Preferred Language
Articles
/
EBgcaJcBVTCNdQwCCJiX
Grasping Stability of a Robotic Gripper with Frictional Self-Locking Mechanism
...Show More Authors

The grasping stability of robotic manipulators is crucial to enable autonomous manipulation in an environment where robots are facing obstacles in their route, where abrupt changes in the robot’s speed are induced. These speed variations will produce forces affecting the robotic manipulator, hence its grasping stability. In this research, the grasping stability of a robotic manipulator that functions according to a frictional self-locking mechanism is investigated statically and dynamically. Both theoretical and experimental results showed that the grasped object size, weight, and its orientation inside the gripper have a great effect on grasping stability. Both the theoretical and experimental results indicated that the grasping object parameters (diameter 25.5 mm–72 mm, weight 25 N–40 N) as well as its orientation inside the gripper influence the grasping stability. The configuration achieved which loaded 40 N, grasped an object of diameter 25.5 mm, and used an initial torque of 0.5N-m with rubber tube material showed optimal grasping stability of 98%. The dynamic test revealed that pulse disturbances (5 mm amplitude, 1.0 s duration) were stable without exceeding two degrees of vertical angular deviation.

Scopus Clarivate Crossref
View Publication
Publication Date
Sat Mar 30 2019
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Interaction of Aqueous Cu2+ Ions with Granules of Crushed Concrete
...Show More Authors

The sorption of Cu2+ ions from synthetic wastewater using crushed concrete demolition waste (CCDW) which collected from a demolition site was investigated in a batch sorption system. Factors influencing on sorption process such as shaking time (0-300min), the initial concentration of contaminant (100-750mg/L), shaking speed (0-250 rpm), and adsorbent dosage (0.05-3 g/ml) have been studied. Batch experiments confirmed that the best values of these parameters were (180 min, 100 mg/l, 250 rpm, 0.7 g CCDW/100 ml) respectively where the achieved removal efficiency is equal to 100%. Sorption data were described using four isotherm models (Langmuir, Freundlich, Redlich-Peterson, and Radke-Prausnitz). Results proved that the pure ads

... Show More
View Publication Preview PDF
Crossref (6)
Crossref
Publication Date
Wed Dec 15 2021
Journal Name
Journal Of Baghdad College Of Dentistry
Assessment of Coating Zirconium Implant Material with Nanoparticles of Faujasite
...Show More Authors

Aim: To evaluate the wettability and microhardness of Zirconium (ZrO2) dental material when coated with different concentrations of Faujasite. Materials and methods: 30 circular disks produced from ZrO2, then each group is classified into 10 control groups, 10 coated groups with 3% Faujasite, and 10 coated groups with 7% faujasite by electro-spun tool to study variable properties in hardness and water contact angle of implant materials. Results: This study stated the high hardness in 7% of faujasite concentration for ZrO2, in addition, the contact angle decreased gradually until reach 0 ᵒ in 7% concentration of faujasite with ZrO2 Conclusion: Water contact angle (WCA) declined till disappeared in (7% wt.) of faujasite coated with the Z

... Show More
View Publication Preview PDF
Scopus (8)
Crossref (7)
Scopus Crossref
Publication Date
Mon Jan 02 2017
Journal Name
Journal Of Educational And Psychological Researches
DEVELOP SCALE OF SELECTIV MUTISM WITH PUPILS OF PRIMARY SCHOOLS
...Show More Authors

This study aimed to develop scale of Selectiv Mutism with pupils of primary schools  according to their teachers' view in Baghdad city (Karh and Resaf(.

Children might choose the mutism as the solution to avoid some psychological and social problems that surrounded them. Furthermore, this could consider as a disorder that could effect the child and led him to use the Selected Mutism.

This is supported by the pilot study which was conducted by the researcher on 150 teachers in different primary schools in Baghdad. The results revealed some symptoms were found with children who have selected mutism.

Because of there was no scale was found to measure the Selected Mutism, a scale was develop in order to measure t

... Show More
View Publication Preview PDF
Publication Date
Fri Jan 01 2021
Journal Name
Vestnik Of Lobachevsky University Of Nizhni Novgorod
STRUCTURE OF UTTERANCES WITH THE MEANING OF «CHANGE» IN RUSSIAN
...Show More Authors

View Publication
Crossref
Publication Date
Mon Oct 01 2018
Journal Name
International Journal Of Civil Engineering And Technology
Properties of reactive powder concrete with different types of cement
...Show More Authors

Concrete is widely used in construction materials since early 1800's. It has been known that concrete is weak in tension, so it requires some addition materials to have ductile behavior and enhance its tensile strength and strain capacity to improve their uses. In this study reactive powder concrete (RPC) was used with steel fiber by using different types of cement; (Ordinary Portland cement (OPC) and/or Portland- Limestone cement (PLC)) with three types of mixtures (OPC at the first mix, 50 % OPC and 50 % PLC at the second mix and PLC at the third mix). The behavior of RPC with steel fibers on compressive strength and tensile strength of concrete with different ages of curing (7, 14, 28 and 60) days and shrinkage have been studied. The clo

... Show More
Scopus (8)
Scopus
Publication Date
Sun Jul 06 2014
Journal Name
Journal Of Educational And Psychological Researches
Ulma with feeling of freedom at student of secondary stage
...Show More Authors

The ulma is one of the most spread social phenomenon.It occupies people in their different tendencies,the ulma imposes itself strongly in their social ,economic and politic sidies.

The   problem of freedom quarrel is the older problem in creation .The groups as well as the individuals look for their liberty and it is restricted, they isolate themselves from others for a achieving it. Isolation phenomenon is one of common humanity phenomenon among individuals for looking  of individuals psychological and social compatibility with other and society so they feel anxiety and tension and restriction of will and freedom. IT is known that college student from the major never in development and ren

... Show More
View Publication Preview PDF
Publication Date
Mon Oct 01 2018
Journal Name
International Journal Of Civil Engineering And Technology
Properties of reactive powder concrete with different types of cement
...Show More Authors

Publication Date
Sun Oct 29 2023
Journal Name
Iraqi National Journal Of Nursing Specialties
Assessment of Quality of life for Patients with Myocardial Infarction
...Show More Authors

Objectives: To identify quality of life (QOL) in Myocardial Infarction (MI) patients, and to find out the
relationship between QOL in MI patients and demographic characteristics.
Methodology: A descriptive colTelation study which utilized an assessment approach. The study was carried out
from March 2007 through November 2007 in order to assess the quality of life for patients with myocardial
infarction. A purposive "non-probability" sample of (75) patients with myocardial infarction who were attending
to Baquba General Hospita`l through their visits to that hospital. A questionnaire was adapted and developed
from the World Health Organization Quality of Life Scale (1998). The questionnaire was designed and
consisted

... Show More
View Publication Preview PDF
Publication Date
Wed Jul 30 2025
Journal Name
Methodsx
New Modifications of ADM with Applications in Kind of PDEs
...Show More Authors

This paper presents seven modified Adomian Decomposition Method (ADM) techniques for efficiently solving initial value problems, especially those involving non-homogeneous and nonlinear differential equations. While the classical ADM is effective for linear homogeneous cases, it has difficulties solving more complex problems. The proposed modifications—from MADM1 to MLADM—include Maclaurin and Taylor expansions, Laplace transforms, and single-step iterations.• These modifications enhance convergence, reduce complexity, and improve accuracy.• Each method offers specific advantages, such as accelerating convergence (MADM2, RADM4), simplifying computation (TSADM5), and achieving higher accuracy (MLADM).• Numerical examples confirm th

... Show More
View Publication Preview PDF
Crossref
Publication Date
Fri Jan 24 2020
Journal Name
Iraqi Journal Of Agricultural Sciences
RESPONSE OF ABELMOSCHUS ESCULENTUS L. FORINOCULATION WITH MYCORRHIZAE AND FOLAIR APPLICATION WITH BIO-STIMULATORS AND EFFECT ON VEGETATIVE GROWTH CHARACTERS
...Show More Authors

The current study  was carried out at the Fields belongs of Horticulture  Department, Collage of Agricultural Engineering Science, University of  Baghdad, Al-Jadiriyah for the spring season 2016 -2017 to study the effect for  inoculation mycorrhizae and  folair application  with bio stimulators and their interaction in the growth characters of  (local okra  ptera). A factorial experiment  (2  in randomized complete block design (RCBD), the experiment included (12) treatment  Distributed  in three  replicates. The three factors used in this experiment included . The inoculation with control (C) Mycorrhizae  ( M ) , Biozyme  (B ) ( B1 2cm3.L-1), ( B2 4cm1-.L-1) , Phosphalas (P) (P 2cm3.L-1),  ( M + B1), ( M + B2), (P +

... Show More
Scopus Crossref