this paper employs nonlinear disturbance observer (ndo) for robust trajectory-free nonlinear model predictive control (nmpc) of biped robots. the ndo is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. in contrary to the slow-varying disturbances, handling sudden pushing ...

Background: Despite a number of benefits, research has found that problematic smartphone use is positively associated with behavioral problems. However, the internal mechanisms underlying that relationship need further investigation. So, the aim of current study was to investigate the mediating role of sleep disturbance in the relationship between problematic smartphone use and aggression. Met...

Automatic dysfunction may contribute to the hemodynamic disturbances in cirrhosis. Tests of autonomic function were performed in 31 patients with non-alcoholic cirrhosis and 30 healthy subjects. Patients were divided into 3 groups according to child- Pugh,s classification ( A.B.C). The patients with moderate and severe cirrhosis( child B,C) had significant parasympathetic disturbance ( in the v...

Background and Aims: Legionnaires’ disease is seen in sporadic and epidemic form. The most prevalent cause is Legionella pnuemophilia (L.pneumophila), which produces a severe disease in vulnerable individuals with a high fatality rate. This study was conducted due to the wide and universal distribution of the Legionnaires’ disease, lack of conventional and accessible diagnostic meth...

Skidding operations can cause considerable and wide spread soil disturbance. The objective of this study was to evaluate the effects of ground skidding operations on soil compaction, moisture content, and total porosity at different levels of slope and traffic frequency. Four levels of traffic intensity (3, 8, 13, and >13 passes of a Crawler Tractor Onezhets ? 110) and three levels of slope ( ...

rangeland ploughing and cultivation using dry land farming crops may be amajor reason for the destruction of natural resources in the semiarid and sub-humid regionswhich may significantly change the composition and reduce the stability of the affectedcommunities. in present research, an abandoned ploughed site was compared with a nearbyreference site in the semiarid rangelands of baharkish, quc...

in this research, an innovative numerical simulating approach for time domain analysis of multi degrees of freedom structures with uncertainty in dynamic properties is presented. a full scale finite element model of multi-story and multi bays of three sample structures has been constructed. the reduced order model of structure with holding the dominant and effective gramians in the balanced sta...