High accuracy walking motion trajectory generation profile based on 6-5-6-PSPB polynomial segment with polynomial blend

Many robots, such as humanoid robot, biped robot, and robotic exoskeleton, need human guide. Particularly, there is a strong need for devices to assist individuals who lost limb function due to illnesses or injuries. Thus, several methods of generating walking motion have been implemented in order to generate walking motion according to natural human behaviour for the exoskeleton robot system. Polynomial blend technique has implemented to generate the walking motion trajectory, where the polynomial blend refers to the combination of more than one polynomial. However, three constraints (angular position, velocity, and acceleration) have been imposed by the polynomial blend techniques where the constraint of angular jerk was neglected because involving the jerk constrain will be caused problem of the non-ideal match of kinematic constraints at via point. Based on the aforementioned problem, there are three objectives to be achieved in this project. The first objective is to investigate the trajectory profile for various kinematic constraints of walking motion condition when using polynomial equation. The second objective is to modify a technique for improving a trajectory generation method to solve the problem of non-ideal match of the kinematic constraints through via points that connects between successive segments of the human walking motion. The last objective is to validate the trajectory generation method by testing the trajectory generation methods based on simulation using SimMechanics as well as to ensure that the coefficients values of the polynomial equations are correctly obtained. In this project, 5th polynomial segment with the 6th polynomial blend (6-5-6 PSPB) trajectory is proposed that aims to reduce the error that increases because of non-ideal match between kinematic constraints at the via points of successive segments. The trajectory planning of the 6-5-6 PSPB is generated based on the stance and swing phases. Each phase is presented by one full of the 6-5-6 PSPB trajectory. In order to validate the 6-5-6 PSPB trajectory, simulation using SimMechanics is conducted to ensure that the coefficients values of the polynomial equations are correctly obtained. The result shows that the error was improved almost 0.1445 degree based on the proposed 6-5-6 PSPB compared with the 4-3-4 PSPB and 5-4-5 PSPB. Thus, the 6th -5th -6th Polynomial blend leads to impose the angular jerk kinematic constraint beside the angular position, velocity, and acceleration kinematic constraints during the whole walking motion trajectory. Minimizing the maximum jerk in joint space has a beneficial effect in terms of reducing the actuator and mechanical strain and joint wear and to limit excessive wear on the robot and the excitation of resonances so that the robot life-span is expanded

Patients' and nurses' perspectives on patients' experience for coronary care unit stressors using a mixed method approach

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.Background: Getting admitted to CCU is viewed as a stressful event by patients. However, numerous studies have indicated that nurses do not always accurately perceive the stressors of their clients. Therefore, it is important for nurses to know what seems most stressful from the patients‘ perspective so that appropriate nursing measures can be directed towards minimizing such stressors. Objectives: The purpose of this study was to explore the perception of CCU stressors experienced by patients from both patients and nurses perspective and to compare between them, identify the effect of socio-demographic characteristics of participant's on the level of stress perception and to what extent clinical guidelines fulfil CCU needs. Methodology: A mixed method approach (qualitative and quantitative) was applied. Purposive random sampling was used to recruit data. Ethical approval was obtained prior to data collection. Data was collected from three CCUs within the West and Northwest NHS Trusts. Participants who met the inclusion criteria were interviewed and asked to rank the Environmental Stressor Questionnaire (ESQ). Qualitative data was analyzed using Gorgi's method of analysis. A quantitative data was analyzed using the SPSS software version 15. Results: There was some consistency in the data where patients and nurses provided same ranking for CCU stressors. Consistently nurses ranked physiological stressors higher than psychological stressors. Patients showed consistency in the findings between what they ranked in the ESQ and their narratives more than their counterparts. Perception of stress was affected by participant's socio-demographic characteristics. A key finding is that the current guidelines do not serve patients and nurses needs. Conclusions: Nurses should be well equipped with knowledge and experience to overcome stressful situations. Educational programs should be made available for nurses to improve stress management. Nurses should assess patient's needs by applying effectively communication skills

Synthesis of Biopolymer from Coconut Residue and Performance as Drag Reducing Agent (DRA) in Water Injection Well

Over the past 20 years, polymers have been utilized in oil and gas industries as drag reducing agent (DRA) to overcome pressure drop and optimize the flow capacity in water flooding system. Yet a new eco-friendly DRA extracted from organic materials (coconut residue) is introduced to replace polymers due to its abundance and ability to perform as effective as polymer in accelerating the flow in oil and gas systems. This research intends to describe the preparation process of CMC from coconut waste and then evaluate its effectiveness as DRA in water injection well. The result of injecting these chemicals in water injection well will reduce the number of injection wells by causing a significant improvement in the flow rate which will be able to push the hydrocarbon towards production column. At the meantime, the effect of DRA upon formation permeability is going to be investigated as well as the mechanical shear degradation of biopolymer. The effect of this new drag reducing agent extracted from coconut residue on formation permeability will be evaluated by using benchtop permeability system and observe if such permeability reduction can be induced. Mechanical degradation obstructs the implementation of biopolymer for turbulent drag reduction. In general mechanical degradation refers to the process in which the chemical chain is broken due to mechanical disturbance and result in losing biopolymer its practical usage as DRA. Thus, mechanical degradation is studied by exposing 0.5% and 1.0% solution of biopolymer to a high stirring speed and observe its influence on the viscosity of the solution with respect to time. The decrease of viscosity with time is an evident of mechanical degradation of biopolymer which is educed due to shear stirring

Design And Analysis Of Single Balanced Diode Mixer For UWB Applications

In wireless communication systems,the development of ultra-wideband (UWB) Radio Frequency (RF) front-end sub-components (e.g. amplifiers,filters,switches,antennas and mixers) are highly desired,and they were developed to support several RF front-end systems.The main function of the RF mixer is frequency conversion,where the low conversion loss is one of the key parameters in RF mixer design.Mixer also act as critical components in modern RF and Microwave systems.The unique of the mixer is it can convert RF power from one frequency into another frequency.There are various forms of RF mixer designs which can be used to obtain a good conversion loss and good isolation where these mixer designs have trade off in performance and complexity.Hence,this research proposes an UWB Single Balanced Schottky diode mixer design using Coupled Line and Branch Line baluns for applications of ultra-wideband in 3 to 10 GHz frequency range.Basically,an UWB Single Balanced Schottky diode mixer was designed using two different baluns (Coupled Line and Branch Line).The usage of these two baluns aims to improve the bandwidth and producing a good performance in simple and inexpensive way.The used baluns are determined using a simple mathematical model where it can be combined from different multi sections of Coupled Line and Branch Line to achieve the desired bandwidth.The key advantage of the proposed UWB Single Balanced diode mixer with Coupled Line and Branch Line baluns is a wider bandwidth with low conversion loss and high isolation. Besides,low cost and small size as these mixers was designed in microstrip transmission line.As a result,the simulated and measured results showed conversion loss less than 19 dB and isolation of 50 dB over the frequencies between 3 to 10 GHz.Despite low conversion loss and high isolation performance, the proposed Single Balanced diode mixer (with Coupled Line and Branch Line baluns) used only two Schottky diodes compared to Double Balanced diode mixer to achieve good performance over UWB applications

ENCRYPTING IMAGE BY USING FUZZY LOGIC ALGORITHM

Data communication is transmission data from a point to another. Nowadays main issue in data communication is the security. It can provide a fine solution by encryption. The encryption algorithm is the mathematical process for performing encryption on data. The proposed algorithm supports for user desired security level and processing level. The algorithm provides security levels and their corresponding processing levels by generating random keys for the encryption/decryption process. This facility is achieved by using fuzzy logic. The results of the proposed encryption algorithm will be analyzed by comparing with other existing encryption algorithms. The aim of the research is to build a new algorithm using fuzzy sets requirement which will be more advanced than the existing encryption algorithms

The hub number of a fuzzy graph

In this paper, we introduced the concepts of hub number in fuzzy graph and is denoted by h(G). The hub number of fuzzy graph G is the minimum fuzzy cardinality among all minimal fuzzy hub sets . We determine the hub number h(G) for several classes of fuzzy graph and obtain Nordhaus-Gaddum type results for this parameter. Further, some bounds of h(G) are investigated. Also the relations between h(G) and other known parameters in fuzzy graphs are investigated.Publisher's Versio

A Study on Digital Service Innovation Factors Influencing Organization Performance: Ajman Police Department In UAE

The study presented an analysis of the influence of four digital services innovation groups of factors on organizational performance. It identified 20 digital services innovation factors, which were categorized into four groups namely participation, inter-organizational collaboration, reflexivity, and responsiveness. The study focused on the Ajman Police Department in the United Arab Emirates and collected data through a structured questionnaire survey using a purposeful random sampling technique among the employees of the department that involved 368 completed responses from the employees. Statistical analysis was conducted using SPSS software. The study found that the five highest ranked factors by the respondents, which significantly impact organizational performance, are PP1 (Customer Feedback and Surveys), OC1 (Partnership with Complementary Service Providers), RF1 (Ethical Evaluation of Service Offerings and Practices), PP2 (Employee Brainstorming Sessions), and RS3 (Ongoing Market Research and Competitor Analysis). Additionally, the study established a mathematical model to predict organizational performance based on the four variables: participation, inter-organizational collaboration, reflexivity, and responsiveness. Furthermore, the study revealed that all five groups of factors, including organizational performance factors, are significantly correlated. This research contributes to the understanding of the impact of digital services innovation on organizational performance, shedding light on the specific factors that play a crucial role in driving organizational success in the digital era. The findings provide valuable insights for organizations seeking to leverage digital services innovation to enhance their performance and competitiveness &nbsp

Optimization of Hybrid Power Systems Performance Based on Adaptive Neuro-Fuzzy Inference System

Hybrid Power Systems (HPSs) is a promising solution for the shortages of electricity in several situations. However, HPSs are still facing several problems. These problems are the cost of electrical kilowatt-hour and repetitive breaking in the utility grid with existence varying loads. Besides the problem of non-optimal utilization of available renewable energy resources and the problems associated with the operation of large generators along small loads, which are the high cost of generation and the minimize in lifetime of the generator. This paper presents study and analyze the load profile and power system generation for a selected case. A fuzzy control system based on ANFIS has been proposed to optimize the performance of the HPS. The proposed system has ten ANFIS models, which linked to the outputs of the proposed control system. All models have been trained to achieve the minimum root mean square error (RMSE). The proposed system has been built and simulated using MATLAB

Effects of clove powder supplementation on performance, blood biochemistry, and immune responses in broiler chickens

The goal of this study was to evaluate the effects of clove (Syzygium aromaticum) supplementation levels on performance, blood parameters, and immune response of broilers. A total of 336 one-day-old broilers were assigned to one of eight treatments: 1% to 6% clove supplementation levels, a positive control (vaccinated) and a negative control (unvaccinated). Bodyweight gain, feed intake, feed conversion ratio, serum protein profile, and immune responses were measured weekly. Lymphoid organs were weighed at 21 and 35 days. Levels of dietary clove between 2% and 6% supplementation resulted in a gradual decrease in weight gain and feed intake with an increase in feed conversion ratio at two and three weeks, whereas those that received 4% to 6% supplementation had reduced weight gain and the 3% to 6% supplemented animals consumed the least amount of feed at four and five weeks. High levels of clove supplementation (4%, 5%, and 6%) resulted in reduced total serum protein and albumin and the greatest activity of aspartate aminotransferase at 35 days. Antibodies to viruses against which the birds had been vaccinated were not affected by different levels of clove supplementation compared with the positive control. However, they were increased in birds in the negative control group without vaccination. Relative weights of lymphoid organs were not affected by any treatments at 21 and 35 days. These results indicate that clove supplementation at levels greater than 2% can lead to negative effects on performance without improving the health of the liver and immune responsiveness of broilers.Keywords: Gallus domesticus, serum biochemical, enzymes, antibody titers, lymphoid organs

Experimental Investigation and Modeling the Heat of Hydration in Mass Concrete Structures

The hydration of cement in mass concrete structures produces high temperature.The temperature in the core of the mass concrete structures is higher than the temperature in the surfaces that are closer to ambient air. This temperature gradient leads to the development of thermal stresses, which may cause cracking if thermal stresses exceed the tensile strength of concrete at early age. This research focuses on conducting an experimental program for 46 different mixes using iQdrum heat signature and heat box to obtain the heat of hydration and temperature rise. The mechanical properties of these concrete mixes such as tensile strength, compressive strength, and modulus of elasticity were also conducted. The effect of mineral admixtures, such as fly ash, ground granulated blast furnace (GGBFS) slag, and silica fume, on heat of hydration was investigated. The effect of steel and polypropylene fibers on the heat of hydration and on the cracking index of mass concrete at early age was studied. The temperature rise, the peak temperatures, and strains for different seven mock-up specimens and for actual structures such as pilescap, were monitored. The viscoelastic behavior of mass concrete at early age was simulated by using the finite element nonlinear approach The finite element model predicted the temperature rise in the mass concrete structures, and associated thermal stresses The finite element model has ability to indicate to whether the cracks will form or not. Based on experimental and numerical investigations, guidelines will be developed for mass concrete in Kingdom of Saudi Arabia (KSA). These guidelines will help in reducing the risk of cracking due to high temperature gradient between core of concrete and its surface