Preferred Language
Articles
/
HxdiZ5IBVTCNdQwCIK8_
Sliding mode control based on high-order extended state observer for flexible joint robot under time-varying disturbance
...Show More Authors

Abstract. In this paper, a high order extended state observer (HOESO) based a sliding mode control (SMC) is proposed for a flexible joint robot (FJR) system in the presence of time varying external disturbance. A composite controller is integrated the merits of both HOESO and SMC to enhance the tracking performance of FJR system under the time varying and fast lumped disturbance. First, the HOESO estimator is constructed based on only one measured state to precisely estimate unknown system states and lumped disturbance with its high order derivatives in the FJR system. Second, the SMC scheme is designed based on such accurate estimations to govern the nominal FJR system by well compensating the estimation errors in the states and the lumped disturbance. To verify the tracking trajectory performance, several simulations have been conducted on the simulated FJR plant model. In addition, a comparative study is carried out between the proposed method and the full state feedback linearization control (FLC) with first order ESO (ESO1).

Scopus Crossref
View Publication
Publication Date
Fri Sep 30 2022
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Polyacrylamide Polymer Gel Systems for Conformance Control Technology: A Review
...Show More Authors

Low oil extraction and early high water production are caused in part by reservoir heterogeneity. Huge quantities of water production are prevalent issues that happen in older reservoirs. Polyacrylamide polymer gel systems have been frequently employed as plugging agents in heterogeneous reservoirs to regulate water output and increase sweep efficiency. Polyacrylamide polymer gel systems are classified into three classes depending on their composition and application conditions, which are in-situ monomer gel, in-situ polymer gel, and preformed particle gel (PPG).

   This paper gives a comprehensive review of PPG’s status, preparation, and mechanisms. Many sorts of PPGs are categorized, for example, millimeter-sized preformed p

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Wed Jan 02 2013
Journal Name
Journal Of The Faculty Of Medicine Baghdad
SYNTAX Scoring In Patients with Coronary Artery Disease and Its Effect on Mode of Revascularization , Single Center Experience.
...Show More Authors

Background: revascularization therapy for patients with left main (LM) and/or three vessel coronary disease is a matter of argument for long a time whether bypercutaneous coronary angiography orcoronary artery bypass grafting. SYNTAX trial was designed to assess the optimal revascularization strategy between percutaneous coronary intervention and coronary artery bypass grafting, for patients with left main stem coronary artery disease and/or 3-vessel coronary disease.

Aim: To estimate the complexity of coronary artery disease in patients referred to a tertiary Iraqi cardiac center and its effect on mode of revascularization.

Patients and Method: Ninety nine patients who w

... Show More
View Publication Preview PDF
Crossref
Publication Date
Wed Mar 01 2017
Journal Name
Diyala Journal Of Engineering Sciences
NFLUENCE OF WATER SOURCE ON COMPRESSIVE STRENGTH OF HIGH STRENGTH CONCRETE
...Show More Authors

This research studies the influence of water source on the compressive strength of high strength concrete. Four types of water source were adopted in both mixing and curing process these are river, tap, well and drainage water (all from Iraq-Diyala governorate). Chemical analysis was carried out for all types of the used water including (pH, total dissolved solids (TDS), Turbidity, chloride, total suspended solid (TSS), and sulfates). Depending on the chemical analysis results, it was found that for all adopted sources the chemical compositions was within the ASTM C 1602/C 1602M-04 limits and can be satisfactorily used in concrete mixtures. Mixture of high strength concrete for compressive strength of (60 MPa) was designed and checked using

... Show More
Publication Date
Tue Oct 08 2019
Journal Name
Asa-cssa-sssa International Annual Meeting
Cover Crop Effects on Soil Health in Organic High Tunnels (2019).
...Show More Authors

High tunnels, or unheated plastic greenhouses, are becoming increasingly popular among organic vegetable growers across the United States. However, the intensive production typical of these systems presents soil health challenges, including salinization due to high fertilizer or compost inputs coupled with lack of rainfall to leach salts. Legume cover crops may improve soil health in high tunnels by reducing the need for external inputs, while adding organic matter. We tested the soil health effects of a winter hairy vetch (Vicia villosa Roth) cover crop used to replace fertilizer N in an organic tomato cropping system in high tunnels. Studies were replicated across three sites differing in climate and soil type (Kansas, Kentucky, and Minne

... Show More
Publication Date
Tue May 23 2023
Journal Name
Journal Of Engineering
Injection Temperature Effects on the Properties of High Density Polyethylene Crates
...Show More Authors

This study was undertaken to provide more insight on the optimum injection temperature used for the production of PE crates, thereby saving time and money, and improving part quality. The work included processing trails of HDPE crates in an injection
molding machine at five temperatures ranged from 220 to 300°C. Both Rheological and mechanical characterization was conducted in order to understand the effect of injection temperature on the properties of crates. Oven aging was also applied for (4 weeks) to evaluate the long-term thermal stability. The results revealed that producing the crates at a temperature range of (260-280 °C) gives the best rheological and mechanical result. The lowest drop in thermal stability has been observed

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sat Oct 20 2018
Journal Name
Journal Of Economics And Administrative Sciences
The effect of The Organizational Agility On High Performance ( Applied Search )
...Show More Authors

Abstract

The current research aims to know  the  reality of the  research's coefficients, to know  correlation and effectiveness  between  the  organizational  Agility  and high performance . The current research  has been applied on  the official banks , including  a sample of  senior administration  members  (120) ; besides , the research has used questionnaire  that being considered as the main tool for gathering  information  and data . It includes  59 questions  in addition to  the personal interviews  program  as to support  the questionnaire and to fulfill a great deal of reality. It has been anal

... Show More
View Publication Preview PDF
Crossref
Publication Date
Wed May 31 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Chemiluminescence Study of High Power Microwave Pulses Effects on Whole Blood
...Show More Authors

   Chemiluminescenc (CL), light emitted during chemical reaction, is one of the accurate methods used to detect directly oxygen free radicals. In this study, luminol was used as CL detector, to detect the concentration of free radicals formed in whole blood exposed to high power microwave pulses. The changes in the intensity of CL signal gives a clear relation between the concentration of free radicals formed by radiation in blood and changes in blood properties such as hemolysis of blood cells. This is done by measuring the electrical sytoplsimic electrical properties, the results are substituted in Maxwell-Wagner equation, to obtain electrical conductivity of cytoplasm, which is 18.3   ms/cm, while at suspension med

... Show More
View Publication Preview PDF
Publication Date
Wed May 17 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Evaluation Interleukin ─ 8 and High Sensitivity C - Reactive Protein in Sera of Control Group and Human Female Patients with Osteoarthritis Nodal in Iraqi's Patients
...Show More Authors

       The present study conducted on 30 female patients with osteoarthritis OA a attending Baghdad teaching hospital, in addition to 30 healthy females, all subjects were (35-65) year's old .Parameters were measured in the sera of patients group and healthy groups were interleukin -8 (IL-8) and high sensitivity C-reactive protein (hs-CRP).The results revealed a higher significant in all parameters of patients sera compared to healthy groups. Conclusion was obtained that IL-8 and hs- CRP were a markers or player inflammatory disease like osteoarthritis nodal  

 

View Publication Preview PDF
Publication Date
Sun Jan 30 2022
Journal Name
Iraqi Journal Of Science
Modified Blowfish Algorithm for Image Encryption using Multi Keys based on five Sboxes
...Show More Authors

In this paper, a new modification was proposed to enhance the security level in the Blowfish algorithm by increasing the difficulty of cracking the original message which will lead to be safe against unauthorized attack. This algorithm is a symmetric variable-length key, 64-bit block cipher and it is implemented using gray scale images of different sizes. Instead of using a single key in cipher operation, another key (KEY2) of one byte length was used in the proposed algorithm which has taken place in the Feistel function in the first round both in encryption and decryption processes. In addition, the proposed modified Blowfish algorithm uses five Sboxes instead of four; the additional key (KEY2) is selected randomly from additional Sbox

... Show More
View Publication Preview PDF
Publication Date
Mon Jan 01 2024
Journal Name
Aip Conference Proceedings
Modeling and analysis of thermal contrast based on LST algorithm for Baghdad city
...Show More Authors

View Publication
Scopus Crossref