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Sliding mode control based on high-order extended state observer for flexible joint robot under time-varying disturbance
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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).

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Publication Date
Tue Jul 01 2003
Journal Name
Bulletin Of The Iraq Natural History Museum (p-issn: 1017-8678 , E-issn: 2311-9799)
RECORDING OF FIVE MONOGENETIC TREMATODES FOR THE FIRST TIME FROM FISHES OF IRAQ
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A total of 589 fishes, belonging to 23 species were collected from eight different localities
in north and mid Iraq during 1993. The parasitological inspection of such fishes revealed the
presence of 59 parasite species and two fungi. Among such parasites, five monogenetic
trematodes were recorded on the gills of some fishes for the first time in Iraq. These
included:- Ancyrocephalus vanbenedenii on Liza abu from Tigris river at Al-Zaafaraniya,
south of Baghdad; Dactylogyrus anchoratus on Cyprinus carpio from Tigris river at Al –
Zaafaranya D. minutus on C. carpio from both Tigris river at Al-Zaafaraniya and Euphrates
river at Al-Qadisiya dam lake; Discocotyle sagittata on L. abu from both the drainage system
at

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Publication Date
Mon May 31 2021
Journal Name
Iraqi Journal Of Science
Single-based and Population-based Metaheuristics for Solving NP-hard Problems
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Metaheuristic is one of the most well-known fields of research used to find optimum solutions for non-deterministic polynomial hard (NP-hard) problems, for which it is difficult to find an optimal solution in a polynomial time. This paper introduces the metaheuristic-based algorithms and their classifications and non-deterministic polynomial hard problems. It also compares the performance of two metaheuristic-based algorithms (Elephant Herding Optimization algorithm and Tabu Search) to solve the Traveling Salesman Problem (TSP), which is one of the most known non-deterministic polynomial hard problems and widely used in the performance evaluations for different metaheuristics-based optimization algorithms. The experimental results of Ele

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Publication Date
Sat Oct 28 2023
Journal Name
Baghdad Science Journal
A Comparative Study on Association Rule Mining Algorithms on the Hospital Infection Control Dataset
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Administrative procedures in various organizations produce numerous crucial records and data. These
records and data are also used in other processes like customer relationship management and accounting
operations.It is incredibly challenging to use and extract valuable and meaningful information from these data
and records because they are frequently enormous and continuously growing in size and complexity.Data
mining is the act of sorting through large data sets to find patterns and relationships that might aid in the data
analysis process of resolving business issues. Using data mining techniques, enterprises can forecast future
trends and make better business decisions.The Apriori algorithm has bee

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Publication Date
Tue Aug 31 2021
Journal Name
Iraqi Journal Of Science
Characterization of Flexible Multi-Walled Carbon Nanotubes Network Sensor to Freon Gas Detection
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     MWCNTs-OH was used to prepare a flexible gas sensor by deposition as a network on a filter cake using the method of filtration from suspension (FFS). The morphological and structural properties of the MWCNTs network were characterized before and after exposure to Freon gas using FTIR spectra and X-ray diffractometer, which confirmed that the characteristics of the sensor did not change after exposure to the gas. The sensor was exposed to a pure Freon134a gas as well as to a mixture of Freon gas and air with different ratios at room temperature. The experiments showed that the sensor works at room temperature and the sensitivity values increased with increasing operating temperature, to be 58% unt

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Publication Date
Wed Aug 15 2018
Journal Name
Al-khwarizmi Engineering Journal
Experimental and Simulation investigations of Micro Flexible Deep Drawing Using Floating Ring Technique
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Micro metal forming has an application potential in different industrial fields. Flexible tool-assisted sheet metal forming at micro scale is among the forming techniques that have increasingly attracted wide attention of researchers. This forming process is a suitable technique for producing micro components because of its inexpensive process, high quality products and relatively high production rate. This study presents a novel micro deep drawing technique through using floating ring as an assistant die with flexible pad as a main die. The floating ring designed with specified geometry is located between the process workpiece and the rubber pad. The function of the floating ring in this work is to produce SS304 micro cups with profile

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Publication Date
Wed Nov 01 2023
Journal Name
International Society For The Study Of Vernacular Settlements
Using Modern Techniques in the Formation of Flexible Interior Spaces: Insights from Iraq
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Publication Date
Fri Apr 19 2019
Journal Name
Iraqi Journal Of Science
Effect of Photodeposition Time on the Concentration of Silver Nanoparticles on Core of Optical Fiber End
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In this work an experimental study of deposited silver nanoparticles on the core of optical fiber end at different time based on photodeposition technique is presented. The results demonstrated that the concentration of silver nanoparticles deposited on the core of optical fiber end was effected by the deposition time. The photodeposition system was fabricated using multi-mode optical fiber and laser diode source. The results show that the silver deposition concentration increases linearly with the deposition time. The deposition rate was 3.25 (wt/ s)

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Publication Date
Wed Mar 16 2022
Journal Name
International Journal Of Recent Contributions From Engineering, Science & It
Smart Learning based on Moodle E-learning Platform and Digital Skills for University Students
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Publication Date
Fri Jan 01 2016
Journal Name
Modern Applied Science
Hybrid Methodology for Image Segmentation Based on Active Contour Module and Alpha-Shape Theory
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The concept of the active contour model has been extensively utilized in the segmentation and analysis of images. This technology has been effectively employed in identifying the contours in object recognition, computer graphics and vision, biomedical processing of images that is normal images or medical images such as Magnetic Resonance Images (MRI), X-rays, plus Ultrasound imaging. Three colleagues, Kass, Witkin and Terzopoulos developed this energy, lessening “Active Contour Models” (equally identified as Snake) back in 1987. Being curved in nature, snakes are characterized in an image field and are capable of being set in motion by external and internal forces within image data and the curve itself in that order. The present s

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Publication Date
Fri Dec 01 2023
Journal Name
Iraqi Journal Of Physics
Gas Sensor for Hazardous Nitrogen Dioxide Based on TiO2 Nanotube Synthesis via Electrochemical Method
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Because of the quick growth of electrical instruments used in noxious gas detection, the importance of gas sensors has increased. X-ray diffraction (XRD) can be used to examine the crystal phase structure of sensing materials, which affects the properties of gas sensing. This contributes to the study of the effect of electrochemical synthesis of titanium dioxide (TiO2) materials with various crystal phase shapes, such as rutile TiO2 (R-TiO2NTs) and anatase TiO2 (A-TiO2NTs). In this work, we have studied the effect of voltage on preparing TiO2 nanotube arrays via the anodization technique for gas sensor applications. The results acquired from XRD, energy dispersion spectro

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