obese, overweight and lean subjects and investigate the associations among those biomarkers. Methodology: This cross sectional study included 158 subjects who were stratified into three groups. Group1 comprised 53 obese patients (BMI≥ 30 kg/m2); group 2 were 54 overweight subjects, and group 3 had 51 healthy lean (BMI

View Publication