Abstract-Dynamic equations of the biped robots are easily obtained by the Lagrangian method. Beca... more Abstract-Dynamic equations of the biped robots are easily obtained by the Lagrangian method. Because of terrible nonlinearity of these dynamic equations, the actuator's dynamic is employed to linearize these equations. By this way, the heavy nonlinear equations are replaced with a second order linear system which their coefficients are achievable by the various identification methods. Here Least Square method is utilized to determine these second order transfer function's coefficients. Employing a set of linear transfer function for each joint and also considering unstructured uncertainty, an H∞ controller is designed and the Robust Stability and Robust Performance criteria are to be handeled with the µ analysis theory.
Designing and manufacturing mechanisms that are able to move on a slope according to the gravity ... more Designing and manufacturing mechanisms that are able to move on a slope according to the gravity has been an issue of the interests of researchers recently. In this paper the designing and manufacturing a Passive biped robot with 3 degrees of freedom is presented. This robot is able to move down on slope with a minimum tangent based on the gravity and without any controller or any supplier. After presenting the governing equations and the dynamic of the robot, a computer simulation is done. Finally a comparison between the results from the physical model and the results from the numerical simulation is done to check the validity of the project.
Background: Previous studies have shown that proanthocyanidins have cardioprotective effects whic... more Background: Previous studies have shown that proanthocyanidins have cardioprotective effects which are mediated via the release of nitric oxide (NO) ultimately resulting in increasing the antioxidant activity. We have investigated to show whether 1) the total extract and ethyl acetate fraction (Et) of Potentilla reptans root have an ischemic preconditioning (IPC) effect, 2) P. reptans has antioxidant and cardioprotective effects mediated by nuclear factor erythroid 2‐related factor 2 (Nrf2) pathway and scavenging of reactive oxygen species (ROS), 3) NO, caspase‐3 and Bcl‐2/Bax are involved in the IPC effect of P. reptans. Methods: Male Wistar rats were divided into 10 groups. The isolated hearts were subjected to 30min of ischemia and 100min of reperfusion. The P. reptans was applied before the main ischemia. The infarct size was estimated by triphenyl‐tetrazolium chloride staining. The hemodynamic parameters and ventricular arrhythmias were calculated during the reperfusion. Antioxidant markers and immunohistochemistry assays were determined at the end of the protocol. Results: The Et significantly decreased the infarct size, arrhythmia scores, ventricular fibrillation incidence, and enhanced the hemodynamic parameters in a concentration‐dependent manner against the ischemia/reperfusion group. SOD and CAT activity were increased and MDA level was decreased in response to the Et. Meanwhile, Et attenuated the suppression of Nrf2 expression and reduced the apoptotic indexes. The cardioprotective effect of P. reptans was abrogated by L‐NAME. Conclusions: P. reptans demonstrated that the cardioprotective preconditioning effects via NO release, Nrf2 pathway, and antioxidant activity lead to a decrease in the apoptotic index.
2015 International Symposium on Innovations in Intelligent SysTems and Applications (INISTA), 2015
In this article, a step-walker robot is introduced. In recent years too many explorer and moving ... more In this article, a step-walker robot is introduced. In recent years too many explorer and moving robots are designed and manufactured. These kinds of robots need a mechanism for climbing stairs or steps to explore and discover all sections of a building. This introduced mechanism is an optimum mechanism in terms of energy consumption while climbing a step or stair with a specific altitude. The robot which is introduced in this article contains two axes. Each axis can change its Vertical position independently. This position changes upon the stair or step's height. When the robot meets a step or stair, it can climb by changing its wheel's axes alternatively. This robot's cinematic and 3D modeling that will be used for choosing the proper DC motors and other essentials for making robot, is done by MATLAB and CATIA software solution package.
... The results of the simulation for two robust stability and robust performance criteria, shown... more ... The results of the simulation for two robust stability and robust performance criteria, shown a good compromise with the mathematics solutions. REFERENCES [1] S. Ghasem Beygi , Robust Control of a Bipedal Robots Moving on a Declined Surface., Msc Dissertation, Guilan ...
Abstract-Dynamic equations of the biped robots are easily obtained by the Lagrangian method. Beca... more Abstract-Dynamic equations of the biped robots are easily obtained by the Lagrangian method. Because of terrible nonlinearity of these dynamic equations, the actuator's dynamic is employed to linearize these equations. By this way, the heavy nonlinear equations are replaced with a second order linear system which their coefficients are achievable by the various identification methods. Here Least Square method is utilized to determine these second order transfer function's coefficients. Employing a set of linear transfer function for each joint and also considering unstructured uncertainty, an H∞ controller is designed and the Robust Stability and Robust Performance criteria are to be handeled with the µ analysis theory.
Designing and manufacturing mechanisms that are able to move on a slope according to the gravity ... more Designing and manufacturing mechanisms that are able to move on a slope according to the gravity has been an issue of the interests of researchers recently. In this paper the designing and manufacturing a Passive biped robot with 3 degrees of freedom is presented. This robot is able to move down on slope with a minimum tangent based on the gravity and without any controller or any supplier. After presenting the governing equations and the dynamic of the robot, a computer simulation is done. Finally a comparison between the results from the physical model and the results from the numerical simulation is done to check the validity of the project.
Background: Previous studies have shown that proanthocyanidins have cardioprotective effects whic... more Background: Previous studies have shown that proanthocyanidins have cardioprotective effects which are mediated via the release of nitric oxide (NO) ultimately resulting in increasing the antioxidant activity. We have investigated to show whether 1) the total extract and ethyl acetate fraction (Et) of Potentilla reptans root have an ischemic preconditioning (IPC) effect, 2) P. reptans has antioxidant and cardioprotective effects mediated by nuclear factor erythroid 2‐related factor 2 (Nrf2) pathway and scavenging of reactive oxygen species (ROS), 3) NO, caspase‐3 and Bcl‐2/Bax are involved in the IPC effect of P. reptans. Methods: Male Wistar rats were divided into 10 groups. The isolated hearts were subjected to 30min of ischemia and 100min of reperfusion. The P. reptans was applied before the main ischemia. The infarct size was estimated by triphenyl‐tetrazolium chloride staining. The hemodynamic parameters and ventricular arrhythmias were calculated during the reperfusion. Antioxidant markers and immunohistochemistry assays were determined at the end of the protocol. Results: The Et significantly decreased the infarct size, arrhythmia scores, ventricular fibrillation incidence, and enhanced the hemodynamic parameters in a concentration‐dependent manner against the ischemia/reperfusion group. SOD and CAT activity were increased and MDA level was decreased in response to the Et. Meanwhile, Et attenuated the suppression of Nrf2 expression and reduced the apoptotic indexes. The cardioprotective effect of P. reptans was abrogated by L‐NAME. Conclusions: P. reptans demonstrated that the cardioprotective preconditioning effects via NO release, Nrf2 pathway, and antioxidant activity lead to a decrease in the apoptotic index.
2015 International Symposium on Innovations in Intelligent SysTems and Applications (INISTA), 2015
In this article, a step-walker robot is introduced. In recent years too many explorer and moving ... more In this article, a step-walker robot is introduced. In recent years too many explorer and moving robots are designed and manufactured. These kinds of robots need a mechanism for climbing stairs or steps to explore and discover all sections of a building. This introduced mechanism is an optimum mechanism in terms of energy consumption while climbing a step or stair with a specific altitude. The robot which is introduced in this article contains two axes. Each axis can change its Vertical position independently. This position changes upon the stair or step's height. When the robot meets a step or stair, it can climb by changing its wheel's axes alternatively. This robot's cinematic and 3D modeling that will be used for choosing the proper DC motors and other essentials for making robot, is done by MATLAB and CATIA software solution package.
... The results of the simulation for two robust stability and robust performance criteria, shown... more ... The results of the simulation for two robust stability and robust performance criteria, shown a good compromise with the mathematics solutions. REFERENCES [1] S. Ghasem Beygi , Robust Control of a Bipedal Robots Moving on a Declined Surface., Msc Dissertation, Guilan ...
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