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
Sat Dec 01 2012
Journal Name
Iraqi Journal Of Physics
The effects of Core-polarization on inelastic form factors of 10B
...Show More Authors

Inelastic transverse and longitudinal form factors of same parity have
been studied for B 10 nucleus in the frame work of the shell model for
many particles, by using He 4 as an inert core and the remaining
particles were distributed in 3 / 2 1 / 2 1p ,1p which form the model
space. The calculations of the present work based on the harmonic
oscillator potential with fixed size parameter (b). Here we use the
first order correction for the perturbation theory and the interaction
from Cohen-Kurath (CK). Adding the core-polarization effects to
form factors calculations gave a good agreement with the
experimental data. Calculations have been performed for the
transverse excited states of: (1 ,0 )at ( E  0.178M

... Show More
View Publication Preview PDF
Publication Date
Sun May 17 2020
Journal Name
Iraqi Journal Of Science
Solving Fuzzy Differential Equations by Using Power Series
...Show More Authors

In this paper, the series solution is applied to solve third order fuzzy differential equations with a fuzzy initial value. The proposed method applies Taylor expansion in solving the system and the approximate solution of the problem which is calculated in the form of a rapid convergent series; some definitions and theorems are reviewed as a basis in solving fuzzy differential equations. An example is applied to illustrate the proposed technical accuracy. Also, a comparison between the obtained results is made, in addition to the application of the crisp solution, when the-level equals one.

View Publication Preview PDF
Scopus (1)
Scopus Crossref
Publication Date
Tue Aug 03 2021
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
New Travelling Wave Solution of Burgers Equations
...Show More Authors

     In this paper, we studied the travelling wave solving for some models of Burger's equations. We used sine-cosine method to solution nonlinear equation and we used direct solution after getting travelling wave equation.

View Publication Preview PDF
Crossref
Publication Date
Fri Aug 31 2012
Journal Name
Al-khwarizmi Engineering Journal
Sub–Nyquist Frequency Efficient Audio Compression
...Show More Authors

This paper presents the application of a framework of fast and efficient compressive sampling based on the concept of random sampling of sparse Audio signal. It provides four important features. (i) It is universal with a variety of sparse signals. (ii) The number of measurements required for exact reconstruction is nearly optimal and much less then the sampling frequency and below the Nyquist frequency. (iii) It has very low complexity and fast computation. (iv) It is developed on the provable mathematical model from which we are able to quantify trade-offs among streaming capability, computation/memory requirement and quality of reconstruction of the audio signal. Compressed sensing CS is an attractive compression scheme due to its uni

... Show More
View Publication Preview PDF
Publication Date
Sat Dec 24 2022
Journal Name
Wasit Journal Of Pure Sciences
Synthesis of the integer FIR filters with short coefficient word length
...Show More Authors

The integer simulation and development finite impulse response (FIR) filters taking into account the possibilities of their realization on digital integer platforms are considered. The problem statement and solution of multifunctional synthesis of digital FIR filters such a problem on the basis of the numerical methods of integer nonlinear mathematical programming are given. As an several examples, the problem solution of synthesis FIR-filters with short coefficient word length  has been given. The analysis of their characteristics is resulted. The paper discusses issues of modeling and synthesis of digital FIR filters with provision for the possibilities of their implementation on digital platforms with integer computation arithme

... Show More
View Publication
Crossref (1)
Crossref
Publication Date
Mon Oct 30 2023
Journal Name
Iraqi Journal Of Science
Evaluation of Prevalence and Severity of Anemia among Non-pregnant women of Reproductive Age in Garmian Province, Iraqi Kurdistan Region
...Show More Authors

     Anemia is a major significant public health issue that affects both pregnant and non-pregnant women throughout the world. This study aimed to determine the prevalence and severity of anemia, as well as its classification, based on MCV values in non-pregnant women residing in the Garmian province in the east of Iraq. Blood samples were collected from non-pregnant women between the ages of 16 and 49 years. Anemia is classified as mild, moderate and severe, and as microcytic, normocytic and macrocytic depending on the level of Hb or mean corpuscular volume (MCV) respectively. In this study sociodemographic and hematological characteristics were also evaluated. The results showed that 56% of the study samples were anemic, and of the

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Tue Sep 01 2020
Journal Name
Baghdad Science Journal
Molecular Characterization of Plasmid-Mediated Non-O157 Verotoxigenic Escherichia coli Isolated from Infants and Children with Diarrhea
...Show More Authors

A significant increase in the incidence of non-O157 verotoxigenic Escherichia coli (VTEC) infections have become a serious health issues, and this situation is worsening due to the dissemination of plasmid mediated multidrug-resistant microorganisms worldwide. This study aims to investigate the presence of plasmid-mediated verotoxin gene in non-O157 E. coli. Standard microbiological techniques identified a total of 137 E. coli isolates. The plasmid was detected by Perfectprep Plasmid Mini preparation kit. These isolates were subjected to disk diffusion assay, and plasmid curing with ethidium bromide treatment. The plasmid containing isolates were subjected to a polymerase chain reaction (PCR) for investigating

... Show More
View Publication Preview PDF
Scopus (3)
Scopus Clarivate Crossref
Publication Date
Thu Dec 09 2021
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Occupational Toxicity and Health Hazards of the Healthcare Providers at Healthcare Facilities in Sulaimani City, Iraq
...Show More Authors

 

Objective: The present study aimed to evaluate the occupational health hazards that face health care providers in Sulaimani City.

Methods: A cross-sectional study conducted utilizing quantitative data collection methods. It involved 159 respondents including Physicians, Pharmacists, Medical assistants, Laboratory Instructors and Nurses who worked in 8 major health facilities in Sulaimani city, Kurdistan region, Iraq.

Results: Nurses were the most susceptible group to sharp related injuries 13.84%, cuts and wounds 10.69% than the others and they were more experiencing verbal abuse in the workplace 15%. Laboratory instructors represent the most exposed group

... Show More
View Publication Preview PDF
Scopus (2)
Crossref (1)
Scopus Crossref
Publication Date
Sun Dec 05 2021
Journal Name
Iraqi Journal Of Science
The Effect of the Non-Thermal Plasma Needle on Pseudomonas Aeruginosa Bacteria
...Show More Authors

The development in the field of medical physics has led to the use of devices that
are manufactured under normal conditions to make tremendous progress in the
world of development in medical treatment by using these devices with modern
techniques by reducing the use of antibiotics and relying on these tools and devices
that link between physics and modern therapeutic medicine. In this research, a nonthermal
plasma system for argon gas operated at normal atmospheric pressure was
designed, this system was applied on Pseudomonas Aeruginosa bacteria isolated
from burn patients from Yarmouk Teaching Hospital. These bacteria were exposed
to this system, the results showed that these bacteria were killed at time (5 min)

... Show More
View Publication Preview PDF
Publication Date
Mon Jun 05 2023
Journal Name
Journal Of Engineering
Prediction of Compressive Strength of Reinforced Concrete Structural Elements by Using Combined Non-Destructive Tests
...Show More Authors

This research is devoted to investigate relationship between both Ultrasonic Pulse Velocity and Rebound Number (Hammer Test) with cube compressive strength and also to study the effect of steel reinforcement on these relationships.
A study was carried out on 32 scale model reinforced concrete elements. Non destructive testing campaign (mainly ultrasonic and rebound hammer tests) made on the same elements. About 72 concrete cubes (15 X 15 X15) were taken from the concrete mixes to check the compressive strength.. Data analyzed.Include the possible correlations between non destructive testing (NDT) and compressive strength (DT) Statistical approach is used for this purpose. A new relationships obtained from correlations results is give

... Show More
View Publication Preview PDF
Crossref (3)
Crossref