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Inverse Kinematics Solution for Redundant Robot Manipulator using Combination of GA and NN
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A demonstration of the inverse kinematics is a very complex problem for redundant robot manipulator. This paper presents the solution of inverse kinematics for one of redundant robots manipulator (three link robot) by combing of two intelligent algorithms GA (Genetic Algorithm) and NN (Neural Network). The inputs are position and orientation of three link robot. These inputs are entering to Back Propagation Neural Network (BPNN). The weights of BPNN are optimized using continuous GA. The (Mean Square Error) MSE is also computed between the estimated and desired outputs of joint angles. In this paper, the fitness function in GA is proposed. The sinwave and circular for three link robot end effecter and desired trajectories are simulated by MATLAB program. Joint angles and end effecter positions of robot results values of circular trajectory are better than joint angles end effecter positions of robot results values of NN work in another paper. Three link redundant robot workspace is also simulated. The outputs results of best three joint angles are evaluated for two trajectories sinwave and circular, with 50 generations the algorithm is fast. This paper presents the simulations results that are obtained based on MATLAB R2010b program.  

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Publication Date
Mon Feb 01 2016
Journal Name
Journal Of Engineering
Deterioration Model for Sewer Network Asset Management in Baghdad City (case study Zeppelin line)
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Asset management involves efficient planning of economic and technical performance characteristics of infrastructure systems. Managing a sewer network requires various types of activities so the network can be able to achieve a certain level of performance. During the lifetime of the network various components will start to deteriorate leading to bad performance and can damage the infrastructure. The main objective of this research is to develop deterioration models to provide an assessment tool for determining the serviceability of the sewer networks in Baghdad city the Zeppelin line was selected as a case study, as well as to give top management authorities the appropriate decision making. Different modeling techniques

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Publication Date
Thu Aug 31 2023
Journal Name
Journal Of Kufa For Mathematics And Computer
Four Points Block Method with Second Derivative for Solving First Order Ordinary Differential Equations
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Publication Date
Wed Feb 08 2023
Journal Name
Iraqi Journal Of Science
Generation Contour Lines from Digital Elevation Model (1m) for AL-khamisah, Thi-Qar Government
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The DEM (Digital elevation model) means that the topography of the earth's surface (such as; Terrain relief and ocean floors), can be described mathematically by elevations as functions of three positions either in geographical coordinates, (Lat. Long. System) or in rectangular coordinates systems (X, Y, Z). Therefore, a DEM is an array number that represents spatial distributions of terrain characteristics. In this paper, the contour lines with different interval of high-resolution digital elevation model (1m) for AL-khamisah, The Qar Government was obtained. The altitudes ranging is between 1 m – 8.5 m, so characterized by varying heights within a small spatial region because it represents in multiple spots with flat surfaces.

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Publication Date
Tue Feb 28 2023
Journal Name
Iraqi Journal Of Science
Beam Shaping Technique for 5-mm Fiber-coupled Laser Diode Bars with Lens Group
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In the last few years, fiber-coupled diode lasers have shown massive applications in many fields of communication and scientific research. Particularly, the pumping of solid-state lasers is a key application for more powerful diode lasers enabling good solutions in various laser micro methods like metal cutting, sintering, structuring as well as drilling. In this work, a simple beam shaping method is demonstrated for coupling a high-power semiconductor laser diode into multi-mode fiber optic using optical lenses. The optical lenses as beam transformation components are utilized to reshape the asymmetrical irradiation of the diode laser bar and to circularize the laser beam. Using this simple method, compact, high-output-power, and high-b

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Publication Date
Mon Oct 30 2023
Journal Name
Iraqi Journal Of Science
Self-Interference Cancellation Techniques for In-Band Full-Duplex Wireless Communication Systems: A Review
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      In-Band Full-Duplex (IBFD) systems have the capability of simultaneously transmitting and receiving signals through the channel and require the same resources as half-duplex systems. Unfortunately, IBFD systems have self-interference (SI) issues that prevent the system from gaining double throughput with respect to half-duplex systems. Therefore, the IBFD system will be more reliable if SI is mitigated more. This contribution will look at SI cancellation in wireless radio and underwater acoustic systems. The reviewed documents cover all types of SI cancellations, including passive, analog, and digital cancellations. In a practical full-duplex system, the SI cancellation for all domains must cancel the SI below the receiver noi

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Publication Date
Thu Aug 31 2017
Journal Name
Journal Of Engineering
Optimal Indicators to Select the Engineering Consultancy Office For Higher Education Institutions in Iraq
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Expansion the engineering consultancy offices in the universities of Iraq, about (14) offices, leading to increas the competition between them, especially after the great trends of Iraqi government agencies to use the academic experiences and their efficiencies in general, due to non-existence of the engineering qualification in the government institutions to do the engineering designs ,supervision of projects and other engineering works which are practicing by the engineering consultancy offices in order to get the best performance of the work.Within this serious competition, needing a specific approach to enable government agencies to choose the optimal and alternative consultancy office to meet specific project and not rely on cronyis

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Publication Date
Fri Mar 01 2019
Journal Name
Al-khwarizmi Engineering Journal
A New Fractal Printed Dipole Antenna Based on Tent Transformations for Wireless Communication Applications
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In this paper, a compact multiband printed dipole antenna is presented as a candidate for use in wireless communication applications. The proposed fractal antenna design is based on the second level tent transformation. The space-filling property of this fractal geometry permits producing longer lengths in a more compact size. Theoretical performance of this antenna has been calculated using the commercially available software IE3D from Zeland Software Inc. This electromagnetic simulator is based on the method of moments (MoM). The proposed dipole antenna has been found to possess a considerable size reduction compared with the conventional printed or wire dipole antenna designed at the same design frequency and using the same substrate

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Publication Date
Sun Dec 22 2024
Journal Name
Journal Of Baghdad College Of Dentistry
Finite element stress analysis study for stresses around mandibular implant retained overdenture MIR-OD
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Background: It has been well known that the success of mandibular implant- retained overdenture heavily depends on initial stability, retention and long term osseointegration this is might be due to optimal stresses distribution in surrounding bones. Types of mandibular implant- retained overdenture anchorage system and number of dental implants play an important role in stresses distribution at the implant-bone interface. It is necessary to keep the stresses below the physiologic tolerance level of the bone .since. And it is difficult to measure these stresses around bone in vivo. In the present study, finite element analysis used to study the stresses distribution around dental implant supporting Mandible implant retained overdenture Mate

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Publication Date
Thu May 18 2023
Journal Name
Journal Of Engineering
Genetic Algorithm Optimization Model for Central Marches Restoration Flows with Different Water Quality Scenarios
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A Genetic Algorithm optimization model is used in this study to find the optimum flow values of the Tigris river branches near Ammara city, which their water is to be used for central marshes restoration after mixing in Maissan River. These tributaries are Al-Areed, AlBittera and Al-Majar Al-Kabeer Rivers. The aim of this model is to enhance the water quality in Maissan River, hence provide acceptable water quality for marsh restoration. The model is applied for different water quality change scenarios ,i.e. , 10%,20% increase in EC,TDS and BOD. The model output are the optimum flow values for the three rivers while, the input data are monthly flows(1994-2011),monthly water requirements and water quality parameters (EC, TDS, BOD, DO and

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Publication Date
Fri Jan 01 2021
Journal Name
Journal Of Engineering
A Proposed Adaptive Bitrate Scheme Based on Bandwidth Prediction Algorithm for Smoothly Video Streaming
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A robust video-bitrate adaptive scheme at client-aspect plays a significant role in keeping a good quality of video streaming technology experience. Video quality affects the amount of time the video has turned off playing due to the unfilled buffer state. Therefore to maintain a video streaming continuously with smooth bandwidth fluctuation, a video buffer structure based on adapting the video bitrate is considered in this work. Initially, the video buffer structure is formulated as an optimal control-theoretic problem that combines both video bitrate and video buffer feedback signals. While protecting the video buffer occupancy from exceeding the limited operating level can provide continuous video str

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