Preferred Language
Articles
/
YBfRepIBVTCNdQwCIrEf
Optimal second order integral sliding mode control for a flexible joint robot manipulator
...Show More Authors

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.

Scopus Crossref
View Publication
Publication Date
Tue May 01 2012
Journal Name
Iraqi Journal Of Physics
Argon plasma needle source
...Show More Authors

Non thermal argon plasma needle at atmospheric pressure was generated. The experimental set up is based on very simple and low cost electric components that generate electrical field sufficiently high at the electrodes to ionize various gases, which flow at atmospheric pressure. The high d.c power supply is 7.5kV peak to peak, the frequency of the electrical field is 28kHz, and the plasma power less than 15W. The plasma is generated using only one electrode. In the present work the voltage and current discharge waveform are measured. Also the temperature of the working Ar gas at different gas flow and distances from the plasma electrode tip was recorded

View Publication Preview PDF
Publication Date
Tue Oct 06 2020
Journal Name
College Of Islamic Sciences
Presence and non-existence in Arabic ontological discourse are contemporary Pragmatic reading
...Show More Authors

Mental systems in ontological discourse turned into deliberative systems, derived from the non-coordinated thought that motivated ontological discourse, as an incomplete thought, after it became close to reason; Between creation and prevention, between reasoning and creation, between submission and ambition, the result of an interconnected entity that slays one another from one another, and intersects with one another, to produce a special pattern each time, completely different from its predecessor or to provide a path for the coordination of others, which is outside the linguistic event, or part From it, signs and marks, produced to a large extent M., and united the signs; to return again in a circular and rotational movement to produc

... Show More
View Publication Preview PDF
Publication Date
Fri Feb 07 2025
Journal Name
Journal Of Engineering
Technological Analysis of Flat Surface Conditions by Magnetic Abrasive Finishing Method (MAF)
...Show More Authors

This study introduced the effect of using magnetic abrasive finishing method (MAF) for finishing flat surfaces. The results of experiment allow considering the MAF method as a perspective for finishing flat surfaces, forming optimum physical mechanical properties of surfaces layer, removing the defective layers and decreasing the height of micro irregularities. Study the characteristics which permit judgment parameters of surface quality after MAF method then comparative with grinding

View Publication
Publication Date
Wed Aug 30 2023
Journal Name
Iraqi Journal Of Science
Extracting Descriptive Frames from Informational Videos
...Show More Authors

     Informational videos are becoming increasingly important among all video types. The users spend so much time browsing the informative videos, even if they are not interested in all their topics. Thence, a new method for extracting descriptive frames is presented in this paper that allows users to navigate directly to the topics of their interest in the video. The proposed method consists of three main phases: video preprocessing, video segmentation, and the video separation phase. Firstly, frames are extracted from the videos, resized, and converted to grayscale. Then, the frames are divided into blocks, and the kurtosis moment is calculated for each block. The videos are segmented based on an examination of the differences betw

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Sat Dec 30 2023
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Ibuprofen Degradation from Synthetic Wastewater Using Photo-Fenton Process
...Show More Authors

   The removal of Ibuprofen antibiotics (IBU) by photo-degradation UV/H2O2/Fe+2 system was investigated in a batch reactor under different initial concentrations of H2O2 (100-500) mg/L, Fe+2 (10-40) mg/L, pH (3-9) and initial concentrations of IBU (10-80) mg/L, and their relationship with the degradation efficiency were studied. The result demonstrated that the maximum elimination of IBU was 85.54% achieved at 300 mg/L of H2O2, 30 mg/L of Fe+2, pH=3, and irradiation time of 150 min, for 10 mg/L of IBU. The results have shown that the oxidation reagent H2O2 plays a very important role in IBU degradation.

View Publication Preview PDF
Crossref (3)
Crossref
Publication Date
Tue Jun 21 2022
Journal Name
Journal Of Planner And Development
Evaluation of some indicators of urbanization in the city of al-Qaim in the Iraqi province of Anbar
...Show More Authors

Urban Balance is one of the important indicators that leads to an assessment of the urbanization process in a particular country  , province or even a city that is multi-centered. By examining  the data related to Anba  province, it was found that the value of this indicator is equal to 0.96, which is less than the absolute one, and therefore the urbanization in the province is distributed collectively  

The development of a mathematical or statistical model for estimating urban growth is a complex process due to the overlap between indicators or variables that can be adopted to calculate estimate growth rates Al-Qaim city has been considered as an example to develop a statistical method by which changes

... Show More
View Publication Preview PDF
Publication Date
Wed Oct 01 2014
Journal Name
Al–bahith Al–a'alami
The role of women's press in prioritizing the concerns of Iraqi women towards public issues
...Show More Authors

Women issues occupy an important place in international and development projects and programs. This is one of the goals of 21 Century announced during universal summit conference in 2000. The goals are : teaching children, reducing the average of the dead, in addition to the main goal which is reducing the poor level in 2015.
The increasing number of countries that adopt democratic policies, economic freedom and openness lead to heighten and develop the role of women in different ways. As a result, many feminism journals have appeared. Since journals help people to make decisions about public issues as well as acquiring new knowledge, it stimulates women to make decisions.
Feminism journalism takes a new trend. It has become specia

... Show More
View Publication Preview PDF
Crossref
Publication Date
Thu Oct 20 2022
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
On the Double of the Emad - Falih Transformation and Its Properties with Applications
...Show More Authors

In this paper, we have generalized the concept of one dimensional Emad - Falih integral transform into two dimensional, namely, a double Emad - Falih integral transform. Further, some main properties and theorems related to the double Emad - Falih transform are established. To show the proposed transform's efficiency, high accuracy, and applicability, we have implemented the new integral transform for solving partial differential equations. Many researchers have used double integral transformations in solving partial differential equations and their applications. One of the most important uses of double integral transformations is how to solve partial differential equations and turning them into simple algebraic ones. The most important

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Tue Mar 30 2021
Journal Name
Baghdad Science Journal
Fixed Point Theorems in General Metric Space with an Application
...Show More Authors

   This paper aims to prove an existence theorem for Voltera-type equation in a generalized G- metric space, called the -metric space, where the fixed-point theorem in - metric space is discussed and its application.  First, a new contraction of Hardy-Rogess type is presented and also then fixed point theorem is established for these contractions in the setup of -metric spaces. As application, an existence result for Voltera integral equation is obtained.  

View Publication Preview PDF
Scopus (12)
Scopus Clarivate Crossref
Publication Date
Fri Jun 24 2022
Journal Name
Iraqi Journal Of Science
Nonlinear Optical Properties of Pure and Ag/Polyaniline Nanocomposite Thin Films Deposited by Plasma Jet
...Show More Authors

In present work, the nonlinear optical properties of pure polyaniline and Ag/polyaniline nanocomposite thin films, deposited by plasma jet on glass substrate, were studied through open and closed Z-scan technique using pulse second harmonic Nd:YAG laser of wavelength 532nm, pulse duration of 30 ns and input energy 30mJ. The nonlinear optical properties of pure polyaniline thin films and silver polyaniline nanocomposite thin films prepared at constant gas flow rate 1lm-1 and different silver weight concentration 4, 5, and 10% were studied. The closed aperture Z-scan data indicates that the sign of the refraction nonlinearity is negative for pure polyaniline thin films n2 =11×10-3 cm2/MW and positive nonlinearity for Ag/polyaniline nanoco

... Show More
View Publication Preview PDF