Abstract. This work presents a detailed design of a three-jointed tendon-driven robot finger with a cam/pulleys transmission and joint Variable Stiffness Actuator (VSA). The finger motion configuration is obtained by deriving the cam/pulleys transmission profile as a mathematical solution that is then implemented to achieve contact force isotropy on the phalanges. A VSA is proposed, in which three VSAs are designed to act as a muscle in joint space to provide firm grasping. As a mechatronic approach, a suitable type and number of force sensors and actuators are designed to sense the touch, actuate the finger, and tune the VSAs. The torque of the VSAs is controlled utilizing a designed Multi Input Multi Output (MIMO) fuzzy controller. The fuzzy controller input is the force sensors' signals that are used to set the appropriate VSA torque. The fuzzy controller parameters are then tuned using a genetic algorithm as an optimization technique. The objective function of the genetic algorithm is to avoid unbalance torque in the individual joints and to reduce the difference between the values of the supplied VSAs torques. Finally, the operation of the aforementioned finger system is organized through a simple control algorithm. The function of this algorithm is to enable the detection of the unknown object and simultaneously automatically activate the optimized fuzzy controller thus eliminating the necessity of any external control unit.
The concept of a small f- subm was presented in a previous study. This work introduced a concept of a hollow f- module, where a module is said to be hollow fuzzy when every subm of it is a small f- subm. Some new types of hollow modules are provided namely, Loc- hollow f- modules as a strength of the hollow module, where every Loc- hollow f- module is a hollow module, but the converse is not true. Many properties and characterizations of these concepts are proved, also the relationship between all these types is researched. Many important results that explain this relationship are demonstrated also several characterizations and properties related to these concepts are given.
The aim of this study is to use style programming goal and technical programming goal fuzzy to study assessing need annual accurately and correctly depending on the data and information about the quantity the actual use of medicines and medical supplies in all hospitals and health institutions during a certain period where they were taking the company public for the marketing of medicines and medical supplies sample for research. Programming model was built goal to this problem, which included (15) variable decision, (19) constraint and two objectives:
1 - rational exchange of budget allocated for medicines and supplies.
2 - ensure that the needs of patients of medicines and supplies needed to improve
This work addressed the assignment problem (AP) based on fuzzy costs, where the objective, in this study, is to minimize the cost. A triangular, or trapezoidal, fuzzy numbers were assigned for each fuzzy cost. In addition, the assignment models were applied on linguistic variables which were initially converted to quantitative fuzzy data by using the Yager’sorankingi method. The paper results have showed that the quantitative date have a considerable effect when considered in fuzzy-mathematic models.
We have studied some types of ideals in a KU-semigroup by using the concept of a bipolar fuzzy set. Bipolar fuzzy S-ideals and bipolar fuzzy k-ideals are introduced, and some properties are investigated. Also, some relations between a bipolar fuzzy k-ideal and k-ideal are discussed. Moreover, a bipolar fuzzy k-ideal under homomorphism and the product of two bipolar fuzzy k-ideals are studied.
Steganography is an important class of security which is widely used in computer and network security nowadays. In this research, a new proposed algorithm was introduced with a new concept of dealing with steganography as an algorithmic secret key technique similar to stream cipher cryptographic system. The proposed algorithm is a secret key system suggested to be used in communications for messages transmission steganography
Any design subject to a set of forces contributing to the establishment of relations working to strengthen the internal elements of the design; any imbalance in these elements can make a fragmented and weak design, thus preventing it from achieving the goal or performance. Poor performance can be attributed to various factors: the extent and function of the elements and principles in the design, realization of the idea, especially in fashion design.
Moreover, there are many aspects of a design that go into achieving the realization of the designer’s idea. The design utilizes a lot of stimulants by drawing attention to its design, which is consistent with the need for psychological and material individuals. In this research, we will