---

Aims: This study aimed to investigate the effect of a health education program on empowering mothers to prevent home accidents among rural children under five years old in Ilam County.
Materials & Methods: This research was a randomized controlled trial involving 88 mothers with children under five years old attending healthcare houses in Ilam County in 2022-2023 who were randomly assigned to the intervention and control groups. A one-month online educational intervention was implemented for the intervention group using the WhatsApp application, while the control group received no education. Data were collected using a questionnaire assessing the constructs of the health belief model regarding home accidents in children, completed online by the participants at baseline and three months later. Data were analyzed using SPSS 16 software, employing an independent sample t-test and paired sample t-test.
Findings: No significant difference was found between the two groups in the mean scores of the health belief model constructs regarding preventing home accidents in the pre-test phase (p>0.05). The results of the independent sample t-test showed a significant increase in the mean scores of health belief model constructs in the intervention group compared to the control group after a three-month follow-up (p<0.05).
Conclusion: Designing interventions based on the health belief model effectively empowers mothers to prevent accidents in rural children under five years old.
 

---

In this study, design of a novel robust control method for three-link underactuated biped robot which can satisfy appropriate constrains on the robot and cause the stability and rhythmic movement of the robot, is presented. Due to the wide use of sensors and actuators in mechanisms and robots, and existence of noise and also uncertainty in the system components or other error stemming from unmolded dynamics in the system or unwanted disturbances acting on them, there is an essential need for employment of robust control methods. In order to apply locomotion’s constrains to the system, the feedback linearization method is used. Additionally this method is combined with the sliding mode method to obtain a robust control method. The other purpose of the study is the complete elimination of chattering phenomenon. To this end, the control method is combined with the backstepping method. Finally, the exponential stability of the method, which is called FLBS, is proved, and the stability of the obtained walking cycle is shown using the Poincare map. In the robot modeling procedure, the contact between the swing leg and the ground is considered to be rigid and instantaneous. The underactuated nature of the robot and the importance of the role of contact in stabilizing the robot movement are taken into account in this study. Finally, simulations based on this control method are performed which show the exponential stability of robot movement, elimination of chattering and robustness against either disturbances or uncertainties.

---

In this study, a dynamic based control algorithm for a six-link quadruped locomotion is proposed. Up to now, a lot of robotic scientists have researched in quadruped locomotion but most of their researches are based on modeling of robot and its surrounding. Such methods are not able to generate a stable locomotion when the surrounding changes a little. So this is important to propose a dynamic based control algorithm. The algorithms that can guarantee the stability are classified to two categories of dynamic based and trajectory based methods. The trajectory based algorithms need detailed information of gait and surrounding which is not necessarily available. But the dynamic based algorithms use some geometric constraints to reach a stable controller. These geometric constraints generate the proper gaits. So in this study by employing the dynamic based control algorithm, we proposed a controller for generating the Trot and Pace gait on a straight and flat path for quadruped robot locomotion. Given that the quadruped robot has four degrees of freedom so three geometric constraints are needed to provide a rhythmic locomotion. In this study we showed that for step generating by quadruped robot, both the appropriate initial conditions for angular velocities and presence of a point mass on the neck of the robot are needed. Also in this study the stability of quadruped locomotion has been proved using Poincaré return map.

 

---

The aim of this research was to optimize the formulation of a functional drink based on sugarcane juice using the response surface method (RSM) and in the form of Box Benken design. The ingredients used in the formulation were lemon juice (0.3, 6), turmeric (0.6, 0.3) and mint extract (0, 250, 500) in percentage and their physicochemical properties (pH, acidity, soluble solids, turbidity, color, total phenolic compounds, antioxidant activity) and sensory characteristics were investigated. The results showed that increasing the amount of lemon juice increased acidity, turbidity, L index, b index, phenolic compounds, antioxidant capacity and overall acceptance, but decreased pH, soluble solids and a index. The increase of turmeric caused a slight increase in the amount of soluble solids, b index and total phenolic compounds, while it decreased the antioxidant property and overall acceptance of the samples. With the increase in the amount of mint extract, turbidity, a and b indices, phenolic compounds and overall acceptance increased, but the amount of soluble solids and L index decreased. Finally, the optimization results showed that the sugarcane juice drink containing lemon juice (6%), turmeric (0.2%) and mint extract (418%) had the best physicochemical properties and the highest overall acceptance and can be recommended as a healthy drink in the industry.