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Hierarchical non-singular terminal sliding mode controller for a single link flexible joint robot manipulator
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—This paper studies the control motion of a single link flexible joint robot by using a hierarchical non-singular terminal sliding mode controller (HNTSMC). In comparison to the conventional sliding mode controller (CSMC), the proposed algorithm (NTSMC) not only can conserve characteristics of the convention CSMC, such as easy implementation, guaranteed stability and good robustness against system uncertainties and external disturbances, but also can ensure a faster convergence rate of the systems states to zero in a finite time and singularity free. The flexible joint robot (FJR) is a two degree of freedom (2DOF) nonlinear and underactuated system. The system here is modeled as a fourth order system by using Lagrangian method. Based on the modeling dynamics, the system is decomposed hierarchically into two-second order subsystems, namely, a rigid body and a flexible subsystem. In the first level, the sliding manifold for each subsystem is designed based on the NTS surfaces. Then, in the second level, the total sliding surface is constructed as the linear combination of NTS surfaces of two subsystems. Thereafter, a HNTSM control is obtained based on Lyapunov theorem to drive both subsystems to their equilibrium points in the finite time. Simulation results demonstrate the effectiveness of proposed scheme (HNTSMC) over (HCSMC).

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Publication Date
Fri Dec 30 2022
Journal Name
Iraqi Journal Of Science
The Operational Matrices Methods for Solving Falkner-Skan Equations
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     The method of operational matrices is based on the Bernoulli and Shifted Legendre polynomials which is used to solve the Falkner-Skan equation. The nonlinear differential equation converting to a system of nonlinear equations is solved using Mathematica®12, and the approximate solutions are obtained. The efficiency of these methods was studied by calculating the maximum error remainder ( ), and it was found that their efficiency increases as  increases. Moreover, the obtained approximate solutions are compared with the numerical solution obtained by the fourth-order Runge-Kutta method (RK4), which gives  a good agreement.

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Publication Date
Thu Oct 01 2020
Journal Name
Plant Archives
Taxonomical study for the species volkameria inermis l. (lamiaceae)
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Publication Date
Wed Jan 01 2025
Journal Name
Lecture Notes In Networks And Systems
Symlet Analysis for ECG-Based Diagnosis of Heart Dysfunction
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Publication Date
Wed Feb 25 2026
Journal Name
Journal Of Engineering
Computational Method for Unsteady Motion of Two-Dimensional Airfoil
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A numerical method is developed for calculation of the wake geometry and aerodynamic forces on two-dimensional airfoil under going an arbitrary unsteady motion in an inviscid incompressible flow (panel method). The method is applied to sudden change in airfoil incidence angle and airfoil oscillations at high reduced frequency. The effect of non-linear wake on the unsteady aerodynamic properties and oscillatory amplitude on wake rollup and aerodynamic forces has been studied. The results of the present method shows good accuracy as compared with flat plate and for unsteady motion with heaving and pitching oscillation the present method also shows good trend with the experimental results taken from published data. The method shows good result

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Publication Date
Sun Jun 01 2014
Journal Name
مجلة كلية مدينة العلم الجامعة
Palynological study for nine cultivated species of Asteraceae family
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The current research included palynological study for nine ornamental cultivated species of Asteraceae family. The study included measurement the dimensions of pollen grains and there shape in polar view and equatorial view, sculpturing,colpi length and width, spines length and number of spines rows between colpiand exine thickness, the study showed variations in pollen grains characters forthe studied taxa

Publication Date
Fri Jul 19 2019
Journal Name
Iraqi Journal Of Science
Efficient Iterative Method for Solving Korteweg-de Vries Equations
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The Korteweg-de Vries equation plays an important role in fluid physics and applied mathematics. This equation is a fundamental within study of shallow water waves. Since these equations arise in many applications and physical phenomena, it is officially showed that this equation has solitary waves as solutions, The Korteweg-de Vries equation is utilized to characterize a long waves travelling in channels. The goal of this paper is to construct the new effective frequent relation to resolve these problems where the semi analytic iterative technique presents new enforcement to solve Korteweg-de Vries equations. The distinctive feature of this method is, it can be utilized to get approximate solutions for travelling waves of 

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Publication Date
Sat Feb 10 2018
Journal Name
Al-nahrain Journal For Engineering Sciences
Properties of Epoxy-Asphalt Pavement Mixture for Bridge Decks
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Improving the ability of asphalt pavement to survive the heavily repeated axle loads and weathering challenges in Iraq has been the subject of research for many years. The critical need for such data in the design and construction of more durable flexible pavement in bridge deck material is paramount. One of new possible steps is the epoxy asphalt concrete, which is classified as a superior asphalt concrete in roads and greatly imparts the level of design and construction. This paper describes a study on 40-50 penetration graded asphalt cement mixed with epoxy to produce asphalt concrete mixtures. The tests carried out are the Marshall properties, permanent deformation, flexural fatigue cracking and moisture damage. Epoxy asphalt mixes perf

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Publication Date
Mon Sep 30 2019
Journal Name
College Of Islamic Sciences
Voice occasion in the hadith (Sahih Azkar) for example
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Voice studies are one of the sensory studies of their first association with auditory taste, which broadcasts its connection to the most sensory point contained in the physical corners, and in order to satisfy our conscience from these fundamental voices, we searched for in modern contexts, high proportions related to the words of Muhammadiyah, so we are looking for (events In the hadiths of the Prophet (peace be upon him), to settle our journey when the true adhkaar received from the Prophet, peace be upon him, and to control us start a journey through which we repeat between the cities of audio repetitions, sometimes we find ourselves have stood at the entrance of what corresponds to the sounds between the title of the Hadith and its t

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Publication Date
Fri Jan 01 2021
Journal Name
Academy Of Strategic Management Journal
Prospects and Challenges for Iraqi SMES Sector Post-Isis
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Iraq faces significant economic challenges, owing in part to its reliance on oil revenue and the country's overburdened public sector. The supremacy of State-Owned Enterprises (SOEs), obstructive rules, a lack of access to finance, a shortage of skilled labor, and inadequate infrastructure all impede private sector growth. This research relied mainly on information from global development organizations, most markedly the World Bank, as well as policy documents, and it discovered a scarcity of pertinent educational writings. The following are the key findings of this research: Recent economic growth has not resulted in poverty reduction; the stretched history of war and insecurity in Iraq has hampered progress and development; the private se

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Publication Date
Sat Oct 08 2022
Journal Name
Mathematical Statistician And Engineering Applications
Illation for the Groups SL(2,112 ) and SL(2,132 )
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