This paper proposes a new adaptive controller for three-wheeled mobile robots (3WMRs) called the ABHSMC controller. is developed through cooperative approach, combining backstepping and Radial Basis Function (RBF) neural network-based Hierarchical Sliding Mode Controller (HSMC). Notably, RBF network exhibits remarkable capability to estimate both uncertainty components of model systematically a...

BACKGROUND Operations on structures in the chest (usually the lungs) involve cutting between the ribs (thoracotomy). Severe post-thoracotomy pain can result from pleural (lung lining) and muscular damage, costovertebral joint (ribcage) disruption and intercostal nerve (nerves that run along the ribs) damage during surgery. Poor pain relief after surgery can impede recovery and increase the risk...

abstractmuhammad asif mohseni, a shia religious authority and an afghan political activist, has recently published the second printing of his al-mu’jam al-ahadith al-mu’tabarah in 8 volumes. a new arrangement has been adopted regarding the jurisprudential and non-jurisprudential chapters of the book, which indicates the author’s stance toward the status of reason and science as well as the posi...

Abstract Study question Is the efficacy of embryo selection models altered by conditions employed for culture? Summary answer The predictive capacity morphology and morphokinetics-based might be dependent on incubator culture employed. What is known already Morphological assessment remains gold-standard selection. However, since introduction time-lapse technology to incubators used culture, man...

considering the role of witness in the different sciences of language and literature and the importance of the muallaqat in arabic literature and the importance of explanations of these poems, in the present study, it is intended to study the method of commentators n applying the the different evidence of the quran, hadith, poetry, proverb, descriptive - analytical method was employed. the resu...

evidence acquisition in this study, we examined a major resource of itm, the qanoon fi al-teb (the canon of medicine), by avicenna and the writings of prominent ancient scholars and physicians on the origins of catarrh. pubmed and google scholar were also searched for information on pnd and catarrh, and they were compared with the catarrh in itm. results physicians of itm believe that the main ...

Scyphomedusae undergo a predictable ontogenetic transition from a conserved, universal larval form to a diverse array of adult morphologies. This transition entails a change in bell morphology from a highly discontinuous ephyral form, with deep clefts separating eight discrete lappets, to a continuous solid umbrella-like adult form. We used a combination of kinematic, modeling, and flow visuali...

470 Extracardiac endothelium patterns embryonic coronary arterio-venous connections JM. Perez-Pomares1; E. Cano2; R. Carmona1; A. Ruiz-Villalba3; A. Rojas4; Y-Y. Chau5; KD. Wagner6; N. Wagner6; ND. Hastie5; R. Munoz-Chapuli1 University of Málaga, Málaga, Spain; Max Delbruck Center for Molecular Medicine, Berlin, Germany; University of Navarra, Pamplona, Spain; Centro Andaluz de Biologı́a Molecul...

In this paper, the convergence of Zakharov-Kuznetsov (ZK) equation by homotopy analysis method (HAM) is investigated. A theorem is proved to guarantee the convergence of HAM and to find the series solution of this equation via a reliable algorithm. c ⃝ 2014 IAUCTB. All rights reserved.