In this paper, an optimal PID controller is introduced for an antagonistic variable stiffness actuator (AVSA) based on Hammerstein models.A set of Hammerstein models is developed for the AVSA using the voltage difference method.For each stiffness level, linear and nonlinear Hammerstein models are identified using the least squares method.Experiment
The development of new and improvement of existing methods for determining antioxidant activity is an urgent task of pharmacy, cosmetic and food industries.In the present work, the systematization and analysis of methods for determining antioxidant activity have been carried out, which have found the widest application and are described in the dome
Geomatics has been an important tool in archaeology.The combination of Geomatics and archaeology Adjustment pull Pin adopters have been considered a perfect match, since archaeology often involves the study of the spatial dimension of human behavior over time, and all archaeology carries a spatial component.Since Iraqi archaeology becomes one of th