This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

copepods are the main zooplankton assemblages in most tropical and semi-tropical estuaries. in this research, copepod population dynamics were investigated in helleh river estuary, persian gulf during four seasons beginning from summer 2011 to spring 2012.  samples were taken using plankton net with mesh size of 140 µm and vertical towing from 5 fixed-stations in mid-season. results showed that...

medicinal chemistry depends on many other disciplines ranging from organic chemistry andpharmacology to computational chemistry. typically medicinal chemists use the moststraightforward ways to prepare compounds. the validation of any design project comes from thebiological testing.studies of the binding site of vinblastine by a single cross—linking experiment identified it asbeing between resi...

five-zone simulating moving bed (smb) system, designed for ternary separation, is a modified form of standard four-zone smb which is only effective in binary separation. it was reported in literature that the five-zone smb separates the extract-ii stream with a lower purity value than that of raffinate and extract-i streams. to address this issue, five zone smb was designed, using safety margin...

job satisfaction (js) plays important role as a competitive advantage in organizations especially in helth industry. recruitment and retention of human resources are persistent problems associated with this field. most of the researchs have focused on the job satisfaction factors and few of researches have noticed about its effects on productivity. however, little researchs have focused on the ...

presence of risks and uncertainties inherent in project development and implementation playssignificant role in poor project performance. thus, there is a considerable need to have an effective riskanalysis approach in order to assess the impact of different risks on the project objectives. a powerful riskanalysis approach may consider dynamic nature of risks throughout the life cycle of the pr...

non-linear characteristic of tire forces is the main cause of vehicle lateral dynamics instability, while direct yaw moment control is an effective method to recover the vehicle stability. in this paper, an optimal linear quadratic regulator (lqr) controller for roll-yaw dynamics to articulated heavy vehicles is developed. for this purpose, the equations of motion obtained by the matlab softwar...

background: several multiphase flow analyses have been developed to predict the fate of particles used in inhalation drug delivery; however, the collapse of droplets during their passage through respiratory tract has not been investigated. objective: to assess the probability of droplet collapse in the upper respiratory tract. methods: a 3d model of mouth-to-second generation airway after the t...