Flexible joint robot (FJR) manipulators can offer many attractive features over rigid manipulators, including light weight, safe operation, and high power efficiency. However, the tracking control of the FJR is challenging due to its inherent problems, such as underactuation, coupling, nonlinearities, uncertainties, and unknown external disturbances. In this article, a terminal sliding mode control (TSMC) is proposed for the FJR system to guarantee the finite-time convergence of the systems output, and to achieve the total robustness against the lumped disturbance and estimation error. By using two coordinate transformations, the FJR dynamics is turned into a canonical form. A cascaded finite-time sliding mode observer (CFTSMO) is construct

This work is licensed under a Creative Commons Attribution 4.0 International License. Abstract This study examines the working capital management

This work presents an innovative approach to enhancing the performance of concrete with reclaimed asphalt pavement (RAP) aggregates using titanium dioxide (TiO2) nanoparticles. Traditional limestone coarse aggregates were partially replaced with 30% and 50% RAP aggregates; a subset of mixtures containing RAP aggregates was treated with TiO2 nanoparticles. The rheological, mechanical, and long-term properties of concrete, along with changes in its chemical composition following the addition of RAP and TiO2, were evaluated. Results revealed that using 30% and 50% RAP in concrete mixtures reduced their compressive strength by 18% and 27%, respectively. However, using TiO2 in those mixtures enhanced their compressive strength by 8.7% an

A Longitudinal opening is used to construct hollow core beam is a cast in site or precast or pre stressed concrete member with continuous voids provided to reduce weight, cost and, as a side benefit, to use for concealed electrical or mechanical runs. Primarily is used as floor beams or roof deck systems. This study investigate the behavior of six beams (solid or with opening) of dimension (length 1000 x height 180 x width120mm) simply support under partial uniformly distributed load, four of these beam contain long opening of varied section (40x40mm) or (80x40mm). The effect of vertical steel reinforcing, opening size and orientations are investigated to evaluate the response of beams. The experimental behavior based on load-deflection

Leukemia or cancer of the blood is the most common childhood cancer, Acute lymphoblastic leukemia (ALL), is the most common form of leukemia that occurs in children. It is characterized by the presence of too many immature white blood cells in the child’s blood and bone marrow, Acute lymphoblastic leukemia can occur in adults too, treatment is different for children. Children with ALL develop symptoms related to infiltration of blasts in the bone marrow, lymphoid system, and extramedullary sites, such as the central nervous system (CNS). Common constitutional indications consist of fatigue (50%), pallor (25%), fever (60%), and weight loss (26%). Infiltration of blast cells in the marrow cavity and periosteum often lead to bone

Carbon fiber reinforced polymers (CFRP) were widely used in strengthening reinforced concrete members
in the last few years, these fibers consist mainly of high strength fibers which increase the member capacity in addition to changing the mode of failure of the reinforced concrete beams. Experimental and theoretical investigations were carried to find the behavior of reinforced concrete beams strengthened by CFRP in shear and bending. The experimental work included testing of 12 beams divided into 4 groups; each group contains 3 beams. The following parameters were taken into consideration: - Concrete crushing strength. - CFRP strengthening location (shear strengthening and both shear and flexure strengthening). Reinforced beams were