Objective: The study aimed to screen the prepubertal children for idiopathic scoliosis at earlier stages, and find
out the relationship between idiopathic scoliosis and demographic data such as age, sex, body mass index,
heavy backpacks, and heart & lung diseases.
Methodology: A descriptive study was conducted on screening program for prepubertal children in primary
schools at Baghdad city, starting from 24th of February to the end of October 2010. Non- probability
(purposive) sample of 510 prepubertal children were chosen from primary schools of both sides of Al-Karkh
and Al-Russafa sectors. Data was collected through a specially constructed questionnaire format include (24)
items multiple choice questions, and researcher observation. The validity of the questionnaire was determined
through a panel of experts related to the field of the study, and the reliability through a pilot study. The data
were analyzed through the application of descriptive statistical analysis frequency, & percentages, and
inferential statistical analysis, chi-square, are used.
Results: The study results revealed that most of the prepubertal children have idiopathic scoliosis, two third of
the sample (88.4%) were at age 10-12 years and mostly boys. There is highly significant association with (low
Body Mass Index & carry of the school backpack) but no significant association with the age, gender, and lung
& heart diseases. There is highly significant association between prepubertal children's idiopathic scoliosis signs
& the researcher observation for the prepubertal body feature, and Adam's Bending Forward Test which
revealed highly significant association with their idiopathic scoliosis. The results of the study reflect that the
majority of prepubertal children's idiopathic scoliosis deformities have significant association at early detection
than the other spinal deformities (kyphosis & kyphoscoliosis).
Recommendation: The researchers recommended that Ministry Of Health should activate the screening program
of scoliosis within school health service programs, and Ministry of Education should be involved their teachers in
the screening & training program.
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The virtual decomposition control (VDC) is an efficient tool suitable to deal with the full-dynamics-based control problem of complex robots. However, the regressor-based adaptive control used by VDC to control every subsystem and to estimate the unknown parameters demands specific knowledge about the system physics. Therefore, in this paper, we focus on reorganizing the equation of the VDC for a serial chain manipulator using the adaptive function approximation technique (FAT) without needing specific system physics. The dynamic matrices of the dynamic equation of every subsystem (e.g. link and joint) are approximated by orthogonal functions due to the minimum approximation errors produced. The contr