In this research the results of applying Artificial Neural Networks with modified activation function to perform the online and offline identification of four Degrees of Freedom (4-DOF) Selective Compliance Assembly Robot Arm (SCARA) manipulator robot will be described. The proposed model of identification strategy consists of a feed-forward neural network with a modified activation function that operates in parallel with the SCARA robot model. Feed-Forward Neural Networks (FFNN) which have been trained online and offline have been used, without requiring any previous knowledge about the system to be identified. The activation function that is used in the hidden layer in FFNN is a modified version of the wavelet function. This approach has been performed very successfully, with better results obtained with the FFNN with modified wavelet activation function (FFMW) when compared with classic FFNN with Sigmoid activation function (FFS) .One can notice from the simulation that the FFMW can be capable of identifying the 4-Links of SCARA robot more efficiently than the classic FFS
The synthesis of the MBIB ligand by the reaction of the BIB ligand with methionine in 1:1 ratio, and the metal complexes with Ni(II), Cu(II), and Pt(IV) were described. All synthesized compounds were characterized using spectroscopic methods such as FT-IR, 1H NMR, UV-VIS, thermal analysis (TG and DSC), atomic absorption (AAS), elemental microanalysis (C.H.N.S), melting point (m.p.), magnetic susceptibility, molar conductivity measurements, and chloride content. All the complexes were electrolytes, and the suggested geometric shapes for the complexes were octahedral. The magnetic properties of the platinum complex were diamagnetic, while those of the nickel and copper complexes were paramagnetic. All synthes
... Show MoreMassive multiple-input multiple-output (MaMi) systems have attracted much research attention during the last few years. This is because MaMi systems are able to achieve a remarkable improvement in data rate and thus meet the immensely ongoing traffic demands required by the future wireless networks. To date, the downlink training sequence (DTS) for the frequency division duplex (FDD) MaMi communications systems have been designed based on the idealistic assumption of white noise environments. However, it is essential and more practical to consider the colored noise environments when designing an efficient DTS for channel estimation. To this end, this paper proposes a new DTS design by exploring the joint use of spatial channel and n
... Show MoreThe research involves preparing gold nanoparticles (AuNPs) and studying the factors that influence the shape, sizes and distribution ratio of the prepared particles according to Turkevich method. These factors include (reaction temperature, initial heating, concentration of gold ions, concentration and quantity of added citrate, reaction time and order of reactant addition). Gold nanoparticles prepared were characterized by the following measurements: UV-Visible spectroscopy, X-ray diffraction and scanning electron microscopy. The average size of gold nanoparticles was formed in the range (20 -35) nm. The amount of added citrate was changed and studied. In addition, the concentration of added gold ions was changed and the calibration cur
... Show MoreRheumatoid arthritis (RA) is an inflammatory condition causing joint pain and stiffness, with often debilitating and life-limiting consequences. Recently, a new B-cell secreted cytokine, IL-39, was identified in mice. The most up-to-date research indicates that although IL-39 is expressed in murine models of lupus and has a role in mediating the inflammatory response in this context, there is no solid, replicated evidence of the existence of IL-39 in humans. This study aimed to clarify the existence and role of IL-39 in the human body and to elucidate whether it plays a role in rheumatoid arthritis. Accordingly, serum samples were collected from 66 patients with rheumatoid arthritis who were under therapy and from 66 healthy c
... Show MoreThe adsorption ability of Iraqi initiated calcined granulated montmorillonite to adsorb of 4-(4-Nitrobenzeneazo) 3-Aminobenzoic Acid from aqueous solutions has been investigated through columnar method. The azo dye adsorption found to be dependent on adsorbent dosage, initial concentration and contact time. All columnar experiments were carried out at three different pH values (5.5, 7and 8) using buffer solutions at flow rate of (3 drops/ min.), at room temperature (25±2) °C. The experimental isotherm data were analyzed using Langmuir, Freundlich and Temkin equations. The monolayer adsorption capacity is 6.4066 mg Azo ligand per 1g calcined Montmorillonite. The experiments showed that highest removal rate 90.5 % for azo dye at pH 5.5.The
... Show MoreWireless sensor networks (WSNs) are emerging in various application like military, area monitoring, health monitoring, industry monitoring and many more. The challenges of the successful WSN application are the energy consumption problem. since the small, portable batteries integrated into the sensor chips cannot be re-charged easily from an economical point of view. This work focusses on prolonging the network lifetime of WSNs by reducing and balancing energy consumption during routing process from hop number point of view. In this paper, performance simulation was done between two types of protocols LEACH that uses single hop path and MODLEACH that uses multi hop path by using Intel Care i3 CPU (2.13GHz) laptop with MATLAB (R2014a). Th
... Show MoreCharacterization of the heterogonous reservoir is complex representation and evaluation of petrophysical properties and application of the relationships between porosity-permeability within the framework of hydraulic flow units is used to estimate permeability in un-cored wells. Techniques of flow unit or hydraulic flow unit (HFU) divided the reservoir into zones laterally and vertically which can be managed and control fluid flow within flow unit and considerably is entirely different with other flow units through reservoir. Each flow unit can be distinguished by applying the relationships of flow zone indicator (FZI) method. Supporting the relationship between porosity and permeability by using flow zone indictor is ca
... Show MoreAbstract
For sparse system identification,recent suggested algorithms are -norm Least Mean Square ( -LMS), Zero-Attracting LMS (ZA-LMS), Reweighted Zero-Attracting LMS (RZA-LMS), and p-norm LMS (p-LMS) algorithms, that have modified the cost function of the conventional LMS algorithm by adding a constraint of coefficients sparsity. And so, the proposed algorithms are named -ZA-LMS,
... Show MoreThe widespread use of images, especially color images and rapid advancement of computer science, have led to an emphasis on securing these images and defending them against intruders. One of the most popular ways to protect images is to use encryption algorithms that convert data in a way that is not recognized by someone other than the intended user. The Advanced Encryption Standard algorithm (AES) is one of the most protected encryption algorithms. However, due to various types of theoretical and practical assaults, like a statistical attack, differential analysis, and brute force attack, its security is under attack.
In this paper, a modified AES coined as (M-AES) is proposed to improve the efficiency
... Show More