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- 저자 : Ahmed Jaffar (검색결과 3 건)
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Application of Tactile Slippage Sensation Algorithm in Robot Hand Control System
Yussof, Hanafiah,Jaffar, Ahmed,Zahari, Nur Ismarrubie,Ohka, Masahiro Korea Society of Industrial Information Systems 2012 한국산업정보학회논문지 Vol.17 No.4
This paper presents application of a new tactile slippage sensation algorithm in robot hand control system. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. The tactile sensor is mounted on fingertip of robotic hand. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions.
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Application of Tactile Slippage Sensation Algorithm in Robot Hand Control System
Hanafiah Yussof,Ahmed Jaffar,Nur Ismarrubie Zahari,Masahiro Ohka 한국산업정보학회 2012 한국산업정보학회논문지 Vol.17 No.4
This paper presents application of a new tactile slippage sensation algorithm in robot hand control system. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. The tactile sensor is mounted on fingertip of robotic hand. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions.
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Rare bleeding disorders: spectrum of disease and clinical manifestations in the Pakistani population
Rafia Mahmood,Asad Mahmood,Maria Khan,Sadia Ali,Saleem Ahmed Khan,Syed Raza Jaffar 대한혈액학회 2020 Blood Research Vol.55 No.3
BackgroundRare inherited coagulation factor deficiencies constitute an important group of bleeding disorders. A higher frequency of these disorders is seen in areas of high consanguinity. Our aim was to study the prevalence and spectrum of rare inherited bleeding disorders, characterize the severity of the deficiencies, identify different clinical manifestations, and evaluate different treatments provided.MethodsThis cross-sectional study was conducted in the Department of Haematology, Armed Forces Institute of Pathology Rawalpindi, between January 2014 and December 2018. A detailed history was taken, and an examination was performed. The signs and symptoms were noted, and the patients were diagnosed on the basis of a coagulation profile. The disease severity was assessed using factor assays.ResultsAmong 2,516 patients with suspected coagulation disorders, 774 (30.8%) had an in-herited bleeding disorder. Of the 774 patients, 165 (21.3%) had a rare bleeding disorder; 91 (55.2%) of them were males, and 74 (44.9%) were females, with a male-to-female ratio of 1.2:1. The median patient age was 9 years 3 months. The most common disorder was factor VII deficiency (46 patients, 27.9%). The most common clinical presentation was bruising in 102 (61.8%) and gum bleeding in 91 (55.2%) patients. ConclusionThe most common rare bleeding disorder in our population is factor VII deficiency. The prevalence of these bleeding disorders is high in our population due to a high number of consanguineous marriages.
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