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Optimal second order integral sliding mode control for a flexible joint robot manipulator
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The flexible joint robot manipulators provide various benefits, but also present many control challenges such as nonlinearities, strong coupling, vibration, etc. This paper proposes optimal second order integral sliding mode control (OSOISMC) for a single link flexible joint manipulator to achieve robust and smooth performance. Firstly, the integral sliding mode control is designed, which consists of a linear quadratic regulator (LQR) as a nominal control, and switching control. This control guarantees the system robustness for the entire process. Then, a nonsingularterminal sliding surface is added to give a second order integral sliding mode control (SOISMC), which reduces chartering effect and gives the finite time convergence as well. Simulation results show superiority of the proposed algorithm over LQR and ISMC in terms of tracking performance and chattering mitigation.

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Publication Date
Mon Nov 30 2020
Journal Name
Journal Of Economics And Administrative Sciences
Evaluating Quality of Control Policies and Procedures for Banking Transactions Using the Non-application Gap Model to Enhance Financial Reporting Requirements Applied Study in an Iraqi Private Bank
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The research aims to enhance the level of evaluation of the performance of banking transactions control policies and procedures. The research is based on the following hypothesis: efficient transactions control policies and procedures contribute enhancing financial reporting, by assessing non-application gap of those policies and procedures in a manner that helps to prevent, discover, and correct material misstatementsThe researchers designed an examination list that includes the control policies and procedures related to the transactions, as a guide to the bank audit program prepared by the Federal Financial Supervision Bureau. The research methodology is

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Publication Date
Tue Jan 01 2019
Journal Name
Cpwr
Development of a workforce sustainability model for construction
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Publication Date
Thu Mar 01 2012
Journal Name
International Journal Of Innovative Computing, Information And Control
ITTP: A new transport protocol for VoIP applications
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Publication Date
Sun Sep 03 2023
Journal Name
Misan Journal Of Academic Studies
A review on various methods for dehazing images
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In this paper, a literature survey was introduced to study of enhancing the hazy images , because most of the images captured in outdoor images have low contrast, color distortion, and limited visual because the weather conditions such as haze and that leads to decrease the quality of images capture. This study is of great importance in many applications such as surveillance, detection, remote sensing, aerial image, recognition, radar, etc. The published researches on haze removal are divided into several divisions, some of which depend on enhancement the image, some of which depend on the physical model of deformation, and some of them depend on the number of images used and are divided into single-image and multiple images dehazing model

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Publication Date
Thu Jan 01 2009
Journal Name
Journal Of The College Of Languages (jcl)
Graphic Novels : A Privilege For Teachers and Students
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There are many ways to communicate a story, one can tell it, sing it, act it, write it, film it and can draw it. Each form of storytelling has its unique characteristics that separate it from the other forms. These distinguishing characteristics of each form does not indicate the superiority of one form over the other, on the contrary, it indicates the human ability to be creative on many levels. As students of literature, only the written form of a story is taken into account. One reason for the negligence of other forms of storytelling might be that singing and filming a story is not related to literature. But there has been a form of storytelling that uses words along with pictures which eventually became a genre of novels called grap

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Publication Date
Mon Jun 05 2023
Journal Name
Journal Of Engineering
A Computerized Integrated System for Geodetic Networks Design
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This research presents a model for surveying networks configuration which is designed and called a Computerized Integrated System for Triangulation Network Modeling (CISTNM). It focuses on the strength of figure as a concept then on estimating the relative error (RE) for the computed side (base line) triangulation element. The CISTNM can compute the maximum elevations of the highest
obstacles of the line of sight, the observational signal tower height, the contribution of each triangulation station with their intervisibility test and analysis. The model is characterized by the flexibility to select either a single figure or a combined figures network option. Each option includes three other implicit options such as: triangles, quadri

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Publication Date
Sat Jul 31 2021
Journal Name
Iraqi Journal Of Science
Shape Feature Extraction Techniques for Fruits: A Review
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          Fruits sorting, recognizing, and classifying are essential post-harvest operations, as they contribute to the quality of food industry, thereby increasing the exported quantity of food. Today, an automated system for fruit classification and recognition is very important, especially when exporting to markets where quality of fruit must be high. In this study, the advantages and disadvantages of the various shape-based feature extraction algorithms and technologies that are used in sorting, classifying, and grading of fruits, as well as fruits quality estimation, are discussed in order to provide a good understanding of the use of shape-based feature extraction techniques.

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Publication Date
Sun Mar 29 2020
Journal Name
International Journal Of Simulation: Systems, Science & Technology
A New Compact Microstrip Antenna for WSN Applications
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Publication Date
Tue Sep 01 2020
Journal Name
Microprocessors And Microsystems
Design considerations for a microprocessor-based Doppler radar
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Publication Date
Mon Dec 29 2014
Journal Name
Information And Knowledge Management
Applying Electronic Commerce for a Proposed Virtual Organization
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Virtual organization is similar to traditional organization in principles, but is different in the ways it operates. It requires small creation costs compared to the traditional and it uses electronic commerce as the market place and distribution channel for its products and services.The aim of this article is to applying electronic commerce for a proposed virtual organization. The tools used to build an effective web application for virtual organization to provide virtual environment to the customers to do the transaction activities online include PHP, MySQL and Apache. HTML is used for displaying forms and tables and JavaScript is used for verification in client side. Finally, connecting it to 2Checkout.com company as a third party to per

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