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Whole-Body Anti-Input Saturation Control of a Bipedal Robot

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Publication Date
Fri Jan 02 2009
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Carotid Body Tumor

Summary

Background:-Carotid body tumors is an uncommon disease entity in Iraq , presented with painless swelling below the angle of the mandible , and is usually benign .The author reviews his personal surgical challenge with eight cases having had this tumor during twelve years period

Patients and Methods:-Eight patients with carotid body tumors were managed during twelve years period (1994- 2005) in the Thoracic and Vascular Department of the Medical City Teaching Hospital in Baghdad, Iraq

Results:-These patients were retrospectively studied as regard their age, gender, clinical features, diagnostic methods, operative findings, surgical techniques and postoperative outcome.

Conclusion:-Early presentation

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Publication Date
Wed Jan 01 2014
Journal Name
Siam Journal On Control And Optimization
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Publication Date
Mon Mar 30 2009
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Nonlinear Adaptive Control of a pH Process

In this paper a nonlinear adaptive control method is presented for a pH process, which is difficult to control due to the nonlinear and uncertainties. A theoretical and experimental investigation was conducted of the dynamic behavior of neutralization process in a continuous stirred tank reactor (CSTR). The process control was implemented using different control strategies, velocity form of PI control and nonlinear adaptive control. Through simulation studies it has been shown that the estimated parameters are in good agreement with the actual values and that the proposed adaptive controller has excellent tracking and regulation performance.

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Publication Date
Tue Aug 31 2021
Journal Name
Inmateh Agricultural Engineering
DETERMINING THE EFFICIENCY OF A SMART SPRAYING ROBOT FOR CROP PROTECTION USING IMAGE PROCESSING TECHNOLOGY

A system was used to detect injuries in plant leaves by combining machine learning and the principles of image processing. A small agricultural robot was implemented for fine spraying by identifying infected leaves using image processing technology with four different forward speeds (35, 46, 63 and 80 cm/s). The results revealed that increasing the speed of the agricultural robot led to a decrease in the mount of supplements spraying and a detection percentage of infected plants. They also revealed a decrease in the percentage of supplements spraying by 46.89, 52.94, 63.07 and 76% with different forward speeds compared to the traditional method.

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Publication Date
Wed Nov 21 2018
Journal Name
International Journal Of Control, Automation And Systems
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Publication Date
Wed Jan 01 2020
Journal Name
Journal Of Southwest Jiaotong University
A Recognition System for Subjects' Signature Using the Spatial Distribution of Signature Body

This investigation proposed an identification system of offline signature by utilizing rotation compensation depending on the features that were saved in the database. The proposed system contains five principle stages, they are: (1) data acquisition, (2) signature data file loading, (3) signature preprocessing, (4) feature extraction, and (5) feature matching. The feature extraction includes determination of the center point coordinates, and the angle for rotation compensation (θ), implementation of rotation compensation, determination of discriminating features and statistical condition. During this work seven essential collections of features are utilized to acquire the characteristics: (i) density (D), (ii) average (A), (iii) s

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Publication Date
Tue Jun 01 2021
Journal Name
Jpras Open
The utility of a novel vacuum-assisted foreign body extraction technique from wounds

Retained soft tissue foreign bodies following injuries are frequently seen in the Emergency and Plastic Surgery practice. The patients with such presentations require a watchful and detailed clinical as- sessment to overcome the anticipant possibility of missing them. However, the diagnosis based on the clinical evaluation is usually challenging and needs to be supported by imaging modalities that are suboptimal and may fail in identifying some types of foreign bodies. Owing to that, serious complications such as chronic pain, infection, and delayed wound healing can be faced that necessitate a prompt intervention to halt those detrimental consequences. The classical method of removal is a surgical exploration which is not free of risks.

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Publication Date
Thu Apr 28 2022
Journal Name
Iraqi Journal Of Science
Histopathological changes of mice liver induced by an Aloe vera whole leaf extract

Plants commonly used in traditional medicine are assumed to be safe. This safety is based on their long usage in the treatment of diseases according to knowledge accumulated over centuries. One such plants is Aloe vera which has been used medicinally for centuries. Recent widespread importance of commercial Aloe vera has encouraged scientists to scientifically assess these products since it contains the anthraquinones which associated with considerable risks. In present study oral administration of 20 μl of Aloe vera extract (experimental group) (G) was given for 21 days to immature male Swiss Webster mice at weaning period. While the control groups (C) were given by the same dose and rout of administration with normal saline only. Afte

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Publication Date
Mon May 21 2007
Journal Name
Journal Of Planner And Development
Using the Input - Output Model in building the economic plan using the computer

The origin of this technique lies in the analysis of François Kenai (1694-1774), the leader of the School of Naturalists, presented in Tableau Economique. This method was developed by Karl Marx in his analysis of the Departmental Relationships and the nature of these relations in the models of " "He said. The current picture of this type of economic analysis is credited to the Russian economist Vasily Leontif. This analytical model is commonly used in developing economic plans in developing countries (p. 1, p. 86). There are several types of input and output models, such as static model, mobile model, regional models, and so on. However, this research will be confined to the open-ended model, which found areas in practical application.

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Publication Date
Sat Jun 01 2019
Journal Name
2019 Ieee International Conference On Automatic Control And Intelligent Systems (i2cacis)
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