Biped robots have gained much attention for decades. A variety of researches has been conducted to make them able to assist or even substitute for humans in performing special tasks. In addition, studying biped robots is important in order to understand the human locomotion and to develop and improve control strategies for prosthetic and orthotic limbs. Some challenges encountered in the design of biped robots are: (1) biped robots have unstable structures due to the passive joint located at the unilateral foot-ground contact. (2) They have different configuration when switching from walking phase to another. During the singlesupport phase, the robot is under-actuated, while turning into an over-actuated system during the double-support phase. (3) Biped robots have many degrees of freedom (DOFs). (4) Biped robots interact with different unknown environments. Therefore, this work attempts to investigate and resolve different issues encountered in dynamics, walking pattern generators and control of biped robots; the details as follows: • Dynamics Two walking patterns have been modeled using two well-known formulations: Lagrangian and the modified recursive Newton-Euler (N-E) formulations. The first walking pattern moves with 6 DOFs during the single support phase (SSP) changing its configuration with 7 DOFs during the double support phase (DSP) (the stance foot will move directly during the DSP). Whereas the other walking pattern has 6 DOFs during all walking phases (the SSP and the two sub-phases of the DSP); the stance foot will be fixed during the first sub-phase of the DSP. These two walking pattern are different in configuration and number of phases during the DSP. To resolve the problem of over-actuation, a linear transition function is proposed to ensure smooth transition for the biped from the SSP to the DSP and vice versa. If we assume ideal dynamic response, this strategy can resolve the discontinuity in input control torque and ground reaction forces. • Walking pattern generators Two methods have been used to generate walking patterns of biped mechanism which are (1) optimal control theory and (2) center of gravity (COG)-based model. Computational optimal control has been performed to investigate the effects of some imposed constraints on biped locomotion, such as enforcing swing foot to move level to the ground, hip motion with constant height etc. finite difference approach has been used to transcribe infinite dimensional optimal control problem into finite dimensional suboptimal control problem. Then parameter optimization has been used to get suboptimal trajectory of the biped with the imposing different constraints. In general, any artificially imposed constraint to biped locomotion can lead to increase in value of input control torques. On the other hand, suboptimal trajectory of biped robot during complete gait cycle had been accomplished with different cases such that continuous dynamic response occurs. Enforcing the biped locomotion to move with linear transition of zero-moment point (ZMP) during the DSP can lead to more energy consumption. Using the simple COG-based model, a comparative study has been conducted to generate continuous motion for COG of the biped; all these methods depend on linear pendulum model. It has been shown all these methods are equivalent. On the other hand, the effect of foot configuration has been investigated. Foot rotation can improve biped configuration at heel strike by controlling foot angle. In addition, foot motion with impact can give some freedom and uniform biped configuration compared with motion without impact. To compensate for the deviation of ZMP trajectory due to approximate model of the COG, a novel strategy has been proposed to satisfy kinematic and dynamic constraints, as well as singularity condition. A stable motion has been obtained for the target walking patterns. • Low-level control Two control schemes have been proposed based on dynamics formulations which are conventional adaptive control based on local approximation technique and Lagrangian formulation, and virtual decomposition control (VDC) based on local approximation technique and recursive N-E formulation. In the first approach (conventional control), a new representation of dynamic matrices has been coined which is computationally efficient than other representation (sparse-base representation, Kronecker product etc.). Controller structures for the SSP and the DSP have been designed in details. Since adaptive control assumes no prior knowledge of estimated weighting matrices; therefore, zero input control torques could be result in at the beginning of each phase. Consequently, discontinuous dynamic response could result. The VDC is an efficient tool for complex robotic system such as biped robot. Therefore each subsystem (link, joint) has been controlled using adaptive approximation–based VDC. A novel optimization technique has been used to deal with continuous dynamic response; however, using zero initial weighting matrices for estimation dynamic matrices and vectors could result in zero input control at beginning of each walking phases.
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This research was carried out at University of Baghdad - College of Agricultural Engineering Sciences during the fall season of 2020 and spring season of 2021 in order to evaluate the effect of organic fertilizer and the foliar application of boron on the growth and yield of industrial potatoes (Solanum tuberosum L.). Using factorial experiment (5*4) within Randomized Complete Block Design with three replicates, the organic fertilizer (palm fronds peat) was applied at four levels (0, 12, 24, and 36 ton ha-1) in addition to the treatment of the recommended of chemical fertilizer. The foliar application of Boron was applied at four concentrations which were 0, 100, 150 and 200 mg (H3Bo3). L-1. The results Revealed a significant incr
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Copper oxide nanoparticles (CuO NPs) were synthesized by two methods. The first was chemical method by using copper nitrate Cu (NO3)2 and NaOH, while the second was green method by using Eucalyptus camaldulensis leaves extract and Cu (NO3)2. These methods easily give a large scale production of CuO nanoparticles. X-ray diffraction pattern (XRD) reveals single phase monoclinic structure. The average crystalline size of CuO NPs was measured and used by Scherrer equation which found 44.06nm from chemical method, while the average crystalline size was found from green method was 27.2nm. The morphology analysis using atomic force microscopy showed that the grain size for CuO NPs was synthesized by chemical and green methods were 77.70 and 89.24
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The present study was conducted to estimate the incidence, clinical findings, cytological and histopathological characteristics of spontaneously occurring skin neoplasms in dogs. A total of 40 grossly suspected cases of cutaneous and subcutaneous tumors were gathered during the period from July 2016 to August 2018 from male and female dogs in Baghdad city. Dogs with skin neoplasia revealed various clinical signs, and their ages were older than 5 years to 15 years. German shepherd 30% followed by Terrier dogs 25% were more influenced than other breeds. Concerning tumor features, the majority of neoplasms had solitary lesion 70%, regular shapes 65% with black color 55%. The tumors frequently occurred on fore-limbs and abdomen, and 80% of them
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The effect of metal nanoparticles on the anaerobic digestion of sludge and the sludge bacterial community are still not well-understood, and both improvements and inhibitions have been reported. This study investigated the impact of 2, 10, and 30 mg/g TS silver and copper oxide nanoparticles (AgNPs and CuONPs) on the mesophilic anaerobic digestion of sludge and the bacterial community structure. The reactors were monitored for changes in tCOD, sCOD, TS, VS, biogas generation, and cell viability. Also, the relative abundance and taxonomic distribution of the bacterial communities were analyzed at the phylum and genus levels, including the genera involved in anaerobic digestion. Both AgNPs and CuONPs exhibited some inhibition on anaer
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The Risks Faced by Britain in their Areas of Influence at the Beginning of the Twentieth Century Drove her to the Alliance with the State of European such as France, and Contributed to the Tireless and made by the British and French Politicians in the Consolidation of Friendly Relations between the two Countries Efforts and Strengthened Cooperation in a Positive Way to Visit the king of Britain's Edward VII to France, Offset by Visit French President Loubet to Britain in the Same Year, those Negotiations Bore Fruit between the two Countries for Reaching a Contract Arbitration and Decisiveness between Britain and France Treaty on the Fourteenth of November 1903, Promised that Treaty First Step that Paved the Way for a General Agreement be
... Show MoreThe study aims to follow modern methods in teaching rhythmic gymnastics skills by directing learners to develop their perceptions and absorb what the world deals with today and develop intelligence among learners, the researchers searched for the strengths of the learner by providing them with an opportunity to form their kinetic formation, hence the problem came by introducing a method of self-intelligence and social to guide the learner in the search for ways and solutions to overcome boredom and economy Time and effort in the educational process in learning and give them the freedom to express their ideas And their skills and here came the role of social and self-intelligence to teach the individual and collective kinetic formati
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Background: Brush cytology is an accepted technique that gets renewed interest. It is now used as an aid for the diagnosis and observation of possible epithelial changes that could be associated with oral mucosal diseases. This study aimed to evaluate the cytomorphometric changes in gingiva and buccal mucosa of type II diabetics and to assess their relation to oral symptoms and glycemic status. Materials and methods: Cytological Papanicolaou stained smear were prepared from cheek and gingiva of 20 non treated cases, 20 treated diabetics and 20 healthy persons of both sex after measuring their HbA1c and recording their oral symptoms. Hundred unfolded epithelial cells were evaluated qualitatively using MCID software to measure nuclear and cy
... Show MoreRG Majeed, AS Ahmed, Jornal of Al-Muthanna for Agricultural Sciences, 2023