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.
Thirty six bacteria were isolated from various sourcesc (soil, starch, cooked rice and other foods) and subjected to a series of primary screening tests to obtain the optimal isolation to production of amylase. The volume of producing zone by logal indicator for (Seven) isolates of the secondary screening by measuring the enzymatic activity and specific enzymatic activity. The isolate A4 was found to be the most efficient for production of amylase. Then this isolate was diagnosed through microscopic, vitek 2 system technique. in addition by gentic diagnesis through gene 16s of the genes nitrogen bases by use the polymerase chain reaction (PCR) which reached 1256 bases. In comparison to the available information at the National Center for
... Show MoreTetragonal compound CuAl0.4Ti0.6Se2 semiconductor has been prepared by
melting the elementary elements of high purity in evacuated quartz tube under low
pressure 10-2 mbar and temperature 1100 oC about 24 hr. Single crystal has been
growth from this compound using slowly cooled average between (1-2) C/hr , also
thin films have been prepared using thermal evaporation technique and vacuum 10-6
mbar at room temperature .The structural properties have been studied for the powder
of compound of CuAl0.4Ti0.6Se2u using X-ray diffraction (XRD) . The structure of the
compound showed chalcopyrite structure with unite cell of right tetragonal and
dimensions of a=11.1776 Ao ,c=5.5888 Ao .The structure of thin films showed
A new series of Schiff bases compounds , containing an azomethine linkage was synthesized and expected to be biologically active .The structures of these compounds were identified by IR , Uv/vis spectra , melting points and followed by T.L.C.The biological activity of these compounds was studied
Reaction of L1 [((E)-N1-(nitrobenzylidene)benzene-1,2-diamine] and L2( m-aminophenol), and one equivalent of di- or tri-valent metals(Cr(ӀӀӀ), Mn(ӀӀ), Fe(ӀӀӀ), Co(ӀӀ), Ni(ӀӀ), Cu(ӀӀ) and Zn(ӀӀ) afforded the complexes [M(L1)(L2)2]Cl, M=Cr(ӀӀӀ) and Fe(ӀӀӀ) and the complexes [M(L1)(L2)2] M= Mn(ӀӀ), Co(ӀӀ), Ni(ӀӀ), Cu(ӀӀ) and Zn(ӀӀ). The structure of the Schiff base ligand and their complexes are characterized by (C:H:N), FT.IR, UV.Vis, 1HNMR, 13CNMR and mass spectral. The presence of metal in the complexes are characterized by flame atomic absorption. The spectral data of the complexes have revealed the octahedral geometry. The (L1), (L2) and mixed ligand metal complexes were screened for their ability as cataly
... Show MoreOn the basis of known coumarin-based prodrug system, a novel coumarin-based mutual prodrug of 5-fluorouracil and dichloroacetic acid was designed, synthesized and evaluated as a promising oral chemotherapeutic agent basing on in vitro stability study in HCl buffer (pH 1.2) and in phosphate buffer (pH 7.4), as well as in vitro release study in human serum. The chemical structure of prodrug was confirmed by analyzing its FTIR, 1H NMR, 13C NMR and MS-ESI spectra. The results of in vitro kinetic study indicated that the prodrug was significantly stable in HCl and in phosphate buffers, and was hydrolyzed in human serum followed pseudo first order kinetics.
Keywords: Coumarin-bas
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Cadmium sulfide (CdS) thin films with n-type semiconductor characteristics were prepared by flash evaporating method on glass substrates. Some films were annealed at 250 oC for 1hr in air. The thicknesses of the films was estimated to be 0.5µ by the spectrometer measurement. Structural, morphological, electrical, optical and photoconductivity properties of CdS films have been investigated by X-ray diffraction, AFM, the Hall effect, optical transmittance spectra and photoconductivity analysis, respectively. X-ray diffraction (XRD) pattern shows that CdS films are in the stable hexagonal crystalline structure. Using Debye Scherrerś formula, the average grain size for the samples was found to be 26 nm. The transmittance of the
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Salicylaldehyde was react with 4-amino-2,3-dimethyl-1-phenyl-3-pyrazoline-5-on to produce the Schiff base ligand 2,3-dimethyl-1-phenyl-4-salicylidene-3-pyrazoline-5-on (L). The prepared ligand was identified by Microelemental Analysis, and FT.IR, UV-Vis spectroscopic techniques. A new complexes of Fe(III),Co(II),Ni(II),Cu(II),Ce(III) and Pb(II) with mixed ligands of dithizone (DTZ) and Schiff base were prepared in aqueous ethanol with a 2:2:1 M:L:DTZ. The prepared complexes were characterized using flame atomic absorption, (C.H.N) Analysis, FT.IR and UV-Vis spectroscopic methods as well as magnetic susceptibility and conductivity measurements. In addition biological activity of the ligands and complexes against two selected type of bacteria
... Show MoreThe 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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