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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
Thu Dec 29 2016
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Notes On The Non Linear Operator Equation I AXAX n  *
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  Necessary and sufficient conditions for the operator equation I AXAX n  * , to have a real positive definite solution X are given. Based on these conditions, some properties of the operator A as well as relation between the solutions X andAare given.

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Publication Date
Sun Mar 19 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Minimizing the Total Completion Times, the Total Tardiness and the Maximum Tardiness
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In this paper, the main work is to minimize a function of three cost criteria for scheduling n jobs on a single machine. We proposed algorithms to solve the single machine scheduling multiobjective problem. In this problem, we consider minimizing the total completion times, total tardiness and maximum tardiness criteria. First a branch and bound (BAB) algorithm is applied for the 1//∑Ci+∑Ti+Tmax problem. Second we compare two multiobjective algorithms one of them based on (BAB) algorithm to find the set of efficient (non dominated) solutions for the 1//(∑Ci ,∑Ti ,Tmax) problem. The computational results show that the algorithm based on (BAB) algorithm is better than the other one for generated the total number of

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Publication Date
Fri Apr 01 2022
Journal Name
Journal Of Engineering
Numerical study of natural convection in an annulus between two concentric cylinders provided with metal foam fins
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Natural convection in an annular space provided with metal foam fins attached to the inner cylinder is studied numerically. The metal foam fins made of copper were inserted in different axial sections with three fins in each section. The temperature of the inner cylinder is kept constant while the annular outer surface is adiabatic. The thickness effect of the inner pipe wall was considered. Naiver Stokes equation with Boussinesq approximation is used for the fluid regime while Brinkman-Forchheimer Darcy model is used for metal foam. In addition, the local thermal non-equilibrium condition in the energy equation of the porous media is presumed. The effect of Rayleigh numb

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Publication Date
Wed Nov 30 2022
Journal Name
Iraqi Journal Of Science
Influence of Distance and Argon Flow rate on Pseudomonas aeruginosa Bacteria Exposed to Non thermal Plasma at Atmospheric Pressure
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     In this research, a type of gram negative bacteria was exposed to non-thermal plasma at a distance of (2 and 3 cm) from the plasma flow nozzle, with the use of an alternating power supply (5KHz), where exposure was made at two different voltages (4.9 and 8 kV). A negative gram of Pseudomonas aeruginosa bacteria was isolated and exposed to non-thermal plasma at different flow rates of argon gas whose value ranged from (1-5) liters/minute. The results showed that bacterial killing rate is directly proportional to distance while exposing the samples to non-thermal plasma, and the best factors by which a complete killing rate was obtained were at a distance of 2 cm with a voltage of 8 kV and a gas flow rate of 5 liters/min,

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Publication Date
Tue Aug 31 2021
Journal Name
Iraqi Journal Of Science
Heat Transfer Analysis and Magnetohydrodynamics Effect on Peristaltic Transport of Ree–Eyring Fluid in Rotating Frame
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This paper discusses Ree–Eyring fluid’s peristaltic transport in a rotating frame and examines the impacts of Magnetohydrodynamics (MHD). The results deal with  systematically (analytically) applying each of the governing equations of Ree–Eyring fluid, the axial and secondary velocities, flow rate due to auxiliary stream, and bolus. The effects of some distinctive variables, such as Hartman number, heat source/sink, and amplitude ratio, are taken under consideration and illustrated through graphs.

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Publication Date
Thu Sep 30 2021
Journal Name
Iraqi Journal Of Science
On Invariant Approximations in Modular Spaces
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     This article is devoted to presenting results on invariant approximations over a non-star-shsped weakly compact subset of a complete modular space by introduced a new notion called S-star-shaped with center f:  if   be a mapping and , . Then the existence of common invariant best approximation is proved for Banach operator pair of mappings by combined the hypotheses with Opial’s condition or demi-closeness condition

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Publication Date
Tue May 30 2023
Journal Name
Iraqi Journal Of Science
Spectroscopic Diagnosis of Cobalt Plasma Produced by OES Technique and Influence of Applied Voltage on Plasma Parameters
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     In this work, plasma system that operates at vacuum was designed and built using a sheet of cobalt metal for the purpose of diagnosing plasma and measuring its parameters, as it is very important to know the processes that accompany plasma generation and are closely related to them, including the electron density in the plasma and its temperature. The spectroscopic diagnosis was done by optical emission spectroscopy (OES) which relies on the calculation of the optical radiation emitted by the plasma to describe plasma parameters in the chemical, molecular, and ionic radiator's near environment, and applied to cobalt metal at vacuum D.C high voltage power supply. The results showed the rise of spectral lines intensity with increa

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Publication Date
Sun Jul 30 2023
Journal Name
Iraqi Journal Of Science
Impact of Electrodes Material on the Properties of Atmospheric DBD Plasma
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In this research, the effect of electrode material on the parameters of the produced DBD plasma was investigated. First, a non-thermal plasma was created by applying a 15 kV AC voltage between two electrodes and using a glass plate as a dielectric barrier in the design Dielectric Barrier Discharge (DBD) plasma system. The obtained plasma spectrum was analyzed using optical emission spectroscopy to calculate plasma parameters by the Boltzmann plot method. Electrodes made of copper, aluminium, and stainless steel were employed in this research. Electron temperature ( ) for copper, aluminium, and stainless steel was found to be (1.398 eV), (1.093 eV) and (1.009 eV), respectively.

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Publication Date
Thu Feb 28 2019
Journal Name
Iraqi Journal Of Science
Approximation Solution of Nonlinear Parabolic Partial Differential Equation via Mixed Galerkin Finite Elements Method with the Crank-Nicolson Scheme
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The approximate solution of a nonlinear parabolic boundary value problem with variable coefficients (NLPBVPVC) is found by using mixed Galekin finite element method (GFEM) in space variable with Crank Nicolson (C-N) scheme in time variable. The problem is reduced to solve a Galerkin nonlinear algebraic system (NLAS), which is solved by applying the predictor and the corrector method (PCM), which transforms the NLAS into a Galerkin linear algebraic system (LAS). This LAS is solved once using the Cholesky technique (CHT) as it appears in the MATLAB package and once again using the General Cholesky Reduction Order Technique (GCHROT), the GCHROT is employed here at first time to play an important role for saving a massive time. Illustrative

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Publication Date
Thu Mar 28 2024
Journal Name
Journal Of Physical Education
The use of an innovative device to improve the efficiency of the posterior quadriceps muscle of the man after the anterior cruciate ligament injury of advanced soccer players
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Objective of the research This study aimed to manufacture an innovative device that enables the player to walk after the operation and improves functional efficiency through improvement in the range of motion as well as improvement in the size of the muscles working on the knee joint Imposing research There are statistically significant differences between the pre and posttests of the experimental and control groups, there are Statistically significant differences between the post-tests between the experimental group and the control group in favor of the experimental group of the research sample. The researchers used the experimental approach by designing the control and experimental groups with a test (pre-post) for the suitabili

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