Preferred Language
Articles
/
alkej-155
Tuning PID Controller by Neural Network for Robot Manipulator Trajectory Tracking
...Show More Authors

Ziegler and Nichols proposed the well-known Ziegler-Nichols method to tune the coefficients of PID controller. This tuning method is simple and gives fixed values for the coefficients which make PID controller have weak adaptabilities for the model parameters variation and changing in operating conditions. In order to achieve adaptive controller, the Neural Network (NN) self-tuning PID control is proposed in this paper which combines conventional PID controller and Neural Network learning capabilities. The proportional, integral and derivative (KP, KI, KD) gains are self tuned on-line by the NN output which is obtained due to the error value on the desired output of the system under control. The conventional PID controller in the robot manipulator is replaced by NN self tuning PID controller so as to achieve trajectory tracking with minimum steady-state error and improving the dynamic behavior (overshoot). The simulation results showed that the proposed controller has strong self-adaptability over the conventional PID controller.

View Publication Preview PDF
Quick Preview PDF
Publication Date
Thu Dec 01 2022
Journal Name
Journal Of Solid State Chemistry
Stabilization of Pt nanoparticles within MOFs for selective hydrogenation of hazardous 4-nitrophenol to valuable 4-aminophenol: Confinement and synergistic effect
...Show More Authors

View Publication
Scopus (31)
Crossref (32)
Scopus Clarivate Crossref
Publication Date
Mon Jun 15 2026
Journal Name
Alustath Journal For Human And Social Sciences
An Evaluation of English Language Textbook ‘Power Up 5’ for Grade 5 in Private Schools in Iraq from the Teachers’ Perspective
...Show More Authors

This paper evaluates the appropriateness of ‘Power Up 5’ in Sterling schools in Iraq from the aspects of Design & Layout, Subject & Content, Activities and skills from the teachers’ perspectives. The study followed the quantitative approach where a questionnaire was adopted from a previous study which was made regarding the same objectives and research questions. Adapted from Litz (2005). The data were gathered by distributing the questionnaire to 55 English teachers in Sterling schools in Iraq through a 5 Likert scale questionnaire. The results of the analysis are generally in favour of the textbook regarding research questions and the appropriateness to Iraqi students in grade 5. The textbook can be adopted with ease in Iraqi public

... Show More
View Publication Preview PDF
Publication Date
Thu Jun 04 2015
Journal Name
The Iraqi Journal Of Veterinary Medicine
Direct Amplification of B1 gene of Toxoplasma gondii DNA using Nested Polymerase Chain Reaction Following Microwave Treatment for Whole Blood Samples
...Show More Authors

     Infection with Toxoplasma gondii is a cause of fetal death since T. gondii can be transmitted to the fetus through the placenta (transplacental) from an infected mother or at vaginal delivery. Blood obtained from women and sheep to confirm their infection with toxoplasmosis by using Enzyme Linked Immunosorbant Assay test (ELISA) to ditective positive specific anti-Toxoplasma (IgM, IgG and IgM, or IgG) antibodies. This study used two methodes to extract DNA (the first one was a standard extraction commercial method (CM-PCR) of genomic DNA using a commercial kit (Promega, USA), and the second one was the direct heat DNA extraction using microwave oven (MW-PCR) for whole blood samples obtained from infected women and sheep. Th

... Show More
View Publication Preview PDF
Crossref
Publication Date
Fri Aug 01 2025
Journal Name
Journal Of Water Process Engineering
Fabrication of AgBr/Br-doped g-C3N4 hybrids for efficient piezo-photocatalytic degradation of organic pollutants in split-plate airlift reactor
...Show More Authors

The use of piezocatalysis with photocatalysis in the degradation of organic pollutants has become an attractive research field due to the enhanced synergistic effect of the two processes. Herein, binary composites of AgBr decorated onto Br-doped g-C3N4 in different weight percentages (AgBr content was varied from 10 wt% to 40 wt%) have been built as heterojunction piezo-photo catalysts with a highly efficient performance. The 20 wt%AgBr/Br-g-C3N4 catalysts showed synergistically improved piezo-photo catalytic decomposition toward Methylene blue (MB) under visible-light and sonication exposure in a simple constructed split-plate airlift contactor, completing 99.7 % degradation of MB within 60 min. The heterogeneous junction established among

... Show More
View Publication
Scopus (9)
Crossref (10)
Scopus Crossref
Publication Date
Mon Dec 31 2018
Journal Name
Iraqi Journal Of Market Research And Consumer Protection
EXPOSURE TO TELEVISION PROMOTION OF PHARMACEUTICAL PRODUCTS AND TRENDS TOWARDS THEM / FIELD RESEARCH FOR A SAMPLE OF THE AUDIENCE IN THE CITY OF BAGHDAD: EXPOSURE TO TELEVISION PROMOTION OF PHARMACEUTICAL PRODUCTS AND TRENDS TOWARDS THEM / FIELD RESEARCH FOR A SAMPLE OF THE AUDIENCE IN THE CITY OF BAGHDAD
...Show More Authors

A field study was conducted on a sample of the public in Baghdad to study the audience's exposure to the television promotion of pharmaceutical products and their trends in order to determine the rate of exposure of the public to the television promotion of pharmaceutical products according to the theory of uses and rumors and to determine the public's attitudes towards television promotion of pharmaceutical products. A survey of (25) a questions was distributed to a sample of the audience of 150 people. The statistical program SPSS was used to unload the data and for the calculation of frequencies and percentages and correlation coefficients. The research reached several results, Most importantly, the television promotion is well receiv

... Show More
View Publication Preview PDF
Publication Date
Thu Apr 25 2019
Journal Name
Iraqi Journal Of Market Research And Consumer Protection
THE ROLE OF PROMOTIONAL MIX ELEMENTS IN ENHANCING COMPETITIVE ADVANTAGE: GENERAL COMPANY FOR THE MANUFACTURE OF PHARMACEUTICALS AND MEDICAL SUPPLIES IN SAMARRA / CASE STUDY.: THE ROLE OF PROMOTIONAL MIX ELEMENTS IN ENHANCING COMPETITIVE ADVANTAGE: GENERAL COMPANY FOR THE MANUFACTURE OF PHARMACEUTICALS AND MEDICAL SUPPLIES IN SAMARRA / CASE STUDY.
...Show More Authors

The research is based on a statement of the effect and nature of the relationship of elements of promotional mix represented by (advertising, personal selling, sales promotion, public relations and direct marketing) as the independent variable in the dependent variable represented in the competitive advantage in the General Company for the manufacture of medicines and medical supplies Samarra. Analytical descriptive in the theoretical side, through the use of a number of literature from scientific sources (books, research and studies published in Arab and foreign magazines) was also relied on the methodology of the case study in the practical side, Data collection using the questionnaire tool, which was designed using the triangular Like

... Show More
View Publication Preview PDF
Publication Date
Fri Apr 29 2016
Journal Name
Iraqi Journal Of Market Research And Consumer Protection
The net effect of the nominal protection coefficients in the production of table eggs and poultry meat in Iraq For the period 1990- 2013.: The net effect of the nominal protection coefficients in the production of table eggs and poultry meat in Iraq For the period 1990- 2013.
...Show More Authors

The research aims to measure the net nominal protection coefficients for the products table eggs and poultry meat and the extent of its impact on domestic production volume for the period of 1990- 2013 has been the use of mathematical formulas simplified in the calculation of the transaction process with a view to the extent of support and protection offered by the state pricing policy for products Resources Sector Animal in Iraq and reach search Highlights and most important, there are volatile price state policy with regard to eggs and poultry meat, as it ranged net nominal protection coefficients between the larger and less than the right one, which means that values are unstable to support local producers or consumers, and can be The

... Show More
View Publication Preview PDF
Publication Date
Sat Oct 17 2026
Journal Name
Al–bahith Al–a'alami
US Policy Image Regarding the Middle East Region as Reported by the Iraqi Newspapers (An Analytical Study of the Public Opinion in Editorials: Al-Sabah, Al-Mashriq and Tariq Al-Shaab Papers Over the Period from 1st of July to 30th of September 2013)
...Show More Authors

The present study is an attempt to throw light on the nature of the US policy regarding the Middle East region as portrayed by AI-Sabah, Al-Mashriq and Tariq Al-Shaab papers over a period of three months from 1st of July to 30th of September 2013.

In writing this study, a number of goals have been set by the researcher. These goals may include but in no way limited to the nature of the US image as carried by the above three papers, the nature of the topics tackled by them and the nature of the Arab countries which received more and extensive coverage than others.

A qualitative research approach is proposed for the study. This approach has allowed the researcher to arrive at definite answers for the possible questions rais

... Show More
View Publication Preview PDF
Crossref
Publication Date
Fri Feb 01 2019
Journal Name
Journal Of Economics And Administrative Sciences
The impact of enabling the effectiveness of the work of the audit committees in private commercial banks (A survey study of the views of a sample of the objective of the inspection bodies represented by the Central Bank and the Securities Commission and e
...Show More Authors

The aim of this study is to identify the effect of enabling the effectiveness of the work of the audit committees in private commercial banks and to identify the extent of awareness of the importance of empowerment in the work of these committees, especially as it is known that these committees, especially the inspection committees that go to private banks and from various sources including committees of the Central Bank of Iraq Committees of the Securities Commission and finally committees of the external audit offices, through an analysis of the determinants of empowerment in the performance of the most important work of the audit committees, namely: supervising the process of preparing reports, supervising the system of intern

... Show More
View Publication Preview PDF
Crossref
Publication Date
Thu Jan 25 2024
Journal Name
Biomedical Materials
Enhancing the therapeutic potential of curcumin: a novel nanoformulation for targeted anticancer therapy to colorectal cancer with reduced miR20a and miR21 expression
...Show More Authors
Abstract<p>Curcumin (Cur) possesses remarkable pharmacological properties, including cardioprotective, neuroprotective, antimicrobial, and anticancer activities. However, the utilization of Cur in pharmaceuticals faces constraints owing to its inadequate water solubility and limited bioavailability. To overcome these hurdles, there has been notable focus on exploring innovative formulations, with nanobiotechnology emerging as a promising avenue to enhance the therapeutic effectiveness of these complex compounds. We report a novel safe, effective method for improving the incorporation of anticancer curcumin to induce apoptosis by reducing the expression levels of miR20a and miR21. The established</p> ... Show More
View Publication
Scopus (4)
Crossref (4)
Scopus Clarivate Crossref