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Hierarchical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control
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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.

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Publication Date
Sat Sep 01 2007
Journal Name
Journal Of Economics And Administrative Sciences
Operations Strategy and Technological Change
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This research aims to deal with contemporary knowledge  methodology to correlate between operations strategy and technological change or modernization in productive paths for industrial organizations depend on practical indicators for competitive  priorities that is objectives of operations performance.

The research is based on main hypothesis, concentrates on determination of technological change which is decided by the level of technology deterioration in current operations path compared with the competitors leaders-technology leaders.

We apply these concepts on hypothetical case to two similar companies in their production nature and te

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Publication Date
Thu Oct 01 2009
Journal Name
Iraqi Postgraduate Medical Journal
Femal pattern alopecia and lipoproteins
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KE Sharquie, AA Noaimi, HA Salman, NA Hindy, Iraqi Postgraduate Medical Journal, 2009 - Cited by 1

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Publication Date
Thu Oct 01 2009
Journal Name
Journal
Female pattern alopecia and lipoproteins
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S Khalifa E, N Adil A, S Husam Ali, H Nibras A…, 2009

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Publication Date
Wed Oct 25 2023
Journal Name
College Of Islamic Sciences
Conjunction meaning and applied models
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It is no secret to anyone the lofty classifications and wonderful investigations made by Muslim scholars in various eras, with which they removed the dust of ignorance from the nation, clarified the argument, and illuminated the path of education, especially in the legal sciences, which are the foundation of religion.

It is the life of hearts and the path of grammarians in this world and the hereafter.

Among those scientific classifications are the investigations they have written in the science of the principles of legislation, which have established the general evidence and the original rules to which practical legal rulings are referred. And as you know, it is the basis of Islamic jurisprudence, a means of knowing its

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Publication Date
Sat Oct 01 2022
Journal Name
Al–bahith Al–a'alami
Media campaigns, evolution and concept
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In dealing with media management phenomenon, concept and elements, we have tried, as much as possible, to build an abstract concept that can be analyzed and measured by analyzing the elements and components of the concept mentioned and explain it.

Before further consideration of the management of media campaigns, it is necessary to restore some points of media management so as not to understand the subject of campaign management as if it is independent of the concept of media management and the objectives that we seek to ensure its achievement. As we have noted that the concept of media management frames the administration mentioned as:

- Authority to manage the media institution.

- Operations supervised by the me

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Publication Date
Sat Dec 31 2022
Journal Name
College Of Islamic Sciences
Moderate discourse and civil peace
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Abstract

  Currently, the “moderate discourse and civil peace” represents a rich and important topic for scholars, due the rise of waves of extremism and Islamophobia campaigns, and what that leads to in term of imbalance in relations between nations and peoples.

Based on that, the research approach was to tackle the culture of hatred and calls for the clash of civilizations.

In order to contribute to solving these problems caused by cultural and religious prejudices, I decided to address the topic of “moderate discourse and civil peace” through two essential axes:

  • Features of moderate religious discourse
  • The role of moderate discourse in establishing communit

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Publication Date
Thu Jan 01 2015
Journal Name
International Journal Of Astronomy And Astrophysics
Determination of Velocity and Radius of Supernova Remnant after 1000 yrs of Explosion
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Supernova explosions are described as very violent events which transfer a significant amount of energy to interstellar media and are responsible for a large variety of physical processes. This study does not discuss the actual explosion mechanisms but follows the behavior of the dynamical evolution of some selected type I and type II supernova remnant and particularly after a thousand years from their explosion and shows how the density of the medium affects the evolution and the lifetime of each remnant. By studying such behaviors, a simplified model has been proposed here for the velocity and radius of the remnant after thousand years of explosion that depends only on the density of the medium and age of the remnant. It has been found th

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Publication Date
Sun Mar 04 2018
Journal Name
Baghdad Science Journal
Optical, Structural and Electrical Properties of Electrochemical Synthesis of Thin Film of Polyaniline
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Polyaniline membranes of aniline were produced using an electrochemical method in a cell consisting of two poles. The effect of the vaccination was observed on the color of membranes of polyaniline, where analysis as of blue to olive green paints. The sanction of PANI was done by FT-IR and Raman techniques. The crystallinity of the models was studied by X-ray diffraction technique. The different electronic transitions of the PANI were determined by UV-VIS spectroscopy. The electrical conductivity of the manufactured samples was measured by using the four-probe technique at room temperature. Morphological studies have been determined by Atomic force microscopy (AFM). The structural studies have been measured by (SEM).

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Publication Date
Mon Jan 01 2018
Journal Name
Iraqi Journal Of Embryos & Infertility Researches
Analysis of Amino Acids of the Brain in Embryo and Adult of Quail.
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Amino acids have the role in the process of proteins synthesis. They are an essential source of nitrogen atoms that have a role in the pathways of synthetic reaction pathways. The carbon skeletons of the amino acids are the source of energy in addition to their role as precursors in the paths of interactions. The amino acids analysis for the brain of the quail bird in different stage of development (10-16 days of incubation) in addition to the hatching stage (17th day) and the adult. Materials and Methods: Amino Acids Analysis The amino acids were separated from the embryos and adult brains of the quail bird Coturnix coturnix and were diagnosed based on standard amino acids, using high performance liquid chromatographic device (H.P.L.C.). R

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Publication Date
Mon Jan 28 2019
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Economic analysis of the investment of human capital and the policy of privatization
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The research problem is dedicated to investigate reservoirs irrational economic behavior adopted by the ruling elites in developing countries about the investment methodology of human capital and operating policies is based on the terms of reference of economic theory and standards governing the market, which led to a chronic structural imbalance in the workforce structure and lack of consistency with different production structure, in turn, which had a reported effects in the emergence of the phenomenon of unemployment and that they involved a certain privacy, as has become the issues of unemployment and employment in the various countries of the world are issues more important due to the presence of large numbers of the workforce in th

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