This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...

introduction: according to the high incidence of bell's palsy (ifp) and lack of clinical data regarding different aspects of disease, the present study investigated 121 iranian patients with peripheral facial paralysis referred to the emergency department. methods: in this retrospective study, all patients with peripheral facial paralysis, referred to the emergency department of poursina hospit...

This paper addresses an approximation-based anti-windup (AW) control strategy for suppressing the windup effect caused by actuator saturation nonlinearity in proportional–integral–derivative (PID) controlled systems. The effect of actuator constraint is firstly regarded as a disturbance imported to the PID controller. The external disturbance can then be modeled by a linear differential equatio...

BACKGROUND Proctological surgery is being carried out increasingly on an outpatient basis. The reasons for this are safe anesthetic procedures, short operation times and low complication rates. This study is a retrospective analysis of complication rates, symptom recurrence and long-term results according to outpatient proctologic surgery practiced in our hospital in the last 10 years. MATERI...

objectives this study aims to detect the effect of selected aerobic exercises on sleep quality in non-athlete middle-aged women. materials and methods fifteen non-athlete middle-aged women participated in this study, all of them suffered from insomnia. pittsburgh questionnaire was used for determining sleep quality in this sample. four indices including sleep duration, sleep disturbance, sleep ...

Topics covered: 1. What is disturbance? 2. Characteristics of disturbances and disturbance regimes 3. Role of disturbance in ecosystems and landscapes 4. Factors affecting disturbances 5. Feedback mechanisms affecting disturbance regimes 6. Interactions among the physical template, biotic processes and disturbance regimes 7. Human effects on disturbance regimes 8. Resource management implications.

On 17 June 1953, hundreds of thousands East German citizens took part in the first major uprising Eastern Bloc. Across country, demonstrators demanded removal ruling Socialist Unity Party (SED) regime, as well better living and working conditions. Their protests ended under tracks Soviet tanks. No sooner had dust settled, than SED began to attempt shape perceptions unrest limit information abou...

This paper addresses an approximation-based anti-windup (AW) control strategy for suppressing the windup effect caused by actuator saturation nonlinearity in proportional–integral–derivative (PID) controlled systems. The effect of actuator constraint is firstly regarded as a disturbance imported to the PID controller. The external disturbance can then be modeled by a linear differential equatio...