In this paper we consider the application of a new formulation of Passivity Based Control, known as Interconnection and Damping Assignment, or IDA-PBC, to the problem of stabilization of underactuated mechanical systems, which requires the modification of both the potential and the kinetic energies. Our main contribution is the characterization of a class of systems for which IDA-PBC yields a s...

a disk wang-bézier type generalized ball curve is a wang-bézier type generalized ball curve whose control points are disks in a plane. it can be viewed as a parametric curve with error tolerances. in this paper, we discuss the problem of degree reduction of disk wang-bézier type generalized ball curve, that is, bounding disk wang-bézier type generalized ball curves with lower degree disk wang-b...

BACKGROUND This study was conducted to compare and evaluate the effect of two different attachments (locator attachment and ball and socket [B&S] attachment) on implants and natural abutments supporting structures, in cases of limited inter-arch spaces in mandibular Kennedy Class I implant supported removable partial over dentures by measuring the bone height changes through the cone beam radio...

All-fiber-optic imaging microendoscopes are emerging as an important tool in bioimaging studies, including those conducted with optical coherence tomography, but physical limitations constrain the achievable beam characteristics of designs using a single focusing element. These constraints especially relevant for applications that require long working distance, high resolution, and/or minimal p...

Introduction Being one of the few activities that people of all ages and skill level can play, golf has increased in popularity. Consequently golf-related injuries have been notably increasing over the past few years. This particularly occurs in the paediatric age group.1 Head injury in this sport is most likely to be caused by golf clubs, however there have been reported cases in the literatur...

For nonlinear control, two problems are usually involved: regulation and tracking. By regulation, we mean make the system stable at the equilibrium point. By tracking, we mean to let the system output track a given trajectory while maintaining stability. In this paper, we try to solve these two problems in the same framework. The idea here is to represent the original nonlinear system by the T-...

objectives: the incidence of stereotyped behaviors is one of the major symptoms of diagnosis of individuals with autism spectrum disorder that causes disruption in daily life. this study aimed at evaluating the effectiveness of ball exercises on the reduction of stereotypical behavior of children with autism spectrum disorder. methods: in this study, 16 children (boys) with autism spectrum diso...