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Function approximation technique-based adaptive virtual decomposition control for a serial-chain manipulator
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SUMMARY<p>The virtual decomposition control (VDC) is an efficient tool suitable to deal with the full-dynamics-based control problem of complex robots. However, the regressor-based adaptive control used by VDC to control every subsystem and to estimate the unknown parameters demands specific knowledge about the system physics. Therefore, in this paper, we focus on reorganizing the equation of the VDC for a serial chain manipulator using the adaptive function approximation technique (FAT) without needing specific system physics. The dynamic matrices of the dynamic equation of every subsystem (e.g. link and joint) are approximated by orthogonal functions due to the minimum approximation errors produced. The control, the virtual stability of every subsystem and the stability of the entire robotic system are proved in this work. Then the computational complexity of the FAT is compared with the regressor-based approach. Despite the apparent advantage of the FAT in avoiding the regressor matrix, its computational complexity can result in difficulties in the implementation because of the representation of the dynamic matrices of the link subsystem by two large sparse matrices. In effect, the FAT-based adaptive VDC requires further work for improving the representation of the dynamic matrices of the target subsystem. Two case studies are simulated by Matlab/Simulink: a 2-R manipulator and a 6-DOF planar biped robot for verification purposes.</p>
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Publication Date
Sun Sep 07 2014
Journal Name
Baghdad Science Journal
Exponential Function of a bounded Linear Operator on a Hilbert Space.
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In this paper, we introduce an exponential of an operator defined on a Hilbert space H, and we study its properties and find some of properties of T inherited to exponential operator, so we study the spectrum of exponential operator e^T according to the operator T.

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Publication Date
Mon Sep 25 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Comparison of the Suggested loss Function with Generalized Loss Function for One Parameter Inverse Rayleigh Distribution
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The experiences in the life are considered important for many fields, such as industry, medical and others. In literature, researchers are focused on flexible lifetime distribution.

In this paper, some Bayesian estimators for the unknown scale parameter  of Inverse Rayleigh Distribution have been obtained, of different two loss functions, represented by Suggested and Generalized loss function based on Non-Informative prior using Jeffery's and informative prior represented by Exponential distribution. The performance of   estimators is compared empirically with Maximum Likelihood estimator, Using Monte Carlo Simulation depending on the Mean Square Error (MSE). Generally, the preference of Bayesian method of Suggeste

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Publication Date
Mon Apr 20 2020
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Bayesian Inference for the Parameter and Reliability Function of Basic Gompertz Distribution under Precautionary loss Function
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     In this paper, some estimators for the unknown shape parameter and reliability function of Basic Gompertz distribution have been obtained, such as Maximum likelihood estimator and Bayesian estimators under Precautionary loss function using Gamma prior and Jefferys prior. Monte-Carlo simulation is conducted to compare mean squared errors (MSE) for all these estimators for the shape parameter and integrated mean squared error (IMSE's) for comparing the performance of the Reliability estimators. Finally, the discussion is provided to illustrate the results that summarized in tables.

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Publication Date
Sun Oct 01 2023
Journal Name
Baghdad Science Journal
Nonlinear Ritz Approximation for the Camassa-Holm Equation by Using the Modify Lyapunov-Schmidt method
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          In this work, the modified Lyapunov-Schmidt reduction is used to find a nonlinear Ritz approximation of Fredholm functional defined by the nonhomogeneous Camassa-Holm equation and Benjamin-Bona-Mahony. We introduced the modified Lyapunov-Schmidt reduction for nonhomogeneous problems when the dimension of the null space is equal to two.  The nonlinear Ritz approximation for the nonhomogeneous Camassa-Holm equation has been found as a function of codimension twenty-four.

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Publication Date
Sat Jan 01 2022
Journal Name
The 2nd Universitas Lampung International Conference On Science, Technology, And Environment (ulicoste) 2021
Investigation of the vibrational spectral and electronic properties for ZnxBe7-xO7 wurtzoid via DFT approximation
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Publication Date
Sun May 17 2020
Journal Name
Iraqi Journal Of Science
Topological Structure of Nested Chain Abacus
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This paper focuses on developing a strategy to represent the -connected ominoes using an abacus. We use the idea of -connected ominoes with respect to a frame in modelling nested chain abacus. Then, we formulate and prove the unique connected partition for any -connected ominoes. Next, the topological structure of nested chain abacus is presented.

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Publication Date
Tue Jun 08 2021
Journal Name
مجلة العلوم و التكنولوجية للنشاطات البدنية و الرياضية
The effectiveness of using (7E’s) learning cycle in learning a movement chain on the uneven bars in the artistic gymnastics for women
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Abstract The Object of the study aims to identify the effectiveness of using the 7E’s learning cycle to learn movement chains on uneven bars, for this purpose, we used the method SPSS. On a sample composed (20) students on collage of physical education at the university of Baghdad Chosen as two groups experimental and control group (10) student for each group, and for data collection, we used SPSS After collecting the results and having treated them statistically, we conclude the use 7E’s learning cycle has achieved remarkable positive progress, but it has diverged between to methods, On this basis, the study recommended the necessity of applying 7E’s learning cycle strategy in learning the movement chain on uneven bar

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Publication Date
Sun Feb 25 2024
Journal Name
Baghdad Science Journal
An Adaptive Harmony Search Part-of-Speech tagger for Square Hmong Corpus
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Data-driven models perform poorly on part-of-speech tagging problems with the square Hmong language, a low-resource corpus. This paper designs a weight evaluation function to reduce the influence of unknown words. It proposes an improved harmony search algorithm utilizing the roulette and local evaluation strategies for handling the square Hmong part-of-speech tagging problem. The experiment shows that the average accuracy of the proposed model is 6%, 8% more than HMM and BiLSTM-CRF models, respectively. Meanwhile, the average F1 of the proposed model is also 6%, 3% more than HMM and BiLSTM-CRF models, respectively.

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Publication Date
Tue Dec 29 2020
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Management accounting techniques in product development and achievement customer requirements by adopting the technique of Quality Function Deployment: Applied Research in Baghdad Company for Soft Drinks
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The research aims to apply one of the techniques of management accounting, which is the Quality Function Deployment(QFD) on the Pepsi product in Baghdad Soft Drinks Company and to determine the technical requirements objectively that have been applied in practice in Baghdad Soft Drinks Company / a private shareholding company, as it focuses on meeting the quality requirements and achieving positive quality to provide a product It meets the requirements of current and future customers, hence the importance of research that indicates that the Quality Function Deployment(QFD) is a useful tool to develop the requirements of new products, being a design process driven by customers through their voices, and thus contribute to achieve a competi

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Publication Date
Mon Jul 01 2013
Journal Name
2013 35th Annual International Conference Of The Ieee Engineering In Medicine And Biology Society (embc)
Protocol for site selection and movement assessment for the myoelectric control of a multi-functional upper-limb prosthesis
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