This paper is concerned with the problem of design and implementation a robust adaptive control strategy for flexible joint electrically driven robots (FJEDR), while considering to the constraints on the actuator voltage input. The control design procedure is based on function approximation technique, to avoid saturation besides being robust against both structured and unstructured uncertaintie...

this article studies the generative grammar approach and some other theories driven from it to lexicon and lexical entries. generative grammar is known as a syntax-based theory, so some aspects of language which have been studied in this theory may have been ignored in other theories. this article shows that more attention has been given to lexicon and lexical entries since 50s. we may claim th...

the natural ventilation is an easy way to exchange the indoor polluted warm air with outdoor fresh air. the wind power injects outdoor fresh air into the building. a good indoor air current and subsequently a proper exhaust depend on the openings’ conditions and their situations. a serious architectural question is under what conditions of the openings the wind-cross ventilation can be effectiv...

the present study was conducted to evaluate data driven learning (ddl) combined with computer assisted language learning (call) as an approach to improving vocabulary knowledge of iranian postgraduates majoring in teaching english, english literature and translation. the purpose was to help language learners get familiar with ddl as a student-centered method taking advantage of a computer progr...

in the present study, mixed convection laminar flow around an adiabatic body in a lid-driven enclosure filled with nanofluid using variable thermal conductivity and variable viscosity is numerically investigated. the fluid around the body in the enclosure is a water-based nanofluid containing al2o3 nanoparticles. the vertical enclosure’s walls are maintained at constant cold temperature and the...

a numerical study has been done through an al2o3–water in a double lid-driven  square  cavity with various  inclination  angles  and discrete heat sources. the top and right moving walls are at low temperature. half of  the  left and bottom walls are  insulated and  the  temperatures of the other half are kept at high. a large number of simulations for a wide  range  of richardson  number  of  ...

This paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. A novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. Parameters of the fuzzy estimator are adapted to minimize the estimat...

Up to now most of the existing water supply network analyses have been based on demand-driven simulation models. These models assume that nodal outflows are fixed and are always available. However, this method of simulation neglects the pressure-dependent nature of demand that is characterized by changes in actual nodal outflows particularly during critical events like major mechanical or hydra...

The fundamentals of good decision-making are, first, a clear understanding of the decision itself and second the availability of properly focused information to support the decision. Decision-making techniques help with both these problems. However, the techniques should be thought of as aids to decision-making and not the substitutes for it. Numerous decision-making techniques have been propos...

ion of GeoDatabases Modeling and Multiple Perceptions CHRISTINE PARENT1, STEFANO SPACCAPIETRA2, ESTEBAN ZIMÁNYI3 1 University of Lausanne, Lausanne, Switzerland 2 Swiss Federal Institute of Technology, Lausanne, Switzerland 3 Free University of Brussels, Brussels, Belgium