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Deflection Analysis of an Elastic Single Link Robotic Manipulator
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Abstract

Robotics manipulators with structural flexibility provide an attractive alternative to rigid robotics manipulators for many of the new and evolving applications in robotics. In certain applications their use is unavoidable. The increased complexity in modeling and control of such manipulators is offset by desirable performance enhancements in some respects. In this paperthe single- link flexible robotics manipulator was designed and implemented from Perspex and designed with 0.5 m length , 0.02 m width and with 0.004 m thickness with mass located at the tip. There are four subsystems; motion, control, accelerometer and gyro and a host computer subsystem. The work principle of single-link robotics manipulator is the base servomotor. It rotates a hub with the link on it and measure the  tip deflection. the deflection  was measured for three cases without load,  with 27.5 and with 59.4 gram at the end of the flexible link . During each of the above cases I rotated the base servo motor at an angular velocity equals to 90 deg./s using control card based on ATMEGA640 microcontroller. the deflection  was measured for the three cases and the deflection measured by MMA7631 Accelerometer and Gyro . This accelerometer  controlled by  using MEGA Arduino board . Then the dataI collected collected from accelerometer and plot it using MATLAB software and compared between theoretical results obtained from MATLAB program that based on Lagrange equation of motion and experimental results and we found the maximum deflection occurred when V=180 deg/sec and tip load=59.5 gram.

Keywords: Flexible Link Manipulator , Industrial robotics , Robotics Manipulator ,Beam Deflection.

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Publication Date
Thu Mar 01 2012
Journal Name
Al-khwarzmi Engineering Journal
Dynamic response analysis for the parabolic trough of solar collector
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parabolic trough

Publication Date
Fri Jan 01 2016
Journal Name
Al–bahith Al–a'alami
Dictionaries in the News.. In the light of Semiotic analysis,
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We refer in this research into linguistic binaries, try rounding of simiaei news analysis. It is known that there are branches of Linguistics called social Linguistics, divided into communicative Linguistics and media. Perhaps the best justification for the inclusion of a new curriculum in media studies is a semiotic analysis of the news. I›ve turned the speech, language and communication studies in relation to different disciplines, many research projects, and returned only old curriculum, speed shift in thought, proportional to the revolution in information and communication technology, for reality imposed on the entire world, researchers are the first affected by this enormous humanitarian Almanza. Alsimiaaeon still shy away from an

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Publication Date
Sun Dec 30 2012
Journal Name
Al-kindy College Medical Journal
5 year-analysis of reported dog bites in Baghdad city
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Background: Animal bites in humans are an important public health problem. Most of these bites are dog bites. Dog bites in humans are a complex problem embracing public health and animal welfare, both in developed and developing nations. .
Al-kindy Col Med J Vol.8 No.2 2012 P: 151
Objectives: in order to estimate the magnitude of the problem and to understand the epidemiological characteristics of dog bite victims registered in Baghdad city regarding their age, sex, number of registered dog bite victims per month and year along the studied period ( 2006-2010) and also to sniff out any seasonal variation in dog bite attacks .
Methods: A across-sectional study was carried out during January (2011), in the Anti-Rabies clinic of (Pa

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Publication Date
Tue Dec 01 2015
Journal Name
International Journal Of Current Microbiology And Applied Sciences
Expression Analysis of Salivary Microrna-31 in Oral Cancer Patients
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Oral carcinoma is the 6th most common cancer in the world. MicroRNAs are small non-coding single stranded RNAs. They have been shown to be capable of altering mRNA expression; thus some are oncogenic or tumor suppressive in nature. The salivary microRNA-31 has been proposed as a sensitive marker for oral malignancy since it was abundant in saliva more than in plasma. A total of 55 whole saliva samples were collected from 35 cases diagnosed with OC their ages and gender matched with 20 healthy subjects. TaqManq RT-PCR was performed for RNA samples. Mean age was 52.23+13.73 years in cases (range:17-70 years) with male predominance represented 69%. Risk of smoking and alcoholism was highly significant. The median fold change of miR-31 was sign

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Publication Date
Thu May 25 2023
Journal Name
Eureka: Physics And Engineering
Design, analysis and construction of a simple pulse duplicator system
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One of the most important human diseases that need to be considered in terms of development of the medical engineering devices is cardiovascular disease which is a significant cause of death globally recently. Valvular heart disease is normally treated by restoring or altering heart valves with an artificial one. But the new prosthetic valve designs necessitate testing for durability estimate and failure method. It is significant to simulate the circulation system by the building of a pulse duplicator system. This study is stated by clarifying the parameter and implementation steps of the pulse duplicator system in which the different researchers have utilized the system and tried to explain the design steps of using this system wit

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Publication Date
Mon Jan 01 2024
Journal Name
Aip Conference Proceedings
Comparative analysis of deep learning techniques for lung cancer identification
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One of the diseases on a global scale that causes the main reasons of death is lung cancer. It is considered one of the most lethal diseases in life. Early detection and diagnosis are essential for lung cancer and will provide effective therapy and achieve better outcomes for patients; in recent years, algorithms of Deep Learning have demonstrated crucial promise for their use in medical imaging analysis, especially in lung cancer identification. This paper includes a comparison between a number of different Deep Learning techniques-based models using Computed Tomograph image datasets with traditional Convolution Neural Networks and SequeezeNet models using X-ray data for the automated diagnosis of lung cancer. Although the simple details p

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Publication Date
Wed Apr 01 2020
Journal Name
Plant Archive
Genetic analysis of sorghum cultivars from USA using SSR markers
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Scopus (11)
Scopus
Publication Date
Fri Nov 25 2022
Journal Name
Diagnostics
Biochemical and Mechanical Analysis of Occlusal and Proximal Carious Lesions
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A precise evaluation of caries excavation endpoint is essential in clinical and laboratory investigations. Caries invasion differentiates dentin into structurally altered layers. This study assessed these changes using Raman spectroscopy and Vickers microhardness. Ten permanent molars with occlusal and proximal carious lesions were assessed and compared at 130 points utilizing four Raman spectroscopic peaks: phosphate v1 at 960 cm−1, amide I (1650 cm−1), amide III (1235 cm−1) and the C-H bond of the pyrrolidine ring (1450 cm−1). The phosphate-to-amide I peak ratio and collagen integrity peak ratio (amide III: C-H bond) of carious zones were calculated and compared in both lesions. The former ratio was correlated to 130 Vicke

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Publication Date
Thu May 18 2023
Journal Name
Journal Of Engineering
Vibration Analysis of Laminated Composite Plate under Thermo- Mechanical Loading
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The present study focused mainly on the vibration analysis of composite laminated plates subjected to
thermal and mechanical loads or without any load (free vibration). Natural frequency and dynamic
response are analyzed by analytical, numerical and experimental analysis (by using impact hammer) for
different cases. The experimental investigation is to manufacture the laminates and to find mechanical
and thermal properties of glass-polyester such as longitudinal, transverse young modulus, shear modulus,
longitudinal and transverse thermal expansion and thermal conductivity. The vibration test carried to
find the three natural frequencies of plate. The design parameters of the laminates such as aspect ratio,
thickness

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Crossref (1)
Crossref
Publication Date
Fri Jul 01 2016
Journal Name
Al–bahith Al–a'alami
A Semiotic Approach to the Analysis of the News Story
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This study attempts to provide an approach analysis for the news, depending on the bases and principles which conceptuality semiotic researchers of this field first of them «A. J. Gremas» for the theory of «narrative discourse analysis», to more clarify we tried to apply it on a published press- news, to concludes the most important steps and methods that are necessary to follows gain more understanding of the press- news.

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