Todays, use of combination of two or more methods was considered to control of systems. In this paper ispresented how to design of a nonlinear H∞ (NL-H∞) controller for flexible joint robot (FJR) based on boundedUKF state estimator. The UKF has more advantages to standard EKF such as low bios and no need toderivations. In this research, based on spong primary model for FJRs, same as rigid robot...

one of the approaches which defends the rationality of religious beliefs is the reformed epistemology. among reformed epistemologists, wolterstorff’s view is subject to less criticism. this article tries to present epistemological foundations of wolterstorff’s view by describing and analyzing the statements which he has offered in his works. wolterstorff’s epistemological foundations are explai...

For millenia, people have been asking questions such as “What is the world made of?” and “What are its most fundamental components?” The Greek philosopher Democritus (c. 470-380 B.C.) postulated an atomic theory which held that indivisible particles constitute all of matter, but it wasn’t until the nineteenth century that this theory received any empirical support (even though indivisibility re...

"Quality of life" encompasses functional status, access to resources and opportunities, and sense of well-being. It offers a useful perspective on the value of health care, especially for chronically disabling conditions, including chronic mental illness. At least three major quality-of-life outcome assessment frameworks are available: general quality of life, health-related quality of life, an...