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An Adaptive Integral Sliding Mode Control for Disturbed Servo Motor Systems
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Abstract-Servo motors are important parts of industry automation due to their several advantages such as cost and energy efficiency, simple design, and flexibility. However, the position control of the servo motor is a difficult task because of different factors of external disturbances, nonlinearities, and uncertainties. To tackle these challenges, an adaptive integral sliding mode control (AISMC) is proposed, in which a novel bidirectional adaptive law is constructed to reduce the control chattering. The proposed control has three steps to be designed. Firstly, a full-order integral sliding manifold is designed to improve the servo motor position tracking performance, in which the reaching phase is eliminated to achieve the invariance of the ISMC in the motor system response. Secondly, the bidirectional adaptive law of the switching gain is proposed to mitigate the chattering. In the proposed bidirectional adaptive law, the switching gain varies depending on the system uncertainties, providing the high switching gain initially and then moving to the lowest value when sliding mode is achieved. As a result, not only the overestimation issues of monotonically adaptive law are resolved, but also the prior information of the disturbance upper bound is no longer required. Thirdly, by using the Lyapunov theorem, the stability of the controlled servo system is mathematically proved. Finally, simulation tests are conducted to confirm the superiority of tracking and robustness of the proposed control algorithm over existing control algorithms in terms of position-tracking responses and chattering reduction.

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Publication Date
Tue Nov 30 2021
Journal Name
Iraqi Journal Of Science
Effect of Water on Some Mechanical Properties of Epoxy Blends Reinforced With Different Weight Fractions of Nano Titanium Oxide and Nano Silica
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Polymer composites were prepared using epoxy resin (EP) and unsaturated polyester (UPE) as a blend matrices, which were mixed together in different percentages (starting from 90:10) of (epoxy/polyester) respectively, and ending with (50:50) of (epoxy/polyester). The optimum mixing ratio (OMR) of the components was decided upon the results of the impact strength value of these blending ratio, which showed the highest value of (16.3) KJ/m2 for the blending ratio (80:20) of (EP/UPE) respectively.
The blend with (OMR) was chosen to be reinforced with three different weight fractions of reinforcement; the 1st one was reinforced with nano titanium oxide (TiO2) with a weight fraction (2% wt.), the 2nd one was reinforced with both nano (TiO2)

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Publication Date
Sun Oct 30 2022
Journal Name
Iraqi Journal Of Science
Heterocyclic Synthesis of Some New Isoxazolidine Derivatives via 1,3-Dipolar Cycloaddition of Nitrones to Styrene
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     A number of nitrones have been synthesized in three different procedures, starting with N-phenyl hydroxylamine, followed by the condensation reaction with some selected aldehydes. Furthermore, these nitrones were employed in the preparation of a number of new isoxazolidines. Cycloaddition reaction of nitrones to styrene produced the desired products.

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Publication Date
Sat Jan 20 2024
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Enhanced Support Vector Machine Methods Using Stochastic Gradient Descent and Its Application to Heart Disease Dataset
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Support Vector Machines (SVMs) are supervised learning models used to examine data sets in order to classify or predict dependent variables. SVM is typically used for classification by determining the best hyperplane between two classes. However, working with huge datasets can lead to a number of problems, including time-consuming and inefficient solutions. This research updates the SVM by employing a stochastic gradient descent method. The new approach, the extended stochastic gradient descent SVM (ESGD-SVM), was tested on two simulation datasets. The proposed method was compared with other classification approaches such as logistic regression, naive model, K Nearest Neighbors and Random Forest. The results show that the ESGD-SVM has a

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Publication Date
Sun Jul 30 2023
Journal Name
Iraqi Journal Of Science
Generalization of Gamma and Beta Functions with Certain Properties and Statistical Application
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     This work is devoted to define new generalized gamma and beta functions involving the recently suggested seven-parameter Mittag-Leffler function, followed by a review of all related special cases. In addition, necessary investigations are affirmed for the new generalized beta function, including, Mellin transform, differential formulas, integral representations, and essential summation relations. Furthermore, crucial statistical application has been realized for the new generalized beta function.  

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Publication Date
Fri Oct 02 2015
Journal Name
American Journal Of Applied Sciences
Advances in Document Clustering with Evolutionary-Based Algorithms
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Document clustering is the process of organizing a particular electronic corpus of documents into subgroups of similar text features. Formerly, a number of conventional algorithms had been applied to perform document clustering. There are current endeavors to enhance clustering performance by employing evolutionary algorithms. Thus, such endeavors became an emerging topic gaining more attention in recent years. The aim of this paper is to present an up-to-date and self-contained review fully devoted to document clustering via evolutionary algorithms. It firstly provides a comprehensive inspection to the document clustering model revealing its various components with its related concepts. Then it shows and analyzes the principle research wor

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Publication Date
Tue Dec 05 2023
Journal Name
Baghdad Science Journal
A Numerical scheme to Solve Boundary Value Problems Involving Singular Perturbation
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The Wang-Ball polynomials operational matrices of the derivatives are used in this study to solve singular perturbed second-order differential equations (SPSODEs) with boundary conditions. Using the matrix of Wang-Ball polynomials, the main singular perturbation problem is converted into linear algebraic equation systems. The coefficients of the required approximate solution are obtained from the solution of this system. The residual correction approach was also used to improve an error, and the results were compared to other reported numerical methods. Several examples are used to illustrate both the reliability and usefulness of the Wang-Ball operational matrices. The Wang Ball approach has the ability to improve the outcomes by minimi

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Publication Date
Tue Dec 13 2022
Journal Name
Modern Sport
دراسة علاقة بعض مؤشرات وضع القوة لذوي الإعاقة فئة (٤٠f ) بدفع الثقل من التقاطع بالإنجاز
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تعد فعالية دفع الثقل واحده من الفعاليات المميزة بألعاب القوى، وهي أحدى فعاليات الرمي الأربعة (رمي الرمح, رمي القرص, أطاحة المطرقة, دفع الثقل) وتطلب قدرات بدنية وقابليات حركية خاصة والتي تعتمد بشكل فعَال ومؤثر على النواحي البايوميكانيكية, خصوصا عندما يتعلق الأمر بذوي الأعاقة ومنهم فئة (40f) والذين يتمتعون بدعم كبير من المجتمع الدولي بصورة عامة وفي بلدانهم بصورة خاصة وأمكانية تطوير أنجازاتهم لرفع أسم بلدانه

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Publication Date
Tue Sep 01 2015
Journal Name
Journal Of Engineering
Dynamic Analysis of Fluid – Structure Interaction of Axial Fan System
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Fluid-structure interaction method is performed to predict the dynamic characteristics of axial fan system. A fluid-structure interface physical environment method (monolithic method) is used to couple the fluid flow solver with the structural solver. The integration of the three-dimensional Navier-Stokes equations is performed in the time Doman, simultaneously to the integration of the three dimensional structural model. The aerodynamic loads are transfer from the flow to structure and the coupling step is repeated within each time step, until the flow solution and the structural solution have converged to yield a coupled solution of the aeroelastic set of equations. Finite element method is applied to solve numerically

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Publication Date
Thu Feb 16 2023
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
The Insights of Experienced Pharmacists Regarding the Iraqi health Insurance Program: A Qualitative Study(Conference Paper )#
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The aim of study was to explore pharmacist insights toward the impact of prospective implementation of the national health insurance program on patients, providers and Iraqi health system.

This was a qualitative study including semi-structured face-to-face (mostly) interviews with experienced pharmacists. The interview guide included open-ended questions about the impact of the national health insurance program on patients and healthcare providers at three levels: quality of services, costs, and frequency of visits. Potential challenges were also discussed. Interviews were conducted in four provinces from March to May 2022. Thematic analysis was used to analyze the interview findings and generate themes and subthemes.

The

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Publication Date
Sun Mar 01 2020
Journal Name
Journal Of Engineering
Wellbore Breakouts Prediction from Different Rock Failure Criteria
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One of the wellbore instability problems in vertical wells are breakouts in Zubair oilfield. Breakouts, if exceeds its critical limits will produce problems such as loss circulation which will add to the non-productive time (NPT) thus increasing loss in costs and in total revenues. In this paper, three of the available rock failure criteria (Mohr-Coulomb, Mogi-Coulomb and Modified-Lade) are used to study and predict the occurrence of the breakouts. It is found that there is an increase over the allowable breakout limit in breakout width in Tanuma shaly formation and it was predicted using Mohr-Coulomb criterion. An increase in the pore pressure was predicted in Tanuma shaly formation, thus; a new mud weight and casing pr

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