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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
Tue Jun 30 2020
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Reuse of Brick Waste as a Cheap-Sorbent for the Removal of Nickel Ions from Aqueous Solutions
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   The potential application of granules of brick waste (GBW) as a low-cost sorbent for removal of Ni+2ions from aqueous solutions has been studied. The properties of GBW were determined through several tests such as X-Ray diffraction (XRD), Energy dispersive X-ray (EDX), Scanning electron microscopy (SEM), and BET surface area. In batch tests, the influence of several operating parameters including contact time, initial concentration, agitation speed, and the dose of GBW was investigated. The best values of these parameters that provided maximum removal efficiency of nickel (39.4%) were 1.5 hr, 50 mg/L, 250 rpm, and 1.8 g/100mL, respectively. The adsorption data obtained by batch experiments subjected to the Three i

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Publication Date
Tue Feb 20 2024
Journal Name
Global Heart
Peer Support for Type 2 Diabetes Management in Low- and Middle-Income Countries (LMICs): A Scoping Review
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Background: Although there is evidence of peer support in high-income countries, the use of peer support as an intervention for cardiometabolic disease management, including type 2 diabetes (T2DM), in low- and middle-income countries (LMICs), is unclear. Methods: A scoping review methodology was used to search the databases MEDLINE, Embase, Emcare, PsycINFO, LILACS, CDSR, and CENTRAL. Results: Twenty-eight studies were included in this scoping review. Of these, 67% were developed in Asia, 22% in Africa, and 11% in the Americas. The definition of peer support varied; however, peer support offered a social and emotional dimension to help individuals cope with negative emotions and barriers while promoting disease management. Conclusio

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Publication Date
Sun Jan 01 2023
Journal Name
Open Veterinary Journal
Plasma-activated water application for detoxification of aflatoxin B1, ochratoxin A, and fumonisin B1 in poultry feeds
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Background: Plasma-activated water (PAW) is considered one of the emerging strategies that has been highlighted recently in the food industry for microbial decontamination and mycotoxin detoxification, due to its unique provisional characteristics. Aim: The effectiveness of PAW for aflatoxin B1 (AFB1), ochratoxin A (OTA), and fumonisin B1 (FB1) detoxification in naturally contaminated poultry feeds with its impacts on the feed quality were inspected. Methods: PAW-30 and PAW-60 were utilized for feed treatment for six time durations (5, 10, 15, 20, 40 and 60 min) each. The alterations in the physicochemical properties of PAW after different time durations of plasma inducement and treatment with and without feed samples were monit

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Publication Date
Wed Oct 29 2025
Journal Name
Clean Energy Science And Technology
Edge-intelligent leak detection in water distribution systems using CatBoost: A sustainable solution for reducing infrastructure losses
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Water supply networks are marred by serious risks of imperceptible pipeline leakage, posing ‎sustainability ‎and ‎performance ‎threats.  This article highlights the use of vibratory signal features to get around the drawbacks of traditional methods in a highly detailed framework for leak detection based on CatBoost. demonstrated excellent diagnostic performance and carried out a thorough test performance evaluation on five leakage configurations  . The expected system achieved an accuracy of 98.1% (variance (well within x/3% of expected):, beating traditional competitors such as Random Forest (97.3%) and Support Vector Machine (93.8%). ‎For example, the area under the receiver-operating characteristic curve was 0.995, in

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Publication Date
Mon Nov 28 2016
Journal Name
Separation Science And Technology
Using sewage sludge as a permeable reactive barrier for remediation of groundwater contaminated with lead and phenol
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Publication Date
Thu Feb 01 2024
Journal Name
Journal Of Energy Storage
A critical review on phase change materials (PCM) based heat exchanger: Different hybrid techniques for the enhancement
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Publication Date
Sat Jun 01 2024
Journal Name
Materials And Structures
Exploring the efficacy of sawdust ash as a mineral filler substitute for the production of asphalt mixtures
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Many waste materials can be repurposed effectively within asphalt concrete to enhance the performance and sustainability of pavement. One of these waste materials is sawdust ash (SDA). This study explores the beneficial use of SDA as a substitute for limestone dust (LD) mineral filler in asphalt concrete. The replacement rate was 0%, 15%, 30%, 45%, and 60% by weight of total mineral filler. Scanning electron microscopy (SEM) was employed to assess the surface morphology of Sawdust (SD), SDA, and LD. In addition, a series of tests, including Marshall stability and flow, indirect tensile strength,moisture susceptibility, and repeated uniaxial loading tests, were conducted to examine the performance characteristics of asphalt mixtures of diffe

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Publication Date
Wed Jul 01 2026
Journal Name
Next Materials
Waste-derived chitosan-functionalized poultry litter biochar as a sustainable adsorbent for congo red removal from wastewater
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The increasing discharge of dye-containing wastewater has become a serious environmental problem, requiring efficient and sustainable treatment technologies. In this study, poultry litter–derived biochar (BC) was prepared via pyrolysis at 550 °C and subsequently modified with chitosan to produce a composite adsorbent (BC/CS) for the removal of Congo Red (CR) from aqueous solutions. The materials were characterized using SEM, BET, XRD, FTIR, and XPS analyses. BET results showed that chitosan modification slightly decreased the specific surface area from 8.28 to 8.18 m²/g and pore volume from 0.035 to 0.030 cm³ /g, while introducing abundant amine and hydroxyl functional groups on the surface. Maximum adsorption occurred at pH 3, w

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Publication Date
Sun Oct 19 2025
Journal Name
Lecture Notes In Networks And Systems
Challenges of Using Literary Translation and Artificial Intelligence for Postgraduate Students: A Case Study of Baghdad University
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Publication Date
Tue Nov 09 2021
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
The role of the use of automated accounting systems technology in enhancing the efficiency and effectiveness of the internal control system.: دراسة تحليلية لعينة من الموظفين العاملين في اقسام المحاسبة والتدقيق في الجامعات البحرينية
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The research aims to show the relationship between the use of automated accounting systems technology and its impact on enhancing the efficiency and effectiveness of the internal control system in a sample of Bahraini universities in light of the rapid changes in the                                       electronic business environment. Automated accounting and its impact on enhancing the efficiency and effectiveness of the internal control system, and it is concluded through the analytical study of the research sample that there is a percenta

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