this paper employs nonlinear disturbance observer (ndo) for robust trajectory-free nonlinear model predictive control (nmpc) of biped robots. the ndo is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. in contrary to the slow-varying disturbances, handling sudden pushing ...

in this paper, a reaction system consisting of two parallel, non-isothermal autocatalytic reactions in a continuous stirred tank reactor (cstr) has been considered. reactor chaotic behavior is possible for certain values of system parameters. two types of controllers are designed and compared in order to control both the reactor temperature and the product concentration. the first controller is...

this study was aimed at determining intra and inter-observer concordance rates in the gleason scoring of prostatic adenocarcinoma, before and after a web-based educational course. in this self-controlled study, 150 tissue samples of prostatic adenocarcinoma are re-examined to be scored according to the gleason scoring system. then all pathologists attend a free web-based course. afterwards, the...

results the interobserver agreement for sonographic descriptors changed between fair and substantial. the highest agreement was detected for mass orientation (κ=0.66). the lowest agreement was found in the margin (κ=0.33). the interobserver agreement for bi-rads final category was found as fair (κ=0.35). the intraobserver agreement for sonographic descriptors changed between substantial and alm...

this paper presents a new control scheme for a class of nonlinear systems. in the proposed method, an adaptive neural network observer with rise feedback controller are applied to realize sensorless control scheme. this observer is tuned online and no exact information of nonlinear term of plant is required. so, this characteristic can compensate mismodeling phenomena. also, a new controller ca...

in this paper by use of mathematical modeling of an observer [14,15] the notion of relative information functional for relative dynamical systemson compact metric spaces is presented. we extract the information function ofan ergodic dynamical system (x,t) from the relative information of t fromthe view point of observer χx, where x denotes the base space of the system.we also generalize the inv...

The Fuč́ık spectrum for systems of second order ordinary differential equations with Dirichlet or Neumann boundary values is considered: it is proved that the Fuč́ık spectrum consists of global C surfaces, and that through each eigenvalue of the linear system pass exactly two of these surfaces. Further qualitative, asymptotic and symmetry properties of these spectral surfaces are given. Finally, ...

The processing of Navon figures (Navon, 1977), i.e., hierarchical letter stimuli, has been studied in experimental settings for many years. In particular, they have been studied in the context of visual hemifield studies and yielded an interaction between hemifield and whether a target is at the local or global level, with a right hemisphere advantage for the global level, and a left hemisphere...