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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
Mon Jul 03 2017
Journal Name
Iraqi New Medical Journal
Coarctation of aorta in pediatric age group: mode of presentation, early and intermediate outcomes of interventional treatment
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Although rare, coarctation of aorta is a treatable cause of hypertension, transcatheter dilatation by balloon with or without stent are a well-known treatment strategy

Publication Date
Thu Mar 30 2023
Journal Name
Iraqi Journal Of Science
New mode for the on –line determination of metoclopramide hydrochloride in pure and pharmaceutical preparations via the use of homemade Ayah 6SX1-T-2D Solar cell CFI Analyser
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A newly developed analytical method characterized by its speed and sensitivity for the determination of metoclopramide hydrochloride (MCP-HCl) in pure and pharmaceutical preparations via absorbance measurement by Ayah 6SX1-T-2D Solar cell-CFI Analyser. The method is based on the oxidation of the drug with Ce(IV)sulfate in acidic medium to form a red color species which determined using homemade Ayah 6SX1-T-2D Solar cell . Chemical and physical parameters were studied and optimized. The calibration graph was linear in the range of 0.05- 16 mMol.LP-1Pwith correlation coefficient r = 0.9855. The limit of detection(S/N = 3) 0.332 μg/sample from the step wise dilution for the minimum concentration in the linear dynamic ranged of the calibrat

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Publication Date
Sun Mar 19 2023
Journal Name
Journal Of Educational And Psychological Researches
The Effect of the Active Reading Strategy on the Achievement of the Second Year Middle School Students in Biology
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Abstract

The aim of the current research is to identify the effect of the effective reading strategy on the achievement of second-middle students in biology, as well as the imaginative thinking skills of students. The researcher adopted the experimental design with partial control to achieve the goal of the research. The current research community identified the second-middle students in the government schools of the Baghdad Education Directorate / Rusafa I for the academic year (2021-2022 AD). The Safina Intermediate School for Girls was chosen to be the research sample in the form of intentionally, two classes were randomly selected from a total of four classes, one of them is experimental and the other is con

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Publication Date
Sun Oct 22 2023
Journal Name
Iraqi Journal Of Science
New Mode for the On-Line Determination of Amiloride in Pure and Pharmaceutical Preparation Using CFIA Via the Use of Linear Array from Six LED (Snow White) with One Solar Cell in a Homemade Ayah 6Sx1-T-1D Solar CFI Analyser
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A newly flow injection-turbidimetric method characterized by it is speed and sensitivity has been developed for the determination of Amiloride in pure and pharmaceutical preparations. It is based on the formation of yellowish white precipitate for the Amiloride-phosphomolybidic acid ion pair in aqueous medium. Turbidity was measured by Ayah 6Sx1-T-1D solar cell CFI analyser via the attenuation of incident light from the surfaces precipitated particles at 0-180. The Chemical and physical parameters were investigated. Linear dynamic range for the attenuation of incident light versus Amiloride concentration was of 0.005-10 mmol.L-1, with the correlation coefficient (r) of 0.9986 , while the percentage linearity (r2%) was 99.71%. The L.O.

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Publication Date
Sun Jul 02 2023
Journal Name
Iraqi Journal Of Science
New Mode for the On-Line Determination of Amiloride in Pure and Pharmaceutical Preparation Using CFIA Via the Use of Linear Array from Six LED (Snow White) with One Solar Cell in a Homemade Ayah 6Sx1-T-1D Solar CFI Analyser
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A newly flow injection-turbidimetric method characterized by it is speed and sensitivity has been developed for the determination of Amiloride in pure and pharmaceutical preparations. It is based on the formation of yellowish white precipitate for the Amiloride-phosphomolybidic acid ion pair in aqueous medium. Turbidity was measured by Ayah 6Sx1-T-1D solar cell CFI analyser via the attenuation of incident light from the surfaces precipitated particles at 0-180. The Chemical and physical parameters were investigated. Linear dynamic range for the attenuation of incident light versus Amiloride concentration was of 0.005-10 mmol.L-1, with the correlation coefficient (r) of 0.9986 , while the percentage linearity (r2%) was 99.71%. The L.O.

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Publication Date
Mon Mar 15 2021
Journal Name
Journal Of Baghdad College Of Dentistry
Efficacy of arthrocentesis with injection of hyaluronic acid in the treatment of inflammatory-degenerative disease of temporomandibular joint
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Background:Temporomandibular joint (TMJ) problems refer to a group of heterogeneous pain and dysfunction conditions involving the mastication, reducing life quality of the patients. Arthrocentesis is a simple and less invasive surgical method for the treatment of inflammatory-degenerative disease than other conservative procedures and better than arthroscope. This clinical study aimed at evaluating the benefit of arthrocentesis with injection of hyaluronic acid in the management of inflammatory-degenerative disease of the TMJ. Material and methods: Eighty consecutive patients were enrolled in this study with pain symptoms of TMJ, insufficient masticatory efficiency during function and limitation of mouth opening; they were assessed with

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Publication Date
Tue Jan 01 2013
Journal Name
International Journal Of Innovation, Management And Technology
Intelligent Magneto-Rheological Fluid Directional Control Valve
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There are many configurations of directional control valve. Directional control valve has complex construction, such as moving spool to control the direction of actuator and desired speed. Magneto-rheological (MR) fluid is one of controllable fluids. Utilizing the MR fluid properties, direct interface can be realized between magnetic field and fluid power without the need for moving parts like spool in directional control valves. This paper presents the design of multi configuration MR directional control valve. The construction and the principle of work of the valve are presented. The experiment was conducted to show the working principle of the valve functionally. The valve worked proportionally to control the direction and speed of hydra

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Publication Date
Mon Jan 28 2019
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Environmental control of the oil industry extractive
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The research aims to prepare a report by the external auditor (Federal Office of Financial Supervision) for the control environment it is includes financial control, commitment and performance of the North Oil Company (extractive) according to the causes of pollution. The research problem it is not the Federal Office of Financial Supervision preparation a report on the things the environment include the prevent or reduction failure the administration of the causes of the pollution caused by oil mining industry by both bad planning or operational or related to efficient human resources as well as of technology to use and resulting from non-compliance local laws and instructions, as well as the inefficiency of spending on environme

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Publication Date
Sat Dec 01 2018
Journal Name
Al-khwarizmi Engineering Journal
pH-Control Problems of Wastewater Treatment Plants
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Experimental investigations have been carried out to investigate the pH-control problems of industrial electroplating wastewater treatment plants. The accurate and sensitive PID control system could treat most problem and disturbances in the normal operation of the water treatment. However, conventional treatment was replaced by proprietary treatment agent called a QUASIL which was found to be more effective for a wide range of pH.

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Publication Date
Mon Jan 01 2018
Journal Name
Plant Archives
Schistosomiasis vector control using cucumis melo plantextractswithbioassayexperiment
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he aim of this study is to get a plant extracts to use it as molluscicides to control the snail vector of Schistosomiasis andfinely control the disease. Laboratory study was performed to compare the molluscicidal activity of leaves and stems extractsof Cucumis melo against Bulinus truncatus snail. The snail B. truncatus was exposed to a serial concentrations of leaves andstems extracts (4000ppm, 5000ppm) in this work. Different effects of the extracts to the snail B. truncatus were recorded.These effects includes death, escaping and imbalance of snail behavior. 96hr-LD50 values of leaves extracts were calculatedfor the doses 4000 and 5000ppm as (76 and 37%) respectively while for stems were (105 and 47%) respectively. We found thatthe snail

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