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
Sun Apr 07 2013
Journal Name
Journal Of Educational And Psychological Researches
skills and its relationship to the with concept of self in social The chidren kindergarten age (4-6) years
...Show More Authors

 The interest in Multi social skills and self-concept is extremely  important for many of the scholars of education and psychology has taken a great deal in their writings and their interests as they see that social skills training is to make sure of the same, and that whenever enable the individual from acquiring social skills whenever asserted itself.The research aims know social skills and self-concept and their relationship to the children Riyadh age (4-6 years), and the research sample consisted of(200) boys and girls from kindergarten in the city of Baghdad Bjanbey Rusafa second and Karkh second.And to the objectives of the research realized the researcher has built two measures of social skills a

... Show More
View Publication Preview PDF
Publication Date
Sat Mar 08 2025
Journal Name
Chemistry Africa
Preparation, Characterisation, and Photochemical Stability of Polymeric Derivatives of Polyvinyl Alcohol Grafted with Phthalic Anhydride and Dyes
...Show More Authors

In this study, derivatives of polyvinyl alcohol (PVA) grafted with phthalic anhydride (PhA) and dyes were prepared to produce polymeric materials of PVA-g-PhA, PVA-g-PhA-anthocyanin, PVA-g-PhA-bromophenol blue, and PVA-g-PhAthymol blue. The materials were characterised by FTIR and 1 H NMR spectroscopies. The crystallinity of the polymers was evaluated with powder X-ray difraction, and the thermal stability by thermogravimetric analysis (TGA). The synthetic procedure for the polymeric materials entailed the formation of esters. The FTIR spectra of the polymers confrmed their formation since the ester carbonyl group stretch was observed at approximately 1691–1716  cm−1 in each material. NMR spectroscopy confrmed the addition of t

... Show More
View Publication
Scopus (1)
Crossref (1)
Scopus Clarivate Crossref
Publication Date
Mon Jan 01 2018
Journal Name
Journal Of The College Of Languages (jcl)
Self-discovery in Paulo Coelho’s Aleph
...Show More Authors

There is no doubt that complexities and ambiguities exist in the human minds. The need to unravel and solve those mysteries and the foggy actualities of life’s existence has been one of Paulo Coelho’s (1947-present) biggest concern. In almost all his novels, Coelho shows how people should dig deep into the mysteries of life in order to find a true understanding to their existence. In doing so, a true kind of enlightenment and purification is reached and the quest for self-discovery or self-realization is attained.

    The paper tackles one of Paulo Coelho’s novels Aleph (2011) which is considered as an autobiographical reading to signify the connection between himself and God. It was a phase

... Show More
View Publication Preview PDF
Publication Date
Mon Dec 05 2022
Journal Name
Baghdad Science Journal
Normal Self-injective Hyperrings
...Show More Authors

       In this paper normal self-injective hyperrings are introduced and studied. Some new relations between this concept and essential hyperideal, dense hyperideal, and divisible hyperring are studied. 

View Publication Preview PDF
Scopus Crossref
Publication Date
Thu Jun 25 2020
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Comparison Between Conventional and Supersaturable Self-nanoemulsion Loaded with Nebivolol: Preparation and In-vitro/Ex-vivo Evaluation
...Show More Authors

Nebivolol (NBH) is a third-generation B1-blocker with high selectivity and vasodilation activity. Nevertheless, nebivolol exhibits low oral bioavailability, which may adversely affect its efficacy. Recently, supersaturable self-nanoemulsion (Su-SNE) is an advanced SNE approach that can address low bioavailability The study aims to prepare nebivolol-loaded Su-SNE by reduction the amount of the prepared conventional SNE to half. Besides, an appropriate polymer type and concentration to prevent NBH precipitation upon oral administration have investigated.. A conventional self-nanoemulsion (formula A) was prepared by dissolving NBH in 500 mg vehicle mixture of imwitor®988: cremophor-EL: propylene glycol. Then, eight Su-SNE formul

... Show More
View Publication Preview PDF
Scopus (18)
Crossref (9)
Scopus Crossref
Publication Date
Thu Feb 28 2019
Journal Name
Journal Of Engineering
Asphaltene Stability of Some Iraqi Dead Crude oils
...Show More Authors

Asphaltene is one of the fractions of the crude oil which is soluble in aromatics such as benzene or toluene and insoluble in alkane such as n-heptane, n-pentane or petroleum ether (mixture of alkane compounds).  Asphaltene precipitation is one of the most common problems that sometimes occurs in both oil recovery and refinery processes as a result of changing in pressure, oil composition, or temperature. Therefore the stability of asphaltene in the crude oil must be studied to show the tendency of it for precipitating asphaltene to prevent it (Asphaltene precipitation and deposition problem) and eliminate the burden of high treatment costs.

In the present study, saturate, aromatic, resin and asphaltene (SAR

... Show More
View Publication Preview PDF
Crossref (7)
Crossref
Publication Date
Wed Oct 01 2014
Journal Name
Journal Of Economics And Administrative Sciences
Design of Self-Assessment Scale to Accreditation Standards
...Show More Authors

The process of self-assessment plays a key role in achieving quality educational institutions (college, department or program academic particular), because the assessment process provides reviews of the effectiveness of the criteria used in the enterprise, especially in the field of teaching and learning, and is result self-assessment providing self-assessment report. The self- assessment can be performed at different levels (college, academic department, Master, Ph.D. program, or courses). The importance of the research focused on to provide a measure of self-assessment helps profile officials in the implementation of the assessment process are clear and precise and fast, and to provide them to measure the availability requireme

... Show More
View Publication Preview PDF
Crossref
Publication Date
Mon Nov 04 2019
Journal Name
Applied Physics Letters
Stability of organic permeable base transistors
...Show More Authors

Organic Permeable Base Transistors (OPBTs) reach a very high transit frequency and large on-state currents. However, for a later commercial application of this technology, a high operational stability is essential as well. Here, the stability of OPBTs during continuous cycling and during base bias stress is discussed. It is observed that the threshold voltage of these transistors shifts toward more positive base voltages if stressed by applying a constant potential to the base electrode for prolonged times. With the help of a 2D device simulation, it is proposed that the observed instabilities are due to charges that are trapped on top of an oxide layer formed around the base electrode. These charges are thermally released after rem

... Show More
View Publication Preview PDF
Scopus (8)
Crossref (7)
Scopus Clarivate Crossref
Publication Date
Thu Aug 01 2019
Journal Name
Ieee Internet Of Things Journal
A New Task Allocation Protocol for Extending Stability and Operational Periods in Internet of Things
...Show More Authors

Scopus (20)
Crossref (14)
Scopus Clarivate Crossref
Publication Date
Tue Oct 01 2024
Journal Name
Esic
Comparative Analysis of Economic Policy Stability between Monarchical and Republican Systems: A Theoretical Fundamental Research
...Show More Authors

Comparative Analysis of Economic Policy Stability between Monarchical and Republican Systems: A Theoretical Fundamental Research