one of the most important challenges in nonlinear, multi-input multi-output (mimo) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. this paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. the sliding mode fuzzy controller (smfc) was designed as 7 rules mamdani’s infer...

as it has proven the increase of mechanical strain could resulted to increase of bnp (protein brain natriuretic peptide) in blood stream of implanted patient pacemakers. we measured the bnp concentration in blood due to different mode and lead implantation location of pacemaker in the time period of three month. the aim of study was the investigation of change trend of bnp level after pacemaker...

caesarean section is considered as a major surgery which is accompanied by several complications. the present study aimed to determine the effect of behavioral intention model-based educational intervention on reducing the caesarean section among pregnant women. the present interventional study was conducted on 100 primiparous women in the third trimester of pregnancy who were covered by the he...

abstract the utility of carbon paste electrode for the determination of flavoxate hcl modified with flavoxate-tetraphenylborate (flx-tpb) and flavoxate-phosphotungestic acid (flx-pta) ion-pairs in batch mode is demonstrated. the electrodes revealed a nernstian response over a wide concentration ranges 1.39×10-5-1x10-2 mol l-1 and1×10-5-1x10-2 mol l-1 using flx-tpb and flx-pta, respectively. the...

in recent years, the application of composite materials in aircraft and space vehicle structural components has become increasingly popular. preventing failure of composite structural systems has been an important issue in engineering design. due to the lack of through-the-thickness reinforcement, structures made from laminated composite materials and adhesively bonded joints are highly suscept...

in this paper, a nonlinear model of the underactuated six degrees of freedom (6 dof) quadrotor helicopter was derived based on the newton-euler formalism. a new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. the proposed control structure consist of a sliding mode control base...

axial vibration effect of shell particles on dynamic stability of a cantilevered cylindrical shell under an axial follower force was addressed. in spite of free-ended shells, the reduced axial force under this effect cannot be derived analytically. instead, an approximate method was proposed based on the fact that the static (and harmonic) axial deformation under an axial load in a free-ended b...

molecular dynamics simulation has been performed to analyze the effect of the presence of gold nanoparticle on dynamics of kob-anderson binary lennard-jones (blj) mixture upon supercooling within the framework of the mode coupling theory of the dynamic glass transition. the presence of gold nanoparticle has a direct effect on the liquid structure and causes the peaks of the radial distribution ...

background & aim: despite the advantages of natural childbirth and complications associated with cesarean section, rate of cesarean delivery has increased dramatically in recent years. therefore, appropriate training is essential to reducing this trend. this study aimed to evaluate the effects of training about the benefits of natural childbirth on the attitude and intention to select the mode ...