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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 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
Wed Apr 01 2009
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Uterine involution after term childbirth
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Background: uterine involution is the process by which the postpartum uterus returning to its prepregnant state by the process of autolysis. The aim of the study is to fallow the uterine involution sonographicly during the first two weeks of puerperium and clinical correlation of several puerperal conditions was sought.
Patients and methods: One hundred full term women were delivered in one of Baghdad hospital during a six month period were followed by serial sonogram during the first two weeks of the puerperal period to show the normal process of uterine regression in relation to several condition .The rate of uterine involution were shown as percentage drop in uterine volume at day (7) and day (14)&nbsp

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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
Sun Jul 04 2010
Journal Name
Journal Of The Faculty Of Medicine Baghdad
The outcome of latent phase vs. Active phase admission to labour room of low risk nulliparous women in labour
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Background: the first stage ,labour is divided into early (latent phase )when uterine contractions are irregular and cervical effacement and dilatation are gradual, while the active phase of labour commences when cervical dilatation reaches (4) cm .and uterine contractions are more powerful . Our aim from this study is to see the effect of the timing of admission to labour room on mode of delivery and foetal outcome.
Patients and method: 240 nulliparous women at term pregnancy were diagnosed as labour pain and admitted to Baghdad Teaching Hospital from the first of January to the end of December 2006, they were followed during their course of labour to see the effect of admission to the labour room in&nbs

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Publication Date
Mon Aug 26 2019
Journal Name
Iraqi Journal Of Science
Two-Component Generalization of a Generalized the Short Pulse Equation
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     In this article, we introduce a two-component generalization for a new generalization type of the short pulse equation was recently found by Hone and his collaborators. The coupled of nonlinear equations is analyzed from the viewpoint of Lie’s method of a continuous group of point transformations. Our results show the symmetries that the system of nonlinear equations can admit, as well as the admitting of the three-dimensional Lie algebra. Moreover, the Lie brackets for the independent vectors field are presented. Similarity reduction for the system is also discussed.

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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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Publication Date
Wed Dec 29 2021
Journal Name
Journal Of The College Of Education For Women
Employment and Labor Union Laws in Japan between the 1889 and 1946 Constitutions: A Comparative Study: أفراح محمد علي
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This research is based on the descriptive and analytical methodology. The importance of studying labor laws and labor unions in Japan between 1889 and 1946 constitutions is because Japan was out of a feudal phase, and had no idea about the factory system and industrialization in their modern sense before the Meiji era. Generally, its labor system used to be mostly familial, and the economic system was based on agriculture. This called for the enactment of legislations and laws appropriate for the coming phase in Meiji era. Thus, this paper examines the role of Meiji government in enacting labor legislations and laws when he came to power in 1896, and his new constitution in 1889 and the civil code of 1896. It further examines the way Mei

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Publication Date
Sat Feb 27 2021
Journal Name
Iraqi Journal Of Science
DC Glow Discharge Plasma Characteristics in Ar/O2 Gas Mixture
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In this article, the effects of the O2 ratio  on the electrical characteristics, including the I-V characteristic curve, Panchen’s curve, and I-P curve, were tested in a sample of O2/Ar gaseous mixture . The sample was produced by plasma-based DC magnetron sputtering with niobium metal as a target material. The inter-electrode spacing value was 4 cm. Plasma diagnosis via the Optical Emission Spectroscopy (OES) method was used to achieve Te and Ne mixture values of 20 %, 30 %, 50%, and 70% in the Ar/O2 system. The results showed that the discharge is operating in the abnormal glow region and the discharge current was decreased by increasing O2 percentage. In addition, the experimenta

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Publication Date
Sat Jan 01 2011
Journal Name
Journal Of Engineering
CONSTRUCTION DELAY ANALYSIS USING DAILY WINDOWS TECHNIQUE
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Delays occur commonly in construction projects. Assessing the impact of delay is sometimes a contentious
issue. Several delay analysis methods are available but no one method can be universally used over another in
all situations. The selection of the proper analysis method depends upon a variety of factors including
information available, time of analysis, capabilities of the methodology, and time, funds and effort allocated to the analysis. This paper presents computerized schedule analysis programmed that use daily windows analysis method as it recognized one of the most credible methods, and it is one of the few techniques much more likely to be accepted by courts than any other method. A simple case study has been implement

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