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.
The area around the Suez Canal has been chosen particularly Sinai to implement the new Suez Canal project parallel to the original 72-km-long channel due to the importance of the commercial site of the Arab Republic of Egypt, competing with shipping lanes, to accommodate the increasing maritime traffic passing through the Suez canal, and to provide special services for trade world and reduce the economic cost of marine trip. The establishment of six tunnels for automobile and railway transport to Sinai The cost of the establishment of this new channel and the establishment of the tunnels about (2.8) billion, of which 4 billion cost of the new channel. Project implementation period is one year. The new proj
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The present article includes an experimental study of the behavior of dry and saturated dense sandy soil under the action of a single impulsive load. Dry and saturated dense sand models were tested under impact loads. Different falling masses from different heights were conducted using the falling weight deflectometer (FWD) to provide the single pulse energy. The responses of dense soils were evaluated at surface of soil under impact load. These responses include; displacements, velocities, and accelerations that are developed due to the impact acting at top and the displacement at different depths within the soil using the falling weight deflectometer (FWD) and accelerometers (ARH-500A waterproof, and low capacity acceleration tran
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2(2-Tetrahydropyranylthio) methyl cyclopropyl amines were synthesized from allylmercaptan through several steps. The structures of the intermediates and the final products where confirmed through IR, NMR and elemental analysis, these compounds may be of value in the treatment of diseases where free radicals are implicated in their pathogensis, since the thio and the amino groups of the synthesized compounds may act as free radical scavengers.
The research aims to identify the reasons that lead to asymmetry of information between economic unity administration and the parties that use accounting information such as shareholders, So, the ability to reach to the solutions that would reduce this problem, these factors have been divided into two types: the first one is the internal factors which represent the administration's desire in order to expand the self-interest of getting the profits and increase the value and competitive entity and investors to obtaining greater returns for their shares, so the second type is the external factors, which represent the failer that occurs in the laws and regula
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This research presents a study in ultra-desulfurization of diesel fuel produced from conventional hydro desulfurization process, using oxidation and solvent extraction techniques. Dibenzothiophene (DBT) was the organosulfur compound that had been detected in sulfur removal. The oxidation process used hydrogen peroxide as an oxidant and acetic acid as homogeneous catalyst . The solvent extraction process used acetonitrile (ACN) and N-methyl – 2 - pyrrolidone (NMP) as extractants . Also the effect of five parameters (stirring speed :150 , 250 , 350 , and 450) rpm, temperature (30 , 40 , 45 , and 50) oC, oxidant/simulated diesel fuel ratio (0.5 , 0.75 , 1 , and 1.5) , catalyst/oxidant ratio(0.125,0.25,0.5
... Show MoreIn this research four steps of the new derivatives of Naproxen drug have been made which are known as a high medicinal effectiveness; the first step involved converting Naproxen into the corresponding ester (A) by reaction Naproxen with methanol absolute in presence H2SO4. While the second step involved treatment methyl Naproxen ester (A) with hydrazine hydrate 80% in presence of ethanol .The third reaction requires synthesis of Schiff bases (C1-C10) by condensation. of Naproxen hydrazide (B) with many substituted aromatic aldehydes . Finally, the fourth step synthesized new tetrazole derivatives ( D1- D10) by the reaction of the prepared Schiff bases (in the third step) with Sodium azide in THF as a solvent .The prepared compounds wer
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Al-Yaqubi was biased in favor of Shia. May be du to his choice of source, materials. All historians as with other human beings are biased in their attitudes and preconceptions in one degree or another as well as in one direction or another.
The choice of source materials, their nature and the use made of them is an important index for measuring the achievement of ang historian.
Several specific questions arise. What sources did author use that were either unknown to or were not employed by his predecessors and contemporaries for whatever reason?
What sources are common to al- Yaqubi and his colleagues among the early Arab historians and what evidence of tendentiousness can be ascert- ained in these? To what extent can the author
Praise be to Allaah Mahmoud every tongue, the idol of all time, which is not without
his knowledge everywhere, not occupied like for like, most of all likes and peer, and picnic
for wife and children, and carried out his reign in all the subjects, neither representative by the
brains to think, nor fancy hearts photography, (is not nothing like Him, He is the All-Seer),
and prayer and peace be upon the Messengers Muhammad and his family and companions
and followed them in truth until the Day of Judgment.
After…..
Has spoken in this search for The inheritance of women before and after Islam
legislative provisions which, because of its importance to show the right of women's rights,
which began Msluba before Isl