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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 Apr 01 2023
Journal Name
Journal Of Ecological Engineering
Dual Application of Al-Kheriat of Removal of Arsenic from Aqueous Solution and Acting as Rodenticide
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Arsenic is a prevalent and pervasive environmental contaminant with varied amounts in drinking water. Arsenic exposure causes cancer, cardiovascular, liver, nerve, and ophthalmic diseases. The current study aimed to find the best conditions for eliminating arsenic from simulated wastewater and their effect on biomarkers of hepatic in mice. Adsorption tests including pH, contact duration, Al-kheriat dosage, and arsenic concentrations were evaluated. Seventy-two healthy albino mice (male) were accidentally allocated into nine groups (n = 8), the first group was considered as healthy control, the second group (AL-Kheriat), and other groups received AL-Kheriat and arsenic 25, 50, 75, 100, 125, 150 and 175 mg/kg, respectively. Next 10 days, the

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Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
Effect of crude extracts of the plant local wolf riding in the growth of some fungi
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Make a search on the vegetative parts of the plant local horse guilt of some elements in the Haj Omran area in northern Iraq has included recognition of certain nutrients

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Publication Date
Sun Mar 21 2021
Journal Name
Periodicals Of Engineering And Natural Sciences (pen)
Estimation of the reliability system in model of stress- strength according to distribution of inverse Rayleigh
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Publication Date
Sun Mar 02 2014
Journal Name
Baghdad Science Journal
Comparison of Properties of Various Heat Storage Fluids used with Evacuated Tube of Solar Water Heater
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The aim of this work was to capture solar radiation and convert it into solar thermal energy by using a storage material and the heat transfer fluid like oil and water and comparison between them, we used the evacuated tube as a receiver for solar radiation, The results showed that the oil better than water as storage material and the heat transfer fluid and the effective thermal conductivity material and good for power level, rates and durations of charge and discharge cycles.

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Publication Date
Sat Jun 01 2013
Journal Name
Journal Of Economics And Administrative Sciences
A field study of the problems of queues at some checkpoints in the city of Baghdad
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Abstract

Due to the momentum of winning in the streets of the city of Baghdad as a result of the large number of checkpoints so felt researcher to conduct a field visit to find out the main reasons that led to this congestion and to find practical solutions to mitigate wastage winning the arrival time citizen to where you want the least possible time.

This research aims to overcome the difficulties experienced by citizens to reach their places of work and reduce waste at the time of service and waiting time as well as reduce the cost of waiting.

Has emerged study a set of conclusions, including the use of model queue (G / G / C) and the mome

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Publication Date
Sun Aug 06 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
tudy of the Role of the Outer Membrane Proteins of Serratia marcescence in Resistant to Antibiotics
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      After diagnostic tests on ten isolates of S. marcescence, were made an examination of sensitivity to various antibiotics and checking the ability to produce β-lactamase of all isolates.        The outer membrane protein quantity was determined in μg/cm3 for all isolates. The results showed that S. marcescence have antibiotic multiresistant and all isolates had the ability to produce β-lactamase and its resistance may arise from more than two mechanisms like overproduction of antibiotic inactivation enzymes and the decrease of permeability by outer membrane protein.

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Publication Date
Sun Feb 01 2015
Journal Name
Journal Of Engineering
Effect of Saturation of Sandy Soil on the Displacement Amplitude of Soil Foundation System under Vibration
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In this study, the response and behavior of machine foundations resting on dry and saturated sand was investigated experimentally. A physical model was manufactured to simulate steady state harmonic load at different operating frequencies. The effect of relative density, depth of embedment, foundation area as well as the imposed harmonic load was investigated. It was found that the amplitude of displacement of the foundation increases with increasing the amplitude of dynamic force and operating frequency meanwhile it decreases with increasing the relative density of sand, degree of saturation, depth of embedment and contact area of footing. The maximum displacement was noticed at 33.34 to 41.67 Hz. The maximum displaceme

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Publication Date
Wed Dec 01 2021
Journal Name
Iraqi Journal Of Science
Study the Toxic Effect of Different Doses of Duprost in Liver and Blood of Albino Mice
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The aim of this study is to investigate the effect of different doses of Duprost in the liver and blood of albino mice. The current study included twenty one albino mice, obtained and grouped into 3 groups: control (3 mice), acute group (12 mice) and chronic group (6 mice). The acute group was subdivided into 4 groups and each group of 3mice, was given a lonely oral dose of (0.25ml, 0.15ml, 0.1 ml and 0.05ml respectively) for 24 hours. Whereas the third group was subdivided into 2 groups and each set was given a daily dose of (0.15ml and 0.05 ml respectively) for 30 days. After the mentioned periods, blood samples from each animal were taken for blood analysis. Then, the mice of all groups were sacrificed and the livers were removed, pro

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Publication Date
Tue Mar 30 2010
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
The Effect of Operating Conditions of Urea Dewaxing on the Pour Point of Light Lubricating Oil
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An investigation was conducted for dewaxing of lubricating oil fraction by urea to reduce the pour point.In this study mixture of 45 % methyl ethyl ketone (MEK) and 55 % toluene was used as a solvent. The studied variables are mixing time (10-70 min), solvent to oil volume ratio (0.5:1- 2:1), urea to wax weight ratio (2- 6) and constant mixing speed 1500 rpm. By analysis of the experimental results, the best operating conditions achieved are mixing time 40 min, solvent/oil 2:1 volume ratio, and urea/wax 4:1 weight ratio. At these conditions the pour point of the lubricating oil decreases from 24 ° C to -13 °C.

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Publication Date
Thu Jun 30 2011
Journal Name
Al-kindy College Medical Journal
Effect of war on treatment of pulmonary tuberculosis, and evaluation of Directly-observed therapy in Baghdad
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Background: Directly observed therapy-short course (DOTS) had been adopted by World Health Organization (WHO) as hopeful strategy for treatment of tuberculosis (TB) since early nineties. Iraqi health authorities started DOTS implementation since 2001 in Baghdad. Coverage expanded gradually till 100% in 2004. War and unstable security condition hit Iraq since March 2003. Objective: The objective of this study was To evaluate the DOTS implementation program in Baghdad in different periods including 2 unstable periods for proper assessment of war and instability on treatment of TB. Patients and methods: This study had been conducted in Baghdad during four different periods (before and during 2003 war, after war; without and with DOTS). Dire

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