Refer to this research, an intelligent robust fuzzy parallel feedback linearization estimator for ProportionalIntegral-Derivative (PID) controller is proposed for highly nonlinear continuum robot manipulator. In the absence of robot knowledge, PID may be the best controller, because it is model-free, and its parameters can be adjusted easily and separately. And it is the most used in robot manipulators. In order to remove steadystate error caused by uncertainties and noise, the integrator gain has to be increased. This leads to worse transient performance, even destroys the stability. The integrator in a PID controller also reduces the bandwidth of the closed-loop system. Model-based compensation for PD control is an alternative method to substitute PID control. Feedback linearization compensation is one of the nonlinear compensator. The first problem of the pure feedback linearization compensator (FLC) was equivalent problem in certain and uncertain systems. The nonlinear equivalent dynamic problem in uncertain system is solved by using parallel fuzzy logic theory. To eliminate the continuum robot manipulator system's dynamic; Mamdani fuzzy inference system is design and applied to FLC. This methodology is based on design parallel fuzzy inference system and applied to equivalent nonlinear dynamic part of FLC. The results demonstrate that the model free fuzzy FLC estimator works well to compensate linear PID controller in presence of partly uncertainty system (e.g., continuum robot).

This paper examines single input single output (SISO) chattering free variable structure control (VSC) which controller coefficient is on-line tuned by fuzzy backstepping algorithm to control of continuum robot manipulator. Variable structure methodology is selected as a framework to construct the control law and address the stability and robustness of the close loop system based on Lyapunove formulation. The main goal is to guarantee acceptable error result and adjust the trajectory following. The proposed approach effectively combines the design technique from variable structure controller is based on Lyapunov and modified Proportional plus Derivative (P+D) fuzzy estimator to estimate the nonlinearity of undefined system dynamic in backstepping controller. The input represents the function between variable structure function, error and the modified rate of error. The outputs represent joint torque, respectively. The fuzzy backstepping methodology is on-line tune the variable structure function based on adaptive methodology. The performance of the SISO VSC based on-line tuned by fuzzy backstepping algorithm (FBSAVSC) is validated through comparison with VSC. Simulation results signify good performance of trajectory in presence of uncertainty joint torque load

The increasing demand for multi-degree-offreedom (DOF) continuum robot in presence of highly nonlinear dynamic parameters in a number of industries has motivated a flurry of research in the development of soft computing nonlinear methodology. This research contributes to the ongoing research effort by exploring alternate methods for controlling the continuum robot manipulator. This research addresses two basic issues related to the control of a continuum robots; (1) a more accurate representation of the dynamic model of an existing prototype, and (2) the design of a robust feedback controller. The robust back stepping controller proposed in this research is used to further demonstrate the appealing features exhibited by the continuum robot. Robust feedback controller is used to position control of continuum robot in presence of uncertainties. Using Lyapunov type stability arguments, a robust back stepping controller is designed to achieve this objective. The controller developed in this research is designed into two steps. Firstly, a robust stabilizing torque is designed for the nominal continuum robot dynamics derived using the constrained Lagrangian formulation. Next, the fuzzy logic methodology applied to it to solution uncertainty problem. The fuzzy model free problem is formulated to minimize the nonlinear formulation of continuum robot. The eventual stability of the controller depends on the torque generating capabilities of the continuum robots.

The paper presents a Basical-Ex-Post facto research. 230 graduate students voluntarily answered the CERQ and MCMI III. The basic goal of this research is to compare four types of cluster B personality disorder who are identified by BR score of 60

Abstract-In this research, intelligent adaptive backstepping control is presented as robust control for continuum robot. The first objective in this research is design a ProportionalDerivative (PD) fuzzy system to compensate the system model uncertainties. The second objective is focused on the design tuning gain adaptive methodology according to high quality partly nonlinear methodology. Conventional backstepping controller is one of the important robust controllers especially to control of continuum robot manipulator. The fuzzy controller is used in this method to system compensation. In real time to increase the system robust fuzzy logic theory is applied to backstepping controller. To approximate a time-varying nonlinear dynamic system, a fuzzy system requires a large amount of fuzzy rule base. The adaptive laws in this algorithm are designed based on the Lyapunov stability theorem. This method is applied to continuum robot manipulator to have the best performance.

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Pollution of water resources with pesticides is one of the environmental problems and a serious threat to the communities' health. This study aimed to determine the residual concentration of pesticides in urban drinking water networks of Hamadan province in 2019. In order for investigating the residual concentration of organochlorine (aldrin, dieldrin, lindane, methoxychlor and permethrin), organophosphorus (chlorpyrifos, diazinon and malathion), and carbamate (atrazine and alachlor) pesticides in urban drinking water distribution networks of the province, a total of 46 samples were taken. The samples were analyzed by GC-ECD and the results were analyzed using Excel software (a descriptive cross-sectional study). The residues of aldrin, dieldrin, lindane, diazinon, malathion, atrazine, and alachlor were found in none of the samples. The maximum concentrations of chlorpyrifos and permethrin were 2.20 and 8.03 µg/L, respectively. The methoxychlor residue was observed only in one sample (C=0.35 µg/L) and all other samples were free of methoxychlor. Residues of studied pesticides in all samples are much less than the maximum allowable in the national standard and the World Health Organization (WHO) and Environmental Protection Agency (EPA) guidelines. Therefore, it can be concluded that the studied networks water quality as well as the urban drinking water resources in Hamadan province are at a very desirable level in terms of the pesticide residues. If the consumption of pesticides is not controlled, there is a possibility of increasing the concentration of these pollutants in water resources, which in turn may threaten the human health in the future.