This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

empirical studies show that there is stronger dependency between large losses than large profit in financial market, which undermine the performance of using symmetric distribution for modeling these asymmetric. that is why the assuming normal joint distribution of returns is not suitable because of considering the linier dependence, and can be lead to inappropriate estimate of var. copula theo...

nuclear power reactors are, in nature nonlinear and time varying. these characteristics must be considered, if large power variations occur in their working regime. in this paper a robust optimal gain scheduling controller for regulating the power of a nuclear reactor has been designed and simulated. the proposed controller is capable of regulating power levels in a wide power range (10% to 100...

This paper presents robust stabilization for an R/C helicopter whose degree of freedom is reduced by fixing at a (joint) point. In our previous paper, we have achieved stable control for the R/C helicopter using fuzzy model-based nonlinear control. However, after simplifying the nonlinear dynamics, we have replaced the simplified nonlinear dynamics with a Takagi-Sugeno fuzzy model. In this pape...

Objective(s): Osteoarthritis (OA), as a known degenerative joint disease, is the most common form of arthritis. In this study, we aimed to elucidate unclear pathogenesis of OA. Materials and Methods: Rabbit models of OA were established by the transection of the anterior cruciate ligament. Rabbits were randomly divided into three equal groups: the experimental group (OA modeling, treated with e...

The rst part of this thesis includes a brief comparison between electricmotors and hydraulic actuators for high performance robotics applications. Hydraulic actuators with fast valves are shown to be superior because of their large torque to mass ratios and their extended bandwidth. One such hydraulic actuator is characterized and its highly nonlinear dynamics are modeled and identi ed. A simul...

conclusions the major finding of this study is that one unit increase in serum creatinine level suggests an increased risk of graft failure of up to four times. patients and methods this study was carried out at the department of nephrology, baqiyatallah hospital, baqiyatallah university, tehran, iran, between april 2005 and december 2008. during that time period, 461 patients who had undergone...

This paper presents a robust tracking controller equipped with a fast friction estimator for a 6-DOF parallel electrical manipulator in the joint-task space. Parallel manipulator control scheme mainly stems from two frameworks: the task space control and the joint space control. The former requires the system states obtained via costly direct measurements or time-consuming forward kinematics. T...