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Design of a Hybrid Adaptive Controller for Series Elastic Actuators of Robots

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Publication Date
Sun Jan 20 2019
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Gallic Acid as Corrosion Inhibitor for Aluminum 6061 in Alkali Solutions

      The research aims to study the corrosion of aluminum alloy(6061) in 0.6 mol. dm-3 NaCl solution in base medium  was examined with out and with Gallic acid as environmentally – friendly corrosion inhibitor at temperature range (298-313)K. The inhibitive action of gallic acid on corrosion of aluminum alloy(6061)  in KOH solution was examined through electrochemical polarization method using potentiostatic technique and surface analysis by optical microscopy,  Polarization measurements indicate that the examined compound act as a mixed type inhibitor. Results appeared that the inhibition occurs through adsorption of the inhibitor molecules on the metal surface and it was obeyed

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Publication Date
Sun Jul 02 2017
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Crude Anthrax Protective Antigen Enhances Immunity For Salmonella Typhimurium in Mice

Background:Non-host-adapted Salmonella serovar Typhimurium is a facultative intracellular bacterium, which invades and multiplies within mononuclear phagocytes in liver, spleen, lymph nodes and Peyer’s plaques. Salmonella infection is a crucial medical and veterinary problem globally. S. Typhimurium causes various clinical symptoms, from asymptomatic infection to typhoid-like syndromes in infants or highly susceptible animals, for instance mice.
Objective: The present study was carried out to investigate the efficacy of anthrax protective antigen (PA)as a potent adjuvant mixed with killed Salmonella Typhimurium (S.T.) to enhance the immunization capacity of the last.
Materials and Methods: Two groups of mice were immunized with e

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Publication Date
Tue Apr 20 2021
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
The Galerkin-Implicit Methods for Solving Nonlinear Hyperbolic Boundary Value Problem

This paper is concerned with finding the approximation solution (APPS) of a certain type of nonlinear hyperbolic boundary value problem (NOLHYBVP).  The given BVP is written in its discrete (DI) weak form (WEF), and is proved that  it has a unique APPS, which is obtained via the mixed Galerkin finite element method (GFE) with implicit method (MGFEIM) that reduces the problem to solve the Galerkin nonlinear algebraic system  (GNAS).  In this part, the predictor and the corrector technique (PT and CT) are proved convergent and are used to transform the obtained GNAS to  linear (GLAS ), then the GLAS is solved using the Cholesky method (ChMe). The stability and the convergence of the method are studied. The results

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Publication Date
Fri Mar 30 2001
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
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Publication Date
Sun Jun 30 2019
Journal Name
Journal Of The College Of Education For Women
(Evaluation and Mobility) As Two self-Organizing Posts for University Students

One of the important goals in the learning process is to be effective learning through the self-direction of the learner , because it has an impact on the effort of learners , it is better to be a learner responsible for learning and independent of the acquisition of knowledge ,

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Publication Date
Mon May 31 2021
Journal Name
Iraqi Journal Of Science
Multi-criteria Decision Making on the Best Drug for Rheumatoid Arthritis

The theory of Multi-Criteria Decision Making (MCDM) was introduced in the second half of the twentieth century and aids the decision maker to resolve problems when interacting criteria are involved and need to be evaluated.  In this paper, we apply MCDM on the problem of the best drug for rheumatoid arthritis disease. Then, we solve the MCDM problem via -Sugeno measure and the Choquet integral to provide realistic values in the process of selecting the most appropriate drug. The approach confirms the proper interpretation of multi-criteria decision making in the drug ranking for rheumatoid arthritis.

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Publication Date
Sun Sep 01 2019
Journal Name
Journal Of Legal Sciences
Government Hospitals lease contract for the private sector In Iraqi law

The contract for iease public hospitals to the private sector is one of the administrative contracts in which all the elements of the administrative contract are available. It is signed by the administration represented by the Minister of Health. It is presented to a public hospital which is one of the public facilities that provide medical services. The Ministry of Health may also apply to the Leased Hospital. It may also amend the contract in accordance with the public interest, in addition to the possibility of dissolving the contract without recourse to the courts in case the tenant violates the terms of the contract, The State resorted to it in the event that it is unable to provide medical services within the required range, as it

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Publication Date
Tue Sep 01 2020
Journal Name
Journal Of Engineering
Evaluating Electrocoagulation Process for Water Treatment Efficiency Using Response Surface Methodology

The electrocoagulation process became one of the most important technologies used for water treatment processes in the last few years. It’s the preferred method to remove suspended solids and heavy metals from water for treating drinking water and wastewater from textile, diary, and electroplating factories. This research aims to study the effect of using the electrocoagulation process with aluminum electrodes on the removal efficiency of suspended solids and turbidity presented in raw water and optimizing by the response surface methodology (RSM). The most important variables studied in this research included electrode spacing, the applied voltage, and the operating time of the electrocoagulation process. The samples

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Publication Date
Sun Apr 30 2023
Journal Name
Iraqi Journal Of Science
Determination the Heating Rate and the Characteristic Age for Pulsars Stars

Pulsar stars are rotating Neutron stars can be divided into two types Millisecond and Normal Pulsars. In this work the magnetic field are concentrated depends on the period (P), and Period derivative (P) for a sample Normal, Millisecond and Radio stars which adopted. In addition, the values of spin down luminosity and Heating rate are determined by depending on (Ostriker and Gunn) model. The results showed that older Millisecond define as having greater ages specified how long pulsars lives at that ages very long period pulsars to be observable have particularly large surface magnetic field. The results indicate that spin down of luminosity for Millisecond and Normal star must due to the main energy loss rotation axis to align with magne

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Publication Date
Sat Dec 01 2018
Journal Name
Al-khwarizmi Engineering Journal
The Computational Fluid Dynamic Simulations for Gangrene Disease in Diabetic Foot

The diabetic foot is considered one of the long term diabetes complications caused by a defect in blood vessel and nerve system. This requires dealing with diabetic foot with professional medical care, so as to prevent its development in advanced stages which could end to gangrene and amputation of the foot. This study has been initiated through follow-up of twelve patients with diabetes and the presence various occlusions in lower limb artery. One patient from them was chosen for investigation, this patient has stenosis in popliteal artery and presence multiple stenosis in superficial femoral artery. This study based on analysis present case of patient and prediction for progress stenosis in superficial femoral artery till arrive semi t

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