The aim of human lower limb rehabilitation robot is to regain the ability of motion and to strengthen the weak muscles. This paper proposes the design of a force-position control for a four Degree Of Freedom (4-DOF) lower limb wearable rehabilitation robot. This robot consists of a hip, knee and ankle joints to enable the patient for motion and turn in both directions. The joints are actuated by Pneumatic Muscles Actuators (PMAs). The PMAs have very great potential in medical applications because the similarity to biological muscles. Force-Position control incorporating a Takagi-Sugeno-Kang- three- Proportional-Derivative like Fuzzy Logic (TSK-3-PD) Controllers for position control and three-Proportional (3-P) controllers for force control. They are designed and simulated to improve the desired joints position specifications such as minimum overshoot, minimum oscillation, minimum steady state error, and disturbance rejection during tracking the desired position medical trajectory. Ant Colony Optimization (ACO) is used to tune the gains of position and force parts of the Force-Position controllers to get the desired position trajectory according to the required specification. A comparison between the force-position controllers tuned manually and tuned by ACO shows an enhancement in the results of the second type as compared with the first one with an average of 39%.
The samples were collected monthly crustaceans Mjmafah foot of two stations in tributary Zab down and two others in the Tigris River for one year with effect from November 2001 until October 2002 recorded during the study period the current 41 units taxonomic and were higher density of Mjmafah foot Guy Tigris River before the mouth of the tributary
This study investigated three aims for the extent of effectiveness of the two systems in educational development of educators. To achieve this, statistical analysis was performed between the two groups that consisted of (26) participants of the electronic teaching method and (38) participants who underwent teaching by the conventional electronic lecture. The results indicated the effectiveness of the “electronic teaching method” and the “electronic lecture method” for learning of the participants in educational development. Also, it indicated the level of equivalence from the aspect of effectiveness of the two methods and at a confidence level of (0.05). This study reached several conclusions, recommendations, and suggestio
... Show MoreHR Ghanim, GA Abdulhassan, International Journal of Early Childhood Special Education, 2022
An automatic text summarization system mimics how humans summarize by picking the most significant sentences in a source text. However, the complexities of the Arabic language have become challenging to obtain information quickly and effectively. The main disadvantage of the traditional approaches is that they are strictly constrained (especially for the Arabic language) by the accuracy of sentence feature functions, weighting schemes, and similarity calculations. On the other hand, the meta-heuristic search approaches have a feature tha
... Show MoreWere analyzed curved optical fates Almarchih absolute colony of the binary type, the Great Palmstqrh using mathematical relationships derived for that and that gave us the results closer to the results of the observed spectral Great Colonial
The important of present study is to design rehabilitation program by using hypermedia for some injuries of smooth tissues in shoulder joint. This joint is most important to help badminton players in achieving their daily and sport tasks due to upper limp movements depend on health and active of this joint. Experimental approach with a manner of equal single station was used in present study and study simple consisted of 6 badminton players from Babylon and Al-Mahaweel clubs who have less sharp tissue smooth injury such (muscles, ligaments, pocket). We used (SPSS) to analyses pre, medal, post-tests data. In conclusion, hypermedia is positive benefit to rehabilitee of injuries of smooth tissues in shoulder joint for badminton pla
... Show Moreshoulder joint by preparing special exercises for the youth-category wrestling, and through the researchers' follow-up to the wrestling game and their work in the field of rehabilitation and physical therapy, noticing that most of the wrestling players suffer from the shoulder joint pain despite their visit to the specialist doctor and take Treatment, so the researchers saw to study this problem and restore the recovery of the injured through special exercises and a suitable qualification program for the shoulder joint muscles, the goal of research in preparing special exercises and knowing its effect on the rehabilitation of the background muscle of the shoulder for the youth wrestling category. The researchers assumed that there are stati
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