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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
Sun Mar 01 2009
Journal Name
Al-khwarizmi Engineering Journal
A Proposed Artificial Intelligence Algorithm for Assessing of Risk Priority for Medical Equipment in Iraqi Hospital
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This paper presents a robust algorithm for the assessment of risk priority for medical equipment based on the calculation of static and dynamic risk factors and Kohnen Self Organization Maps (SOM). Four risk parameters have been calculated for 345 medical devices in two general hospitals in Baghdad. Static risk factor components (equipment function and physical risk) and dynamics risk components (maintenance requirements and risk points) have been calculated. These risk components are used as an input to the unsupervised Kohonen self organization maps. The accuracy of the network was found to be equal to 98% for the proposed system. We conclude that the proposed model gives fast and accurate assessment for risk priority and it works as p

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Publication Date
Tue Jan 01 2019
Journal Name
Biochem. Cell. Arch.
External morphology study of female genus Hauptidia Dworaowska, 1970 of sub-family typhlocybinae Kirschbaum, 1868, order hemiptera collected from Al-Kafal area in Babylon, Iraq
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Publication Date
Mon Jan 10 2022
Journal Name
Iraqi Journal Of Science
The Theoretical Solving of Intersection Point of the Horizontal and Vertical Gravity Gradients in Order to Estimate the Depth of Causative Source of Gravity Anomaly
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The depth of causative source of gravity is one of the most important parameter
of gravity investigation. Present study introduces the theoretical solve of the
intersection point of the horizontal and vertical gradients of gravity anomaly. Two
constants are obtained to estimate the depth of causative source of gravity anomaly,
first one is 1.7807 for spherical body and the second is 2.4142 for the horizontal
cylinder body. These constants are tested for estimating the depth of three actual
cases and good results are obtained. It is believed that the constants derived on
theoretical bases are better than those obtained by empirical experimental studies.

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Publication Date
Fri Dec 15 2023
Journal Name
Al-academy
The use of metal in ancient Syria in the manufacture of jewelry (ornamental tools in the third and second millennium BC and the molds used in their manufacture)
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 This research sheds light on the use of metal in the manufacture of jewelry, which is represented by ornamental tools in the period between the third and second millennium BC, in addition to the most important molds used in their manufacture. Man has been interested in metals since early ages, and was able to make tools that he uses in his daily life, especially jewelry. And the Syrian people got acquainted with the types of minerals, their characteristics, and how to deal with them. Minerals played an effective and prominent role in the economy of ancient Syria. Trade with those countries and secure their roads.

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Publication Date
Sun Jan 30 2022
Journal Name
Iraqi Journal Of Science
Convergence and Stability of Iterative Scheme for a Monotone Total Asymptotically Non-expansive Mapping
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    In this work, we introduce Fibonacci– Halpern iterative scheme ( FH scheme) in partial ordered Banach space (POB space) for monotone total asymptotically non-expansive mapping (, MTAN mapping) that defined on weakly compact convex subset.  We also  discuss the results of weak and strong convergence for this scheme.

 Throughout  this work, compactness condition of m-th iterate  of the mapping for some natural m is necessary to ensure strong convergence, while Opial's condition has been employed to show weak convergence. Stability of FH scheme is also  studied. A numerical comparison is provided by an example to show that FH scheme is faster than Mann and Halpern iterative

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Publication Date
Thu Oct 18 2018
Journal Name
European Journal Of Organic Chemistry
PdII-Mediated Oxidative Amination for Access to a 9-Azabicyclo[4.2.1]nonane Compound Library and Anatoxin-a
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Publication Date
Sun Apr 24 2022
Journal Name
Egyptian Journal Of Chemistry
A novel Tubular Electrochemical Reactor with a Spiral Design of Anode for Treatment of Petroleum Refinery Wastewater
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Publication Date
Mon Mar 02 2020
Journal Name
Journal Of Applied Research In Higher Education
Proposal of a guide for talent evaluation and management based on a qualitative and three-staged approach
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Purpose

The key objective of the study is to understand the best processes that are currently used in managing talent in Australian higher education (AHE) and design a quantitative measurement of talent management processes (TMPs) for the higher education (HE) sector.

Design/methodology/approach

The three qualitative multi-method studies that are commonly used in empirical studies, namely, brainstorming, focus group discussions and semi-structured individual interviews were considered. Twenty-three individuals from six Australian universities parti

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Publication Date
Sat Dec 30 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
A Modified Method for NADH Stain That is Used to Stain a Muscle Sample From Myopathic Patient
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This  srudy   aimed  to   use  a   new  concentration   from   l\!J3T (Nitroblue tetrazolium) which using NADH   stain ( by used eight different concentrations from (0.2% to 0.06% ).

That stain is a mitochondrial and cytoplasmic histochemical stain which gi ves more infom1ation about the metabolic activity of muscle fiber, so it is valuable in determining the types of muscle fibers and good fiber differentiation type {T) and type (TT)  fibers), by reducing NBT in the location of enzyme and gives a blue color in different degrees according to the types of muscle fibers, and we noticed that the concentration 0.1% from NBT gives a good result and di

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Publication Date
Sun May 30 2021
Journal Name
Iraqi Journal Of Science
Theoretical study of a new oxazolidine -5- one derivative as a corrosion inhibitor for carbon steel surface
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A newly derivative of oxazolidin-5- one namely [2-(2-biphenyl-4-yl-imidazo [1,2-a] pyridine-3-yl)-3-(4-nitro-phenyl)-oxazolidin-5-one (BIPNO5)] was examined as an corrosion inhibitor for carbon steel surface. Quantum mechanical method of Density Functional Theory (DFT) with (B3LYP (6-311++G (2d, 2p)) level of theory was used to calculate the minimize structure, physical properties and inhibition chemical parameters, in vacuum and two solvents (DMSO and H2O), all at equilibrium geometry. The results indicated that the new derivative could adsorb on the surface of carbon steel through the heteroatom, showing that the new inhibitor has good corrosion inhibition performance.

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