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| 1 | Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators显示文摘In order to apply the terminal sliding mode control to robot manipulators,prior knowledge of the exact upper bound of parameter uncertainties,and external disturbances is necessary.However,this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the robot.To resolve this problem in robot control,we propose a new robust adaptive terminal sliding mode control for tracking problems in robotic manipulators.By applying this adaptive controller,prior knowledge is not required because the controller is able to estimate the upper bound of uncertainties and disturbances.Also,the proposed controller can eliminate the chattering effect without losing the robustness property.The stability of the control algorithm can be easily verified by using Lyapunov theory.The proposed controller is tested in simulation on a two-degree-of-freedom robot to prove its effectiveness. | Mezghani Ben Romdhane Neila Damak Tarak | 2011 | International Journal of Automation and computing2011，8，2： | 15 |
| 2 | Robust Adaptive Control for Mobile Manipulators显示文摘This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. A kinematic controller is first designed to make the robot follow a desired end-effector and platform trajectories in task space coordinates simultaneously. Then, an adaptive control scheme is proposed, which ensures that the trajectories are accurately tracked even in the presence of external disturbances and uncertainties. The system stability and the convergence of tracking errors to zero are rigorously proven using Lyapunov theory. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive control law in comparison with a sliding mode controller. | Mohamed Boukattaya Tarak Damak Mohamed Jallouli | 2011 | International Journal of Automation and computing2011，8，1： | 4 |
| 3 | Efficient Microorganism Compost Benefits Plant Growth and Improves Soil Health in Calendula and Marigold显示文摘Organic farming needs to be promoted as a means of sustaining soil health and reducing the cost of farming, especially for small farmers.The present study deals with the effect of organic compost, prepared using Efficient Microorganism(EM) consortium and applied along with full or half of the recommended dose of chemical fertilizers, on the growth of Calendula and Marigold plants, soil physico-chemical parameters and soil enzyme activities. Soil enzyme activities were improved with the increase in the rate of EM compost application in both Calendula and Marigold. Carotenoid pigment increased by 46.11% and 12.19% with application of EM compost over the control in Calendula and Marigold flowers respectively. Soil humus, available nitrogen and organic carbon content also increased due to the supplementation of EM compost resulting in better soil fertility. For Calendula, treatment T5(Half dose NPK + EM compost 20 000 kg·hm^(-2)) was found to be the most promising in terms of acid phosphatase(82.63 μg p-Nitrophenyl Phosphate·g^(-1)·h^(-1)), dehydrogenase(10.46 μg Triphenyl Formazan·g^(-1)·d^(-1)) and β-glucosidase(0.30 IU·g^(-1)) activities. In Marigold, treatment C(Half dose NPK + EM compost 5 000 kg·hm^(-2)) was the most promising in terms of amendment in soil enzyme activities. | Anamika Sharma Tarak Nath Saha Anju Arora Raghubir Shah Lata Nain | 2017 | Horticultural Plant Journal2017，3，2： | 3 |
| 4 | A Sliding Mode Observer for Uncertain Nonlinear Systems Based on Multiple Models Approach显示文摘This paper presents a method of state estimation for uncertain nonlinear systems described by multiple models approach.The uncertainties, supposed as norm bounded type, are caused by some parameters variations of the nonlinear system. Linear matrix inequalities(LMIs) have been established in order to ensure the stability conditions of the multiple observer which lead to determine the estimation gains. A sliding mode gain has been added in order to compensate the uncertainties. Numerical simulations through a state space model of a real process have been realized to show the robustness of the synthesized observer. | Kd s Hfa edh Karim Dahech Tarak Damak | 2017 | International Journal of Automation and computing2017，14，2： | 2 |
| 5 | Distributed interactive video arrays for event capture and enhanced situational awareness显示文摘 | Mohan M Trivedi Tarak L Gandhi Kohsia S Huang | 2005 | IEEE Intelligent Systems2005，20，5： | 1 |
| 6 | Constitutively active HIF- 1a improves perfusion and arterial remodeling in an endo- vascular model of limb ischernia显示文摘 | Tarak HP Hideo KM Clifford RW | 2005 | Cardiovascular Research2005，68，1： | 1 |
| 7 | Factors associated with sta ble high blood pressure in adolescents 显示文摘 | Tarak E Gyarfas L Csukas M | 1985 | J Hypertens Sup pl1985，3，3： | 1 |
| 8 | C1q nephropathy presenting as rapidly progressive crescentic glomerulonephritis显示文摘 | Tarak Srivastava Vimal Chadha Eugenio M. Taboada Uri S. Alon | 2000 | Pediatric Nephrology . 2000 (10-1)2000，，： | 1 |
| 9 | Treatment outcome of late steroid-resistant nephrotic syndrome: a study by the Midwest Pediatric Nephrology Consortium显示文摘 | Caroline Straatmann Rose Ayoob Rasheed Gbadegesin Keisha Gibson Michelle N. Rheault Tarak Srivastava Cheryl L. Tran Debbie S. Gipson Larry A. Greenbaum William E. Smoyer V. Matti Vehaskari | 2013 | Pediatric Nephrology2013，，8： | 1 |
| 10 | On trajectory tracking control for nonholonomic mobile manipulators with dynamic uncertainties and external torque disturbances显示文摘 | Mohamed Boukattaya Mohamed Jallouli Tarak Damak | 2012 | Robotics and Autonomous Systems2012，，12： | 1 |
| 11 | Metal Complexes of Pyrimidine Derived Ligands : Syntheses, Characterization and X-Ray Crystal Structures of Ni(Ⅱ), Co( Ⅲ ) and Fe( Ⅲ ) Complexes of Schiff Base Ligands Derived from S-Methy/ S-Benzyl Dithiocarbazate and 2-S-Methymercapto-6-methylpyrimidine-4-carbaldehyde 显示文摘 | Somnath R Tarak N M Anil K B | 2007 | Polyhedron2007，26，12： | 1 |
| 12 | Urotensin Ⅱ-a newly discovered mod- ulator of cardiovascular functions in vertebrates显示文摘 | Zemancikova A Tarak J | 2013 | Ccsk Fysi- ol2013，62，1： | 1 |
| 13 | Automatically gener- ating test data from a Boolean specification显示文摘 | Elaine Weyuker Tarak Goradia | 1996 | IEEE Transactions on Software Engineering1996，20，5： | 1 |
| 14 | MATLAB/Simulink Based Modelling of Solar Photo-voltaic Cell显示文摘 | Tarak Salmi Mounir Bouzguenda Adel Gastli | 2012 | INTERNATIONAL JOURNAL of RENEWABLE ENERGY RESEARCH2012，2，2： | 1 |
| 15 | MATLAB simulink based modelling of solar photovoltaic cell 显示文摘 | TARAK S MOUNIR B ADEL G | 2012 | International Journal of Re- newable Energy Research2012，2，2： | 1 |
| 16 | 可食用文蛤中氧化性胁迫的生物标记物与甲基毒死蜱和草甘膦的生物富集(英文)显示文摘近几十年期间,在种群和个体受干扰后,对作为早期指示剂的生物标记物的研究受到越来越多的关注。我们用对水生生态系统污染敏感的生物标记物双壳类软体动物(文蛤)来评估两种有机磷杀虫剂(甲基毒死蜱、草甘膦)的影响。文蛤是水生生态系统污染的一种敏感的指示物种。在不同时间段测定文蛤中不同组织的非酶的(谷胱苷肽)和酶的(过氧化氢酶)抗氧化剂,作为文蛤中生物标记物的反应。在实验室条件下,测定了脂质过氧化作用、蛋白羰基含量、总蛋白含量、总脂质含量以及胆碱酯酶的活性。对不同的生物标记与杀虫剂的生物体内积累的相互关系进行了研究。甲基毒死蜱在文蛤组织中具有最大的诱导氧化胁迫的潜能,导致脂质过氧化反应增加并抑制抗氧化剂。而且,鳃是对该反应最敏感的器官。文蛤是一种极好的甲基毒死蜱的积聚者,因为暴露60天后,可以测定到其组织中浓度为824.0 mg/kg w.w的甲基毒死蜱。随着在草甘膦中暴露时间的增加,与背景水平相比,组织中草甘膦的浓度增加大约8×103mg/kg w.w。可以得出这样的结论:在一种生物中测定几种生物标记物是有用的。在双壳类中,蛋白质的羰基诱导可用于双壳类中化学污染物诱导的氧化胁迫的生物指示剂。抗氧化剂的防御成分是敏感的参数,是评估污染的水生生态系统的有用的生物标记物。辅以蛤组织的化学分析,生物标记参数能够提供一种有力的监测工具。 | Ismail M.ABDEL-NABI Nahla S.EL-SHENAWY Inas A.TAHA Tarak S.MOAWAD | 2007 | 动物学报2007，53，5： | 1 |
| 17 | Plasma electrolyte surface carburizing and harding of pure iron 显示文摘 | Tarakic M Korkmaz K Gencer Y | 2005 | Surf Coat Technol2005，199，23： | 1 |
| 18 | Exergetic analysis of textile convective drying with stenters by subsystem models:part 1 Exergetic modeling and evaluation显示文摘 | CAY A TARAK(C)IO(C)LU I HEPBASLI A | 2010 | Drying Technology2010，28，12： | 1 |
| 19 | Existence of serotonin and neuropeptides immunoreactive endocrine cells in the small and large intestines of the mole-rats (Spalax leucodon) 显示文摘 | Yaman M Bayrakdar A Tarak B G | 2012 | Tissue Cell2012，44，4： | 1 |
| 20 | A U S Army Forward Surgical Team's Experience Operation Iraqi Freedom显示文摘 | Tarak H P Kimberly A W Shaun A P | 2004 | The Journal of TRAUMA Injury Infection and Critical Care2004，57，2： | 1 |
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