in this article a part of the amendment to the iranian civil law, i.e. amendment to article 946, ratified in bahman/february 1378/1999, is analyzed from the legal point of view. this article, according to which a significant change has taken place in the way the wife inherits from her husband and the civil law has distanced from the views of the renowned majority of the shī‘a jurists and has ap...

As a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. An experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. The kinematic and gait analysis formulations are demonstrated by an e...

Abstract This paper addresses a leader–follower formation control problem for four-legged robots under discrete-valued input constraints. Four-legged are more suitable rough terrain missions than wheeled because the tip positions of their legs can be changed depending on terrain. However, it is difficult to these through continuous-valued inputs they steered by switching between specific moveme...

An above-knee prosthesis is described which is designed to permit the patient to assume easily the squatting and sitting cross legged postures which are a part of routine living in Afro-Asian countries. The prosthesis incorporates a multibar linkage mechanism which co-ordinates knee flexion and extension with ankle dorsiflexion and plantarflexion, and a thigh rotation system fitted at the level...

BACKGROUND Asplenic patients in general have poor knowledge about their condition. Patients are increasingly turning to the Internet for their health care information, therefore this is a resource that many asplenic patients will use. The aim of our study was to determine the quality of information on the Internet for asplenic patients. METHODS We identified websites by entering "splenectomy ...

Until now, studies on suspension control by using frequency response analysis that have been reported are almost for motorcar, but not for multi-legged walking robot. However, because of the disturbances, such as the various frequency properties of terrain, the collision and the slip between foot of robot and ground, the dynamic changes of the supported weight by each leg and the centre of grav...

The research on the principles of legged locomotion is an interdisciplinary endeavor. Such principles are coming together from research in biomechanics, neuroscience, control theory, mechanical design, and artificial intelligence. Such research can help us understand human and animal locomotion in implementing useful legged vehicles. There are three main reasons for exploring the legged locomot...