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On local approximation-based adaptive control with applications to robotic manipulators and biped robots

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Publication Date
Thu Dec 30 2021
Journal Name
Iraqi Journal Of Science
Applications of Affine Systems of Walsh Type to Generate Smooth Basis

The question on affine Riesz basis of Walsh affine systems is considered. An affine Riesz basis is constructed, generated by a continuous periodic function that belongs to the space on the real line, which has a derivative almost everywhere; in connection with the construction of this example, we note that the functions of the classical Walsh system suffer a discontinuity and their derivatives almost vanish everywhere. A method of regularization (improvement of differential properties) of the generating function of Walsh affine system is proposed, and a criterion for an affine Riesz basis for a regularized generating function that can be represented as a sum of a series in the Rademacher system is obtained.

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Publication Date
Sun Dec 06 2015
Journal Name
Baghdad Science Journal
Efficacy of some local isolates of Beauveria bassiana(Bals.) and Metarhizium anisopliae (Met.) in control of mosquito larvae of Culex quinquefasciatus (Say)

The main aim of this study is to investigate the ability of four local entomopathogenic isolates Beauveria bassiana (Bals.) and Metarhizium anisopliae (Met.) to control the mosquito larvae in the lab. The results revealed that the isolate (MARD48) B .bassiana reduced the survival rate of the mosquito larvae to (80%) followed by the isolate M. anisopliae (MARD10) to (90%) in the first two days of treatment, and 60 and 66% respectively in the third day. The results also showed that the isolate B. bassiana (MARD48) killed 50% of the population (LC50) with the concentration 1×104 conidia/ml compared to 1×107 conidia/ml for the isolates B. bassiana (MARD14) and M. anisopliae (MARD10), and 1×108 conidia/ml for the isolate B .bassiana (MARD76).

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Publication Date
Mon Mar 01 2021
Journal Name
Journal Of Physics: Conference Series
Some Results in Grűnwald-Letnikov Fractional Derivative and its Best Approximation
Abstract<p>In This paper, we have been approximated Grűnwald-Letnikov Derivative of a function having m continuous derivatives by Bernstein Chlodowsky polynomials with proving its best approximation. As well as we have been solved Bagley-Torvik equation and Fokker–Planck equation where the derivative is in Grűnwald-Letnikov sense.</p>
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Publication Date
Wed Apr 20 2022
Journal Name
Periodicals Of Engineering And Natural Sciences (pen)
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Publication Date
Sun Sep 29 2019
Journal Name
Iraqi Journal Of Science
Intelligent TRIPLE DES with N Round Based on Genetic Algorithm

     This work presents an approach for the applying Triple DES (TRIPLE DES) based on using genetic algorithm by adding intelligent feature for TRIPLE DES with N round for genetic algorithm. Encapsulated cipher file with special program which send an acknowledgment to a sender to know who decipher or  broken to  crash it , Thus it is considered as the initial step to improve privacy. The outcome for proposed system gives a good indication that it is a promising system compared with other type of cipher system.

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Publication Date
Mon Nov 05 2018
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Molecular Characterization of Malassezia furfur isolated from patients with pityriasis versicolor compared to healthy control in Baghdad, Iraq

Background: Humans skin, is the largest organ of the integumentary system, it has multiple layers of ectodermal tissue and guards the underlying muscles, bones, ligaments and internal organs. Pityriasis versicolor is the prototypical skin disease etiologically connected to Malassezia species. Malassezia furfur is the primary causative agent of pityriasis versicolor which causes either hyperpigmentation or hypopigmentation of the skin.
Objective: To identify of Malassezia furfur associated with pityriasis versicolor patients and healthy control by using molecular detection methods.
Material and Methods: Sixty patients suffering from pityriasis versicolor disease who attended Medical Imammaine Kadhmain City from beginning of 1st Dece

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Publication Date
Wed Dec 13 2017
Journal Name
Al-khwarizmi Engineering Journal
Ant Colony Optimization Based Force-Position Control for Human Lower Limb Rehabilitation Robot

The aim of human lower limb rehabilitation robot is to regain the ability of motion and to strengthen the weak muscles. This paper proposes the design of a force-position control for a four Degree Of Freedom (4-DOF) lower limb wearable rehabilitation robot. This robot consists of a hip, knee and ankle joints to enable the patient for motion and turn in both directions. The joints are actuated by Pneumatic Muscles Actuators (PMAs). The PMAs have very great potential in medical applications because the similarity to biological muscles. Force-Position control incorporating a Takagi-Sugeno-Kang- three- Proportional-Derivative like Fuzzy Logic (TSK-3-PD) Controllers for position control and three-Proportional (3-P) controllers for force contr

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Publication Date
Tue Dec 01 2020
Journal Name
Ieee Transactions On Industrial Electronics
Cascaded-Extended-State-Observer-Based Sliding-Mode Control for Underactuated Flexible Joint Robot

This article presents a new cascaded extended state observer (CESO)-based sliding-mode control (SMC) for an underactuated flexible joint robot (FJR). The control of the FJR has many challenges, including coupling, underactuation, nonlinearity, uncertainties and external disturbances, and the noise amplification especially in the high-order systems. The proposed control integrates the CESO and SMC, in which the CESO estimates the states and disturbances, and the SMC provides the system robustness to the uncertainty and disturbance estimation errors. First, a dynamic model of the FJR is derived and converted from an underactuated form to a canonical form via the Olfati transformation and a flatness approach, which reduces the complexity of th

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Publication Date
Wed Feb 16 2022
Journal Name
Iraqi Journal Of Science
Efficient method to Recognition of Anemia Images based on Moment Invariants and Decision tree classifier

Anemia is one of the common types of blood diseases, it lead to lack of number of RBCs (Red Blood Cell) and amount hemoglobin level in the blood is lower than normal.
In this paper a new algorithm is presented to recognize Anemia in digital images based on moment variant. The algorithm is accomplished using the following phases: preprocessing, segmentation, feature extraction and classification (using Decision Tree), the extracted features that are used for classification are Moment Invariant and Geometric Feature.
The Best obtained classification rates was 84% is obtained when using Moment Invariants features and 74 % is obtained when using Geometric Feature. Results indicate that the proposed algorithm is very effective in detect

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Publication Date
Fri Aug 06 2021
Journal Name
Annals Of The Romanian Society For Cell Biology
Versatile Applications of Complexes with Some Lanthanide Elements: A Review

Cerium (III), Neodymium (III) and Samarium (III) Complexes existent a wide range of implementation that stretch from their play in the medicinal and pharmaceutical area because of their major significant pharmacological characteristic such as antifungal, anti-cancer, anti-bacterial ,anti-human immunodeficiency virus ,antineoplastic, anti-inflammation,inhibition corrosion,in some industrial (polymers, Azo dye).It is likely to open avenuesto research among various disciplines such as physics, electronics, chemistry and materials science by these complexes that contain exquisitely designed organic molecules.This paper reviews the definition, importance and various applications of Cerium (III), Neodymium (III) and Samarium (III) Complexe

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