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%.
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A newly flow injection-turbidimetric method characterized by it is speed and sensitivity has been developed for the determination of Amiloride in pure and pharmaceutical preparations. It is based on the formation of yellowish white precipitate for the Amiloride-phosphomolybidic acid ion pair in aqueous medium. Turbidity was measured by Ayah 6Sx1-T-1D solar cell CFI analyser via the attenuation of incident light from the surfaces precipitated particles at 0-180. The Chemical and physical parameters were investigated. Linear dynamic range for the attenuation of incident light versus Amiloride concentration was of 0.005-10 mmol.L-1, with the correlation coefficient (r) of 0.9986 , while the percentage linearity (r2%) was 99.71%. The L.O.
... Show MoreA newly flow injection-turbidimetric method characterized by it is speed and sensitivity has been developed for the determination of Amiloride in pure and pharmaceutical preparations. It is based on the formation of yellowish white precipitate for the Amiloride-phosphomolybidic acid ion pair in aqueous medium. Turbidity was measured by Ayah 6Sx1-T-1D solar cell CFI analyser via the attenuation of incident light from the surfaces precipitated particles at 0-180. The Chemical and physical parameters were investigated. Linear dynamic range for the attenuation of incident light versus Amiloride concentration was of 0.005-10 mmol.L-1, with the correlation coefficient (r) of 0.9986 , while the percentage linearity (r2%) was 99.71%. The L.O.
... Show MoreThe research seeks to identify the contemporary events that face the use of electronic payment methods to localize the salaries of state employees and its impact in enhancing the mental image of customers, and to achieve this purpose from the fact that a questionnaire was designed and distributed to an optional sample of (31) individual customers (employees) dealing With the researched private banks, it has been analyzed and reached a number of conclusions and recommendations, the most prominent of which is the lack of modernity of electronic payment methods by customers, which is reflected in the mental image of customers and the achievement of their satisfaction, in the Emiratization project for salaries needs an advanced leade
... Show Moreالتهاب الاوتار في الكتف من الإصابات الشائعة للاعبي الكراسي المتحركة والتي تحدث نتيجة للعادات والحركات الخاطئة والغير صحيحة وتحدث ايضاً بشكل متكرر في الرياضات الي تتطلب تحريك الذراع فوق الرأس مما يؤدي الى اضعاف الوتر أذ ان مفصل الكتف يعمل في كل الاتجاهات عندما تعاني الأوتار المحيطة بمفصل الكتف من الضعف وكثرة تكرار الحركة والضغط المسلط على العضلة اذ يطلق عليه التهاب اوتار الكتف والتي تحتاج الى فترة
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Objectives: (I) to describe the hemodynamic and electrocardiograph (ECG) responses in patients with acute myocardial infraction (AMI) to a low level treadmill test (2) to assess the safety of low-level treadmill testing after AMI (3) to determine if information gained from the test can be used for discharge planning.
Methods: 50 consecutive patients with AMI were subjected for symptoms limited treadmill testing in the CCU of University Teaching Hospital Iraqi medical College, their age range was from 30-70 with mean age of 55 years. Blood pressure, heart rate, and ECG during a low level treadmill test studied 6 days after AML They were divided into two groups, group I those who could finish the test and group 2 those who couldn't fini
The present study discusses the significant role of the historical memory in all the Spanish society aspects of life. When a novelist takes the role and puts on the mask of one of the novel’s protagonists or hidden characters, his memory of the events becomes the keywords of accessing the close-knit fabric of society and sheds lights on deteriorating social conceptions in a backwards social reality that rejects all new progressive ideas and modernity. Through concentrating on the society flawing aspects and employing everything of his stored memory, the author uses sarcasm to criticize and change such old deteriorating reality conceptions.
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تكمن أهمية ألبحث : تأثير تمرينات تأهيلية مصاحبة لجهاز التحفيز الكهربائي للعضلات العاملة في تخفيف الالآم أسفل الظهر للنساء بعمر (25-35) سنة والتعرف على مدى تأثير تلك التمرينات في تخفيف الألأم أسفل الظهر. وتكمن مشكلة البحث نتيجة للتقدم التكنولوجي حيث أصبحت حركة الفرد تقل شيئا فشيئا مما جعله أكثر عرضة للإصابات مما أدى الى ارتفاع نسبة عدد المصابات بالالآم أسفل الظهر وما لتلك الالام من تأثيراتها السلبية على حيا
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The adhesion strength between Polyethylene (PE) film and Aluminum surface by using the adhesive material (Cyanoacrylate) has been studied. Aluminum (Al) was used as a substrate, and polyethylene (PE) was used as a film adhered to the Al surface. Standard specimens were prepared to use in the peeling test in dry condition, other specimens were immersed in water for 12 days at room temperature. the results for the specimens in the dry condition had shown that high value in the peel force and the peel energy, the peel force was 0.38*103 N/m and the peel energy was 0.605*103 N/m, peeling the film from Al surface leaves a residual of the adhesive material on both adherend, the failure for this specimen were combination of adhesive and cohesive f
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Background: Arthrogryposis Multiplex congenita is a
rare disorder, characterized by multiple joint deformities
i.e. multiple congenital contractures, with shapelessly
cylindrical limbs and absent skin creases.
Club foot can be the only obvious deformity of this
widespread disorder.
Objective: To assess the most frequent recurrent
deformity after extensive soft-tissue release operations for
arthrogrypotic club foot and its appropriate treatment
regarding combined tendon transfer and bony operations.
Methods: A retrospective study of 14 patients with
arthrogrypotic club foot (28 feet), had been operated on by
multiple soft tissue and bony operations and followed in a
period between January (1993) till