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 thermal method was used to produce silicoaluminophosphate (SAPO-11) with different amounts of carbon nanotubes (CNT). XRD, nitrogen adsorption-desorption, SEM, AFM, and FTIR were used to characterize the prepared catalyst. It was discovered that adding CNT increased the crystallinity of the synthesize SAPO-11 at all the temperatures which studied, wile the maximum surface area was 179.54 m2/g obtained at 190°C with 7.5 percent of CNT with a pore volume of 0.317 cm3/g ,and with nano-particles with average particle diameter of 24.8 nm, while the final molar composition of the prepared SAPO-11 was (Al2O3:0.93P2O5:0.414SiO2).
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The present work provides a list of all amphibians and reptiles recorded from Iraq up to 2014. It includes 115 species (105 species of reptiles and 10 species of amphibians) dating back to 25 families (20 families of reptiles and 5 families of amphibians). Conservation status of each species was mentioned.
The amino thiadiazole [I] on treatment with aromatic aldehydes yielded Schiff bases [IIa-c], which cyclized to thiazolidinone [IIIa-c] derivatives by reaction with thioglycolic acid. Reaction of carbon disulfide and methyl iodide with [I] gavedithiomethyl [IV] which on treatment with o-phenylenediamine gave the condensed N-Imidazolythiadiazolylamine [V], However, reaction of [I] with phenylisocyanate and phenylisothiocyanate afforded the carbamideand carbothiamide derivatives [VI. VII] ac. The structure of these compounds was characterized from their melting point, FTIR spectroscopy and elementalanalysis
Mortar of ordinary Portland cement was blended with cockles shell
powder at different weight ratios to investigate the effect of powder
admixture on their strength and thermal conductivity. Results showed
that addition of cockles shell powder at 50% of mortar weight
improves hardness and compressive strength notably and reduces the
thermal conductivity of the end product. Results suggest the
possibility to incorporate cockles shell powders as constituents in
cement mortars for construction and plastering applications.
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Summary
The conflict between Arab and Zionist movement before 1948 was not normal dispute about certain issue or quarrel on borders, it is comprehensive conflict, this research intraduce analytical and outlook future reading about Palestine identity in time of occupation and resistance in the first studying we take the concept of identity and the fundamental relationship identity history and geography. Our research treated the contents of palest Iain and Isralian identsunder. The political, cultural and military conflict between Israil and Palestine. The research introduce analytic study of research introduce analytic study of intellectual orientation of Zionist state in order to determine the exact meaning of this identity, beca
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Objective: Since the vaccination rate is largely affected by low knowledge and negative attitudes ofhealthcare professionals, so this study aimed to weigh up the vaccination knowledge and attitudes ofpharmacy students.Method: A pilot study using a survey to investigate demographic data, knowledge (20 questions), andattitudes (5 questions) of 156 fifth year and 121 third year pharmacy students from College of Pharmacy/University of Baghdad.Results: The mean score of knowledge and attitudes was intermediate (16.654 and 14.917 out of 25 for thefifth and the third grades, respectively) with a significant difference between the two groups, the studentsshown to have favorable attitudes about vaccination. The score of the students is not i
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Coumarin derivatives have shown different biological activities, such as antifungal, antibacterial antiinflammatory, and antioxidant activities, besides antibiotic resistance modulating effects, and anti-HIV, hepatoprotective, and antitumor effect. So, new coumarin derivatives (hydrazones and an amide) were synthesized through multisteps reactions. All the synthesized target compounds were characterized by FT-IR spectroscopy, 1HNMR analysis. The compounds then evaluated for their anti-bacterial activity by means of well-diffusion method against two gram-positive bacteria (Staphylococcus aureus, Streptococcus pneumoniae) and two gram-negative bacteria (E.coli and Pseudomonas aeruginosa). The highest activity was demonstr
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A simulated ion/electron optical transport and focusing system has been put forward to
be mounted on high voltage transmission electron microscope for in situ investigations.
The suggested system consists of three axially symmetric electrostatic lenses namely an
einzel lens, an accelerating immersion lens, and a decelerating immersion lens, in addition
to an electrostatic quadrupole doublet lens placed on the image side. The electrodes
profile of these lenses is determined from the proposed axial field distributions. The
optical properties of the whole system have been computed together with the trajectory of
the accelerated charged-particles beam along the optical axis of the system. The computed
dimensions of th
Abstract
Biosimilars are non-innovative copy versions of biologic medicines which are proven to be clinically equivalent to, as effective and as safe as their reference biologics. Biosimilars creates opportunities for cost savings for payers, governments, and patients compared with the reference products. Pharmacist plays an essential role in developing biosimilar medicines from manufacturing to post-marketing pharmacovigilance monitoring. The aim of the current study was to explore the level of knowledge, behaviors and practices of a sample of Iraqi pharmacists towards biosimilar medicines. The current study was a cross sectional, carried out during May 2020. A total of 2
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