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alkej-230
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
Sun Mar 01 2020
Journal Name
Agricultural Engineering
Analysis of the Vacuum-Steam Defrosting Process of Plums Pre-Treated with Dehydrofreezing
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Abstract<p>The research material was prune plums (<italic>Prunus domestica</italic> L.), subjected to osmotic pre-treatment, with variable process time parameters and osmotic solution concentration. Plums thus fixed were frozen and stored for 6 months. At even (monthly) intervals, the product was defrosted by the vacuum-steam method, using the s-p-p chamber, until the thermocouple indicated a temperature of 4ºC in the sample’s thermal center. In order to study the kinetics of phenomena occurring during the defrosting process, the chamber was equipped with a measuring system to enable measurement and recording of temperature changes in time in the geometric center of the sample, as w</p> ... Show More
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Publication Date
Sun Mar 01 2020
Journal Name
Agricultural Engineering
Analysis of the Vacuum-Steam Defrosting Process of Plums Pre-Treated with Dehydrofreezing
...Show More Authors
Abstract<p>The research material was prune plums (<italic>Prunus domestica</italic> L.), subjected to osmotic pre-treatment, with variable process time parameters and osmotic solution concentration. Plums thus fixed were frozen and stored for 6 months. At even (monthly) intervals, the product was defrosted by the vacuum-steam method, using the s-p-p chamber, until the thermocouple indicated a temperature of 4ºC in the sample’s thermal center. In order to study the kinetics of phenomena occurring during the defrosting process, the chamber was equipped with a measuring system to enable measurement and recording of temperature changes in time in the geometric center of the sample, as w</p> ... Show More
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Publication Date
Tue May 31 2022
Journal Name
International Journal Of Research In Social Sciences & Humanities
A Critical Discourse Analysis Study of Silence in Selected Texts of Virginia Woolf
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BN Rashid, Social Sciences, 2022

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Publication Date
Thu Feb 01 2018
Journal Name
Journal Of Engineering
Statistical analysis of the removal of Chromium(VI)by Iron Oxide Nanoparticle (Fe3O4)
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Investigation of the adsorption of Chromium (VI) on Fe3O4 is carried out using batch scale experiments according to statistical design using a software program minitab17 (Box-Behnken design). Experiments were carried out as per Box-Behnken design with four input parameters such as pH (2-8), initial concentration (50–150mg/L), adsorbent dosage (0.05–0.3 g) and time of adsorption (10–60min). The better conditions were showed at pH: 2; contact time: 60 min; chromium concentration: 50 mg/L and magnetite dosage: 0.3 g for maximum Chromium (VI) removal of (98.95%) with an error of 1.08%. The three models (Freundlich, Langmuir, and Temkin) were fitted to experimental data, Langmuir isotherm has bette

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Publication Date
Fri Oct 30 2020
Journal Name
Journal Of Economics And Administrative Sciences
Application of Multi-Objective Optimization on the basis of Ratio Analysis (MOORA) Method
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The paper aims is to solve the problem of choosing the appropriate project from several service projects for the Iraqi Martyrs Foundation or arrange them according to the preference within the targeted criteria. this is done by using Multi-Criteria Decision Method (MCDM), which is the method of Multi-Objective Optimization by Ratios Analysis (MOORA) to measure the composite score of performance that each alternative gets and the maximum benefit accruing to the beneficiary and according to the criteria and weights that are calculated by the Analytic Hierarchy Process (AHP). The most important findings of the research and relying on expert opinion are to choose the second project as the best alternative and make an arrangement acco

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Publication Date
Wed Apr 01 2015
Journal Name
Journal Of Economics And Administrative Sciences
Classification & Evaluation of Evidence of deprivation in Iraq (2009) by using Cluster analysis
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       The study aimed to reach the best rating for the views and variables in the totals characterized by qualities and characteristics common within each group and distinguish them from aggregates other for the purpose of distinguishing between Iraqi provinces which suffer from deprivation, for the purpose of identifying the status of those provinces in the early allowing interested parties and regulators to intervene to take appropriate corrective action in a timely manner. Style has been used cluster analysis Cluster analysis to reach the best rating to those totals from the provinces that suffer from problems, where the provinces were classified, based on the variables (Edu

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Publication Date
Wed Mar 29 2017
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Validity of Generalized Standard Addition Method for a Mixture of Amino Acid Analysis
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A Modified version of the Generlized standard addition method ( GSAM) was developed. This modified version was used for the quantitative determination of arginine   (Arg) and glycine ( Gly) in arginine  acetyl salicylate – glycine complex . According to this method two linear equations were solved to obtain the amounts of (Arg) and (Gly). The first equation was obtained by spectrophotometic measurement of the total absorbance of (Arg) and (Gly) colored complex with ninhydrin . The second equation was obtained by measuring the total acid consumed by total amino groups of (Arg) and ( Gly). The titration was carried out in non- aqueous media using perchloric acid in glacial acetic acid as a titrant. The developed metho

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Publication Date
Sun Jun 04 2017
Journal Name
Baghdad Science Journal
Texture Analysis of smear of Leukemia Blood Cells after Exposing to Cold Plasma
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Plasma physics and digital image processing technique (DIPT) were utilized in this research to show the effect of the cold plasma (plasma needle) on blood cells. The second order statistical features were used to study this effect. Different samples were used to reach the aim of this paper; the patients have leukemia and their leukocytes number was abnormal. By studying the results of statistical features (mean, variance, energy and entropy), it is concluded that the blood cells of the sample showed a good response to the cold plasma.

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Publication Date
Thu Feb 01 2024
Journal Name
Kurdish Studies
The Jurisprudence of Clans in the Balance of Social Jurisprudence (Criticism and Analysis)
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It is known that the science of jurisprudence is one of the most important Islamic sciences. Because it is a science that regulates the life of man and society and provides them with happiness in this world and the hereafter, if they follow its provisions with precision and care. The importance of this topic lies in the fact that it represents an urgent social need to show the compatibility of tribal customs with social jurisprudence. The job of the jurists was and still is to clarify the legal rulings according to what the Holy Qur’an has shown, and what has been reported on the authority of the Great Prophet (6) and the pure imams (:).It is no secret to everyone that the Islamic civilization is (the civilization of jurisprudence), just

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Publication Date
Fri May 16 2025
Journal Name
Journal Of Baghdad College Of Dentistry
Soft tissue facial profile analysis of adult Iraqis with different classes of malocclusion
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Background: Complete analysis of facial profile should also include an evaluation of soft tissue morphology. Materials and Method:The sample consisted of 90 Iraqi adults (45 males and 45 females) aged 18-25 years from Baghdad city divided into 3 groups according to the ANB angle with 30 subjects in each group (15 males and 15 females) for class I, II and III. Lateral cephalometric radiograph was taken for each subject and 8 angular and 5 linear measurements were identified and determined, t-test, ANOVA and LSD test were used to compare between both genders and between different classes. Results:Showed that females had greater angular measurements and smaller linear measurements with more lip prominence than males in all classes, there was m

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