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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
Sun Jul 09 2023
Journal Name
Journal Of Engineering
Effect of high and low density polyethylene on some mechanical properties of concrete
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The increasing use of plastics in various aspects of modern life resulted in the availability of enormous amount of wastes, including a negative effect on the environment and humans. So it is necessary to find solutions to deal with these wastes and ensure to use them as solutions to use in concrete mix . In this research the production of concrete containing high and low density polyethylene has been used by (5, 10, 15)% as a replacement of part of the volume of sand, so as to obtain concrete good compressive strength as well as other benefits such as improved possibility of pumping concrete and reduce the loss of concrete for workability polymer is a material that is non-absorbable of water . It is also intended to dispose of these was

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Publication Date
Wed Dec 28 2022
Journal Name
The Iraqi Journal Of Veterinary Medicine
Effect of Phosphatidylcholine on Dyslipidemia and Atherogenic Index in High Fructose Exposed Rats
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The purpose of this research was to investigate the beneficial effects of phosphatidylcholine in reducing changes in both lipid and protein profiles in addition to atherogenic index in adult rats with fructose-induced metabolic syndrome. Thirty-six mature Wistar Albino female rats (Rattus norvegicus) (aged 12-15 weeks and weighing 200±10 g) were divided randomly into four groups (G1, G2, G3, and G4); then variable treatments were orally administered for 62 days as follows: G1 (Control group), received distilled water; G2, treated with phosphatidylcholine (PC) orally (1 g/kg BW); G3 (Fr), orally dosed with 40% fructose and 25% fructose mixed with drinking water; G4 (Fr+PC), were also intubated with 40% fr

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Publication Date
Thu Aug 01 2019
Journal Name
Iop Conference Series: Materials Science And Engineering
Effect of Embedment Depth on Raft Foundation Settlement Under Seismic Load
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Abstract<p>Dynamic loads highly influence soil properties and may cause real damage to structures and buildings. This article reports the experimental results from 24 tests to study the settlement of flexible and rigid raft foundation with different embedment depth rested on dense sandy soil. A small scale building model of dimension 200*200 mm and 320 mm in height was performed with reinforced concrete raft foundation of 10 mm thickness for flexible raft and 23 mm for rigid raft, The shaking table technique was used to simulate the seismic effect, the shaker was sat to give three different excitation frequencies 1,2,and3 Hz and displacement amplitude equal to 13 mm, the foundation was placed at</p> ... Show More
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Publication Date
Sat Jul 01 2000
Journal Name
Bulletin Of The Iraq Natural History Museum (p-issn: 1017-8678 , E-issn: 2311-9799)
NOTES ON SOME MITES UNDER CERTAIN FIELD CROPS IN CENTRAL IRAQ
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A study of some mite species of alfalfa. wheat, and barley was conducted in central Iraq.
The mites were extracted using a tullgren funnel method. Twelve species were recorded. 10 of
them belong to suborder Trombidiformes and 2 belong to suborder Sarcoptiforms. Three
mites, Irnpar(pes hystricinus, Scutacarus longitarsus, and Rhizoglyphus echin opus are new
records for Iraqi mite fauna, and 11 are new host records in alfalfa soil.

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Publication Date
Tue Aug 01 2023
Journal Name
Baghdad Science Journal
The Classical Continuous Optimal Control for Quaternary Nonlinear Parabolic Boundary Value Problems
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In this paper, our purpose is to study the classical continuous optimal control (CCOC)  for quaternary nonlinear parabolic boundary value problems (QNLPBVPs). The existence and uniqueness theorem (EUTh) for the quaternary state vector solution (QSVS) of the weak form (WF) for the QNLPBVPs with a given quaternary classical continuous control vector (QCCCV) is stated and proved via the Galerkin Method (GM) and the first compactness theorem under suitable assumptions(ASSUMS). Furthermore, the continuity operator for the existence theorem of a QCCCV dominated by the QNLPBVPs is stated and proved under suitable conditions.

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Publication Date
Wed Aug 30 2023
Journal Name
Iraqi Journal Of Science
An Application for Smartphones and Computers to Diagnose and Control Potatoes Insects
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     Nowadays, a strong relationship between the agriculture sectors and digital technologies is really interesting. The article describes how recent intelligent technologies can improve agricultural fields. Mobile applications are software programs created on smartphones, tablets, and computers. Agricultural fields mainly represent the pillar of the economy and the business sector that fulfills the world's food requirements. The United States has a valuable rank in potato production, which depends on this production economically.

Nevertheless, so many insects affect potato yield production quantitatively and qualitatively. So, a smartphone App was created to help potato growers diagnose insects that directly attack potato cro

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Publication Date
Mon Jan 20 2020
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
The Continuous Classical Optimal Control Problems for Triple Elliptic Partial Differential Equations
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In this paper the Galerkin method is used to prove the existence and uniqueness theorem for the solution of the state vector of the triple linear elliptic partial differential equations for fixed continuous classical optimal control vector. Also, the existence theorem of a continuous classical optimal control vector related with the triple linear equations of elliptic types is proved. The existence of a unique solution for the triple adjoint equations related with the considered triple of the state equations is studied. The Fréchet derivative of the cost function is derived. Finally the theorem of necessary conditions for optimality of the considered problem is proved.

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Publication Date
Sun Nov 01 2020
Journal Name
Journal Of Engineering
Convolutional Multi-Spike Neural Network as Intelligent System Prediction for Control Systems
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The evolution in the field of Artificial Intelligent (AI) with its training algorithms make AI very important in different aspect of the life. The prediction problem of behavior of dynamical control system is one of the most important issue that the AI can be employed to solve it. In this paper, a Convolutional Multi-Spike Neural Network (CMSNN) is proposed as smart system to predict the response of nonlinear dynamical systems. The proposed structure mixed the advantages of Convolutional Neural Network (CNN) with Multi -Spike Neural Network (MSNN) to generate the smart structure. The CMSNN has the capability of training weights based on a proposed training algorithm. The simulation results demonstrated that the proposed

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Publication Date
Sun Nov 12 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
A Study of Some Cellulose Derivatives As Hydrogel For Control Drug Release
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Neutral and semi-synthetic hydrophilic polymers are widely used

in pharmaceutical technology to fomlUlate as controlled release drugs

delivery systems ,cellulose derivatives is biocompatibilily, biodegradability , non-toxicity, its is a good candidate as drug carrier. In this study, polymers were used as cellulose derivatives like Methylcellulose (MC) & Soditun Carboxymetl1ylcellulose (NaCMC) as hydrogels for controlled delivery for two kinds of drugs, Cefotaxine

& Amoxycill ine trihydrate i n different media (Distilled water, Normal Saline & Buffer solution  PH=2). It has been shown that for sodium Carboxymethylcellulnse the drug release rate is more than the Mcthylcellulose and that the release

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Publication Date
Mon Aug 01 2016
Journal Name
2016 38th Annual International Conference Of The Ieee Engineering In Medicine And Biology Society (embc)
Myoelectric feature extraction using temporal-spatial descriptors for multifunction prosthetic hand control
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