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Inverse Kinematic Analysis For A 5 DOF Robotic Arm Using Deep Neural Network
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In this study, the kinematic analysis including the forward and inverse kinematic developed for a 5 degree of freedom robotic arm. The forward kinematic is elaborated using Denavit-Hartenberg (DH) convention. Inverse Kinematic is established using Deep Neural Network (DNN) model with five hidden layer each contain 50 neurons fully connected using ReLu activation. A data of inputs and outputs are created and trained. The inputs are the end-effector position and orientation. The outputs are the joint angles of the manipulator. The data is generated by the forward kinematics, where a set of joint angles that limited by their corresponding ranges are inserted to the forward kinematic equations to result the end-effector positions and orientations. The results of the DNN are tested and show an accuracy of the approach with a Mean Square Error of 0.0002569 which means the approach is highly accurate.

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Publication Date
Sun Jun 07 2009
Journal Name
Baghdad Science Journal
A New Spectrophotometric Method for Analysis of Allopurinol in Aqueous Solutions and Pharmaceutical Preparations
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A new method for determination of allopurinol in microgram level depending on its ability to reduce the yellow absorption spectrum of (I-3) at maximum wavelength ( ?max 350nm) . The optimum conditions such as "concentration of reactant materials , time of sitting and order of addition were studied to get a high sensitivity ( ? = 27229 l.mole-1.cm-1) sandal sensitivity : 0.0053 µg cm-2 ,with wide range of calibration curve ( 1 – 9 µg.ml-1 ) good stability (more then24 hr.) and repeatability ( RSD % : 2.1 -2.6 % ) , the Recovery % : ( 98.17 – 100.5 % ) , the Erel % ( 0.50 -1.83 % ) and the interference's of Xanthine , Cystein , Creatinine , Urea and the Glucose in 20 , 40 , 60 fold of analyate were also studied .

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Publication Date
Tue Sep 23 2025
Journal Name
Sensing And Imaging
A Review of Detection, Monitoring, and Analysis Techniques in Terahertz Sensing for Sustainable Agriculture
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Terahertz (THz) technology, which uses radiation lying between microwave and infrared in the electromagnetic spectrum, could revolutionize digital agriculture through terahertz’s ability to assess agricultural materials accurately and non-destructively. The review discusses notable developments in THz applications to digital agriculture: real-time crop monitoring, nutrient and disease detection, soil moisture and contaminant analysis, and supply chain traceability. The developments have emerged from studies in time-domain spectroscopy, imaging, machine learning (ML), and blockchain integration. Despite the promising advances in THz agricultural applications, limitations remain, such as limited penetration depth, high system costs, and ope

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Publication Date
Mon Oct 04 2021
Journal Name
Journal Of Petroleum Exploration And Production Technology
Perforation location optimization through 1-D mechanical earth model for high-pressure deep formations
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Optimum perforation location selection is an important study to improve well production and hence in the reservoir development process, especially for unconventional high-pressure formations such as the formations under study. Reservoir geomechanics is one of the key factors to find optimal perforation location. This study aims to detect optimum perforation location by investigating the changes in geomechanical properties and wellbore stress for high-pressure formations and studying the difference in different stress type behaviors between normal and abnormal formations. The calculations are achieved by building one-dimensional mechanical earth model using the data of four deep abnormal wells located in Southern Iraqi oil fields. The magni

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Publication Date
Sat Dec 31 2022
Journal Name
Iraqi Geological Journal
Geochemical Criteria for Discriminating Shallow and Deep Environments in Oligocene-Miocene Succession, Western Iraq
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The geochemical study of the Oligocene-Miocene succession Anah, Euphrates, and Fatha formations, western Iraq, was carried out to discriminate their depositional environments. Different major and trace patterns were observed between these formations. The major elements (Ca, Mg, Fe, Mn, K, and Na) and trace elements (Li, V, Cr, Co, Ni, Cu, Zn, Ga, Rb, Sr, Zr, Cs, Ba, Hf, W, Pb, Th, and U) are a function of the setting of the depositional environments. The reefal facies have lower concentrations of MgO, Li, Cr, Co, Ni, Ga, Rb, Zr, and Ba than marine and lagoonal facies but have higher concentrations of CaO, V, and Sr than it. Whereas dolomitic limestone facies are enriched V, and U while depletion in Li, Cr, Ni, Ga, Rb, Sr, Zr, Ba, an

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Publication Date
Mon Oct 02 2023
Journal Name
Journal Of Engineering
Microgrid Integration Based on Deep Learning NARMA-L2 Controller for Maximum Power Point Tracking
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This paper presents a hybrid energy resources (HER) system consisting of solar PV, storage, and utility grid. It is a challenge in real time to extract maximum power point (MPP) from the PV solar under variations of the irradiance strength.  This work addresses challenges in identifying global MPP, dynamic algorithm behavior, tracking speed, adaptability to changing conditions, and accuracy. Shallow Neural Networks using the deep learning NARMA-L2 controller have been proposed. It is modeled to predict the reference voltage under different irradiance. The dynamic PV solar and nonlinearity have been trained to track the maximum power drawn from the PV solar systems in real time.

Moreover, the proposed controller i

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Publication Date
Fri Aug 01 2025
Journal Name
Journal Of Communications
Deep Reinforcement Learning for Dynamic Routing, Modulation, and Spectrum Assignment in Elastic Optical Networks
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Publication Date
Wed Mar 01 2023
Journal Name
Al-khwarizmi Engineering Journal
A Methodology for Evaluating and Scheduling Preventive Maintenance for a Thermo-Electric Unit Using Artificial Intelligence
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Flow-production systems whose pieces are connected in a row may not have maintenance scheduling procedures fixed because problems occur at different times (electricity plants, cement plants, water desalination plants). Contemporary software and artificial intelligence (AI) technologies are used to fulfill the research objectives by developing a predictive maintenance program. The data of the fifth thermal unit of the power station for the electricity of Al Dora/Baghdad are used in this study. Three stages of research were conducted. First, missing data without temporal sequences were processed. The data were filled using time series hour after hour and the times were filled as system working hours, making the volume of the data relativel

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Publication Date
Tue Aug 01 2023
Journal Name
Iop Conference Series: Earth And Environmental Science
Estimate Raw Water Salinity for the Tigris River for a Long Time Using a Mathematical Model
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Abstract<p>The measurement data of the raw water quality of Tigris River were statistically analyzed to measure the salinity value in relation to the selected raw water quality parameters. The analyzed data were collected from five water treatment plants (WTPs) assembled alongside of the Tigris River in Baghdad: Al-Karkh, Al-Karama, Al-Qadisiya, Al-Dora, and Al-Wihda for the period from 2015 to 2021. The selected parameters are total dissolved solid (TDS), electrical conductivity (EC), pH and temperature. The main objective of this research is to predicate a mathematical model using SPSS software to calculate the value of salinity along the river, in addition, the effect of electrical conductivi</p> ... Show More
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Publication Date
Thu Sep 01 2016
Journal Name
Journal Of Engineering
Improvement of Traffic Movement for Roads Network in Al-Kadhimiya City Center
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Numerous regions in the city of Baghdad experience the congestion and traffic problems. Due to the religious and economic significance, Al-Kadhimiya city (inside the metropolitan range of Baghdad) was chosen as study area. The data gathering stage was separated into two branches: the questionnaire method which is utilized to estimate the traffic volumes for the chosen roads and field data collection method which included video recording and manual counting for the volumes entering the selected signal intersections. The stage of analysis and evaluation for the seventeen urban roads, one highway, and three intersections was performed by HCS-2000 software.The presented work plots a system for assessing the level of service

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Publication Date
Fri Jul 26 2019
Journal Name
Dental Materials Journal
Semi-interpenetrating network composites reinforced with Kevlar fibers for dental post fabrication
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