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 reliability of optical sources is strongly dependent on the degradation and device characteristics are critically dependent on temperature. The degradation behaviours and reliability test results for the laser diode device (Sony-DL3148-025) will be presented .These devices are usually highly reliable. The degradation behaviour was exhibited in several aging tests, and device lifetimes were then estimated. The temperature dependence of 0.63?m lasers was studied. An aging test with constant light power operation of 5mW was carried out at 10, 25, 50 and 70°C for 100hours. Lifetimes of the optical sources have greatly improved, and these optical sources can be applied to various types of transmission systems. Within this degradation range,
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Soils located above the groundwater table are generally unsaturated and possess negative pore-water pressures. A soil-water characteristic curve (SWCC) that relates the water content of a soil to matric suction is an important relationship for the unsaturated soil mechanics. The SWCC essentially shows the ability of an unsaturated soil to retain water under various matric suctions. The filter paper method is a soil suction measurement technique. Soil suction is one of the most important parameters describing the moisture condition of unsaturated soils. The measurement of soil suction is crucial for applying the theories of the engineering behavior of unsaturated soils.In this paper, three soil samples were collected from three sites within
... Show MoreThe international order have been changed during the modern and contemporary history, and however those changing in international order doesn't go to beyond several concepts such as " balance of power";" conflict"; "power" and " threaten", which all those are depending on the fundamentals or basic terms which was called " power" or" hard power". In this time, we can say that the political relations among the effective units could be analyzed according to the concept of " balance of threaten" instead of the classic concept which had called " balance of power" that the scholars used to describe the international relations . In conclusion , the concept of " balance of threaten" has a significant importance in the studies of the internationa
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Artificial intelligence techniques are reaching us in several forms, some of which are useful but can be exploited in a way that harms us. One of these forms is called deepfakes. Deepfakes is used to completely modify video (or image) content to display something that was not in it originally. The danger of deepfake technology impact on society through the loss of confidence in everything is published. Therefore, in this paper, we focus on deepfakedetection technology from the view of two concepts which are deep learning and forensic tools. The purpose of this survey is to give the reader a deeper overview of i) the environment of deepfake creation and detection, ii) how deep learning and forensic tools contributed to the detection
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Accompanied Activity Economic Unity some negative effects in the environment of air, water and soil pollution of difficult to measure each other for being the external costs and to be avoided such expenditures should be measured or estimated value to be disclosed environmental costs at the heart of the financial statements of economic unity to inform managers and users of the financial statements on the implications costs environmental .and impact in reducing environmental costs and increase future income and economic unit, was based on research into the inductive approach through books, letters, journals and the internet to cover the theoretical framework of the research. And to the analyt
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Project deal with the study of the suitability of the planning standards of the select sites for sports facilities for the holy city of Karbala and the extent of convergence and divergence between these standards and points of strength and weakness in each of these standards.
It was found that there was a lack of the role given to the sports as a kind of luxury does not deserve to spend money and efforts, and was then incorporated with a lot of entertainment services by planners.
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Objectives: The study aims to assess the female adolescents’ risk-health behaviors, to identify their
determinants, to determine the association between the risk health behaviors and the stage of
adolescence for these females' demographic variable.
Methodology: A purposive sample of (268) female adolescents is selected from intermediate and
secondary schools in Baghdad City. These adolescents have presented the age of (14-19) year old and
divided into two groups of (14-16) year and (17-19) year. A questionnaire is constructed for the purpose
of the study, it is composed of (10) major parts, and the overall items, which are included in the
questionnaire, are (106) item. Reliability and validity of the questionnaire
Drag has long been identified as the main reason for the loss of energy in fluid transmission like pipelines and other similar transportation channels. The main contributor to this drag is the viscosity as well as friction against the pipe walls, which will results in more pumping power consumption.
The aim in this study was first to understand the role of additives in the viscosity reduction and secondly to evaluate the drag reduction efficiency when blending with different solvents.
This research investigated flow increase (%FI) in heavy oil at different flow rates (2 to 10 m3/hr) in two pipes (0.0381 m & 0.0508 m) ID By using different additives (toluene and naphtha) with different concent
... Show MoreMolar conductivity of different concentrations of thymine and adenosine in water , sodium acetate and ammonium chloride solution at different temperatures , 283. 15-323.15 K has been determined from direct conductivity measurements , examination of aqueous mixture of thymine and adenosine with Onsager equation reveal deviation from linearity at high concentration .This deviation was explained in term of molecular interaction . Ostwald dilution law also examined with the above mixtures lead to calculation of limiting molar conductivities and dissociation constants of both nucleic acid in water , sodium acetate and ammonium chloride. The agreement between the values obtained for Onsager equa
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