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Performance Analysis of Finite-Time Generalized Proportional Integral Observer for Uncertain Brunovsky Systems
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This paper proposes a novel finite-time generalized proportional integral observer (FTGPIO) based a sliding mode control (SMC) scheme for the tracking control problem of high order uncertain systems subject to fast time-varying disturbances. For this purpose, the construction of the controller consists of two consecutive steps. First, the novel FTGPIO is designed to observe unmeasurable plant dynamics states and disturbance with its higher time derivatives in finite time rather than infinite time as in the standard GPIO. In the FTGPO estimator, the finite time convergence rate of estimations is well achieved, whereas the convergence rate of estimations by classical GPIO is asymptotic and slow. Secondly, on the basis of the finite and fast estimations, the SMC scheme is constructed in order to compensate estimation errors in both states and disturbance. Finally, the tracking efficiency is verified by carrying out many simulations on the application example of flexible joint robot (FJR). Besides, comparing the proposed method with the standard GPIO based SMC method is performed.

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Publication Date
Sat Jan 01 2022
Journal Name
Journal Of Advanced Pharmacy Education And Research
Formulation and evaluation of mucoadhesive buccal tablet of Anastrozole
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Publication Date
Wed May 24 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Effect of Smoking on Serum Level of Some Mineral
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Cigarette smoke contains a lot of toxic and oxidizing materials which causes body toxicity and reduces antioxidant that results in many diseases. In this study, levels of Zinc and Copper (which are antioxidant) were measured in serum of smokers and nonsmokers. It was found that the level of Zinc in serum of smokers was significantly lower than nonsmokers because nitric oxide which is one of cigarette contents acts to increase zinc loss, also a significantly lower copper levels were found in smokers than nonsmokers due to consumption of copper in reducing cadmium toxicity which is a cigarette smoke content

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Publication Date
Fri Mar 15 2019
Journal Name
Journal Of The College Of Education For Women
Motives of Voluntary Work Among A Sample Of Volunteers
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    This study aims to focus on the Motives behind volunteer work among a sample of volunteers working in civil society organizations and check if there are statistical differences with those variables according to (gender, age,  job, period of volunteer work, and residence. The sample consists of (220 )volunteers,(189) male and(31) female from southern, northern and central governorate .The Volunteer Functions Inventory(VFI)(Clary & et al,1989)was applied, It consisting of(30) items with six fields( Values, Understanding, Social motives, Career, Protective, Enhancement).

The results show that the most common and important motivations are (Values, Understanding, and social motivations), there are differenc

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Publication Date
Thu Aug 30 2018
Journal Name
Iraqi Journal Of Science
Quality of Experience Metric of Streaming Video: A survey
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Technological development in the last years leads to increase the access speed in the internet networks that allow a huge number of users watching videos online.

     Video streaming important type in the real-time video sessions and one of the most popular applications in networking systems.  The Quality of Service (QoS) techniques give us indicate to the effect of multimedia traffic on the network performance, but this techniques do not reflect the user perception. Using QoS and Quality of Experience (QoE) together can give guarantee to the distribution of video content according to video content characteristics and the user experience .

     To measure the users’ perceptio

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Publication Date
Sun May 30 2021
Journal Name
Iraqi Journal Of Science
Effect of blue laser on viability of Proteus mirabilis
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The usage of blue laser has been considered as a therapeutic approach to prohibit the viability of bacterial species, but there is no agreement about optimum parameters to be used. The aim of this project is to study the influence of blue laser (450 nm) on the viability of the gram-negative bacteria  Proteus mirabilis isolated from burn wounds, using different exposure times (i.e. doses) in vitro. Seventy swab samples were collected from burn wounds of patients admitted to the burns unit in AL-Yarmouk teaching hospital in Baghdad, during the period from June to August 2019. The Bacteria were isolated and identified depending on their culture characteristics, biochemical tests, gram staining, and morphology, being f

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Publication Date
Mon Mar 08 2021
Journal Name
Baghdad Science Journal
Evaluation of Laser Doping of Si from MCLT Measurement
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The measurement of minority carrier lifetime (MCLT) ofp-n Si fabricated with aid of laser doping technique was reported. The measurement is achieved by using open circuit voltage decay (OCVD) technique. The experiment data confirms that the value of MCLT and proftle of Voc decay were very sensitive to the doping laser energy.

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Publication Date
Fri Jan 26 2024
Journal Name
Iraqi Journal Of Science
Prevalence of Toxoplasmosis of Males Blood Donors in Baghdad
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Toxoplasma gondii is intracellular parasites, which infect a large proportion of the world's population, but uncommonly causes clinically significant disease .The present study was performed to estimate the prevalence of toxoplasmosis in Iraqi male. Venous blood samples were collected from healthy male age between (18-57) years attended the National blood transfusion centre in Baghdad from Oct, 2011 to Jan. 2012. Latex agglutination test (LAT) and Enzyme linked Immunosorbant Assay (ELISA), were used to detect anti-Toxoplasmosis IgM and IgG antibodies. The results showed significant differences between seropositive toxoplasmosis infections between LAT, 136/400 (34%) and ELISA - IgG, 121/400 (30.25%). The blood group phenotypes of the infe

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Publication Date
Fri Jan 01 2016
Journal Name
Chemistry And Materials Research
Synthesis of Triazolo and Pyrazolo Derivatives of Quinoline Nucleus
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New heterocyclic derivatives of quinoline are reported. Reaction of quinoline-2-thiol 4 with hydrazine hydrate gave 2-hydrazionoquinoline 5. Treatment of 5 with CS2 in pyridine afforded 1,2,4-triazolo-[4,3-a]- quinolin-1-2H-thione 6, whereas the reaction of 5 with carboxylic acids namely formic acid or acetic acid, yielded the 1,2,4-triazol-[4,3-a]-quinolin 7 or 5-methyl-1,2,4-triazolo [4,3-a]-quinoline 8 through ring closure. Diazotization of 5 under acidic conditions produced the fused tetrazole compound 9, tetrzolo-[1,5-a]- quinoline. Moreover, treatment of 5 with active methlyene compounds gave two pyrazole derivatives 10 and 11. Azomethines 12a-e were prepared through condensation of 5 with aromatic aldehydes or ketones.

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Publication Date
Wed Sep 30 2020
Journal Name
College Of Islamic Sciences
Saba is a semantic study of examples of pronouns
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which is much useful in the Arabic Language generally in the Holly Quran especially. It is the pronoun  I have taken in the semantic aspect from it and I have done on the surra sabba which varities  the semantical pronoun in it among the pronoun of the speaker the conscience of the addressee the absent  such the the siprat pronoun that comes in it with the explanation for its importance and its work and this is the subject of the first unit which I advanced it from the concept of the pronoun Linguistically and convention. After that I have lighten in some meanings which I have done in the surrat as a semantic , magnification , proud, reprimand and others which I ended my research I have reached the results from it

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Publication Date
Tue Jun 11 2019
Journal Name
Al-kindy College Medical Journal
Effect of HLA-B27 on Development of Psoriatic Arthropathy
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Background: Psoriatic arthritis is a type of arthritis that can often affect some patients who suffer from psoriasis. Approximately 40-50% of individuals with psoriatic arthritis have the HLA-B27 genotype

Objective: To investigate whether we could confirm the role of HLA-B27 alleles and psoriatic arthritis in Iraqi Arab Muslims patients.

Method: A cross sectional case control comparative study included thirty Iraqi Arab Muslims who had psoriatic arthritis that consulted the Dermatological and Rheumatological Department in AL-Kindy Teaching Hospital from November 2014 to June 2015. HLA-genotyping for HLA-B27 were assessed. A control group consisted of fifty-one healthy vol

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