This paper investigates a new approach to the rapid control of an upper limb exoskeleton actuator. We used a mathematical model and motion measurements of a human arm to estimate joint torque as a means to control the exoskeleton’s actuator. The proposed arm model is based on a two-pendulum configuration and is used to obtain instantaneous joint torques which are then passed into control law to regulate the actuator torque. Nine subjects volunteered to take part in the experimental protocol, in which inertial measurement units (IMUs) and a digital goniometer were used to measure and estimate the torque profiles. To validate the control law, a Simscape model was developed to simulate the arm model and control law in which measurement data from IMUs and a goniometer were fed into the suggested Simscape model. The arm torque profiles are key to the control approach and should be traced by torques produced by the exoskeleton actuators to provide comfort and flexibility for the subjects. A DC motor was used as an actuator for the exoskeleton, and its model was used in the physical Simscape model. To reduce the error in the driving torque compared with the reference arm torque, a PID controller was implemented. The results show the potential of our methodology for tracking and controlling the actuator’s torque, in which the mean square error was reduced to less than 0.2 - a significantly low value.
Analysis and determination of some of the elastic moduli and other geotechnical parameters in the campus of the University of Baghdad performed by using New Sonic Viewer in the field to measure (Vp) and (Vs) velocities as well as the density of the upper soil inside the campus. Seventeen profiles were selected each of (10) m. length distributed randomly inside the university campus to evaluate the top soil properties in addition to the soil profile.
The ultrasonic waves showed two layers of the soil with different velocities of
(Vp) and (Vs). The velocities of p-wave of the first layer ranged from (288-642) m/sec. On other hand the velocities of shear wave (Vs) in the same layer ranged from (88-193) m/sec. In the second layer the v
The nuclear structure for the positive ( ) States and negative ( ) states of 36,40Ar nuclei have been studied via electromagnetic transitions within the framework of shell model. The shell model analysis has been performed for the electromagnetic properties, in particular, the excitation energies, occupancies numbers, the transition strengths B(CL) and the elastic and inelastic electron scattering longitudinal form factors. Different model spaces with different appropriate interactions have been considered for all selected states. The deduced results for the (CL) longitudinal form factors and other properties have been discussed and compared with the available experimental data. The inclusion of the effective
... Show MoreMeasuring the efficiency of postgraduate and undergraduate programs is one of the essential elements in educational process. In this study, colleges of Baghdad University and data for the academic year (2011-2012) have been chosen to measure the relative efficiencies of postgraduate and undergraduate programs in terms of their inputs and outputs. A relevant method to conduct the analysis of this data is Data Envelopment Analysis (DEA). The effect of academic staff to the number of enrolled and alumni students to the postgraduate and undergraduate programs are the main focus of the study.
In the present work, bentonite clay was used as an adsorbent for the removal of a new prepared mono azo dye, 4-[6-bromo benzothiazolyl azo] thymol (BTAT) using batch adsorption method. The effect of many factors like adsorption time, adsorbent weight, initial BTAT concentration and temperature has been studied. The equilibrium adsorption data was described using Langmuir and frundlich adsorption isotherm. Based on kinetics study, it was found that the adsorption process follow pseudo second order kinetics. Thermodynamics data such as Gibbes Free energy ∆Gᵒ, entropy ∆Sᵒ and ∆Hᵒ were also determined using Vant Hoff plot.
In this paper,a prey-predator model with infectious disease in predator population
is proposed and studied. Nonlinear incidence rate is used to describe the transition of
disease. The existence, uniqueness and boundedness of the solution are discussed.
The existences and the stability analysis of all possible equilibrium points are
studied. Numerical simulation is carried out to investigate the global dynamical
behavior of the system.
Oil sector is one of the most important sectors affecting the ecological balance, as activity contributes to the oil companies to influence their working environment, both during the oil exploration and extraction process or during transfer from one place to another process. We will try through this research put an environmental audit program proposal takes into account all the financial aspects, commitment and performance, according to the laws and regulations and agreements as well as relevant international standards, was based on research on the premise that the development of an environmental proposal auditing program that includes environmental controls on oil industry phases which helps reduce or minimize environmental pollutants B
... Show MoreMandali Basin is located between latitudes (33◦ 39 '00 "- 33◦ 54' 55") to the north and longitudes (45◦ 11 '00 "- 45◦ 40' 00") to the east, eastern Diyala province. The research study attributes hydrochemical properties groundwater upper part of the Mandali basin for 20 wells through the data from the analysis of the hydrological information bank of the General Directorate for drilling water wells 2007, hydrochemical study of the water tube wells for two seasons showed water surplus season (February) and season the water deficit (August) It's water colorless, odorless dominated by sulfate ion and sodium, and through hydrochemical formula and the type of water was found that most of the water area of study is the sodium sulfate ty
... Show MoreThe Neutron Fermi Age, t, and the neutron slowing down density, q (r, t) , have been measured for some materials such as Graphite and Iron by using gamma spectrometry system UCS-30 with NaI (Tl) detector. This technique was applied for Graphite and Iron materials by using Indium foils covered by Cadmium and the measurements done at the Indium resonance of 1.46 eV. These materials are exposed to a plane 241Am/Be neutron source with recent activity 38 mCi. The measurements of the Fermi Age were found to be t = 297 ± 21 cm2 for Graphite, t = 400 ± 28 cm2 for Iron. Neutron slowing down density was also calculated depending on the recent experimental t value and distance.
was studied by taking several different values for the constant α and fixing the other three variables β, c and d with the values 25.58, -0.7142857, and -1.142, respectively. The purpose of this paper is to know the values by which the system transforms from a steady state to a chaotic state under the initial conditions x, y, and z that equal -1.6, 0 and 1.6 respectively. It was found that when the value of α is equal to 0, the Chua system is in a steady state, and when the value of α is equal to 9.5 and the wave is sinusoidal, the system is in oscillation, and when α is equal 13.4 the system is in a Quasi-chaotic state, and finally the system turns to the chaotic state when the value of α equals 15.0
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