This paper presents a control law for the tracking of a cyclic reference trajectory by an under-actuated biped robot. The robot studied is a five-link planar robot. The degree of under-actuation is one during the single support phase. The control law is defined in such a way that only the geometric evolution of the robot is controlled, not the temporal evolution. To achieve this objective, we c...

artificial neural networks (anns) are computer techniques that attempt to simulate the functionality and decision-making processes of the human brain. in the past few decades, artificial neural networks (anns) have been extensively used in a wide range of engineering applications. there are only a few applications in liquid membrane process. the objective of this research was to develop artific...

In this work, a magnetorheological (MR) damper based above-knee prosthesis is design and evaluated based on its performance in swing phase and in stance phase. Initially, a dynamic system model for swing phase of a prosthetic leg incorporating a single-axis knee with ideal MR damper was built. The dynamic properties of the damper are represented with Bingham parametric model. From Bingham model...

High-dimensional data such as microarrays have brought us new statistical challenges. For example, using a large number of genes to classify samples based on a small number of microarrays remains a difficult problem. Diagonal discriminant analysis, support vector machines, and k-nearest neighbor have been suggested as among the best methods for small sample size situations, but none was found t...

Functional characterization of proteins belonging to the MHC I superfamily involves knowing their cognate ligands, which can be peptides, lipids or none. However, the experimental identification of these ligands is not an easy task and generally requires some a priori knowledge of their chemical nature (ligand-type specificity). Here, we trained k-nearest neighbor and support vector machine cla...

The synthesis of two ribonucleoprotein fragments of unprecedented complexity is reported. These hybrid biomolecules are prepared combining the use of an automated solid phase peptide and oligonucleotide synthesizer on a single solid support.