Preferred Language
Articles
/
alkej-284
Ant Colony Optimization Based Force-Position Control for Human Lower Limb Rehabilitation Robot
...Show More Authors

The aim of human lower limb rehabilitation robot is to regain the ability of motion and to strengthen the weak muscles. This paper proposes the design of a force-position control for a four Degree Of Freedom (4-DOF) lower limb wearable rehabilitation robot. This robot consists of a hip, knee and ankle joints to enable the patient for motion and turn in both directions. The joints are actuated by Pneumatic Muscles Actuators (PMAs). The PMAs have very great potential in medical applications because the similarity to biological muscles. Force-Position control incorporating a Takagi-Sugeno-Kang- three- Proportional-Derivative like Fuzzy Logic (TSK-3-PD) Controllers for position control and three-Proportional (3-P) controllers for force control. They are designed and simulated to improve the desired joints position specifications such as minimum overshoot, minimum oscillation, minimum steady state error, and disturbance rejection during tracking the desired position medical trajectory. Ant Colony Optimization (ACO) is used to tune the gains of position and force parts of the Force-Position controllers to get the desired position trajectory according to the required specification. A comparison between the force-position controllers tuned manually and tuned by ACO shows an enhancement in the results of the second type as compared with the first one with an average of 39%.

View Publication Preview PDF
Quick Preview PDF
Publication Date
Thu Jan 01 2026
Journal Name
Journal Of Advanced Pharmacy Education And Research
Formulation and optimization of clotrimazole nail lacquer as transungual drug delivery system
...Show More Authors

Clotrimazole nail lacquer was created using this research, which also included the incorporation of two different kinds of polymers. (Eudragit RL 100 and ethyl cellulose) in various concentrations, as well as castor oil as a plasticizer, salicylic acid as a keratolytic agent, and N-acetylcysteine as a penetration enhancer. The objective was to optimize the selection of polymers and their concentrations to enhance release efficacy based on in vitro permeability experiments, while also ensuring favorable film characteristics, such as flexibility, gloss, adhesive qualities, drying time, non-volatile content, viscosity, and water resistance. Formulation F3 was selected as the superior formula considering several parameters, including excellent

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Fri Sep 06 2024
Journal Name
Journal Of Optics
Optimization photodetection performance: investigation of doping effect on PVA/Y2O3 composite material
...Show More Authors

In this work, the photodetection performance of polyvinyl alcohol (PVA) nanofibers and its composite with yttrium oxide (Y2O3) at different concentrations (2.5, 5, 10) wt% are examined deposited on p-type Si with (111) orientation. Electrospinning technique was used to create nanofiber composites. Adding Y2O3 significantly impacts the PVA nanofibers where ultraviolet-visible (UV-Vis) spectroscopy optical absorption energy gap decreases with increased concentration (2.8, 2.6, and 2.3) eV. X-ray diffraction was used to investigate crystal structure, which is cubic structure. The chemical composition study was conducted using Fourier transform infrared spectroscopy (FTIR) spectra, which revealed the stretching vibrations related to the Y-O bon

... Show More
View Publication
Scopus (3)
Crossref (3)
Scopus Clarivate Crossref
Publication Date
Sun Jun 02 2019
Journal Name
Baghdad Science Journal
Fog Computing Resource Optimization: A Review on Current Scenarios and Resource Management
...Show More Authors

            The unpredictable and huge data generation nowadays by smart computing devices like (Sensors, Actuators, Wi-Fi routers), to handle and maintain their computational processing power in real time environment by centralized cloud platform is difficult because of its limitations, issues and challenges, to overcome these, Cisco introduced the Fog computing paradigm as an alternative for cloud-based computing. This recent IT trend is taking the computing experience to the next level. It is an extended and advantageous extension of the centralized cloud computing technology. In this article, we tried to highlight the various issues that currently cloud computing is facing. Here

... Show More
View Publication Preview PDF
Scopus (13)
Crossref (5)
Scopus Clarivate Crossref
Publication Date
Tue Jun 30 2020
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Process Optimization Study of Pb(II) Removal by Bulk Liquid Membrane (BLM)
...Show More Authors

   Box-Wilson experimental design method was employed to optimized lead ions removal efficiency by bulk liquid membrane (BLM) method. The optimization procedure was primarily based on four impartial relevant parameters: pH of feed phase (4-6), pH of stripping phase (9-11), carrier concentration TBP (5-10) %, and initial metal concentration (60-120 ppm). maximum recovery efficiency of lead ions is 83.852% was virtually done following thirty one-of-a-kind experimental runs, as exact through 24-Central Composite Design (CCD). The best values for the aforementioned four parameters, corresponding to the most restoration efficiency were: 5, 10, 7.5% (v/v), and 90 mg/l, respectively. The obtained experimental data had been

... Show More
View Publication Preview PDF
Crossref (3)
Crossref
Publication Date
Sun Nov 01 2020
Journal Name
International Journal Of Engineering
Pavement Maintenance Management Using Multi-objective Optimization: (Case Study: Wasit Governorate-Iraq)
...Show More Authors

View Publication
Scopus (9)
Crossref (2)
Scopus Clarivate Crossref
Publication Date
Fri Jun 16 2023
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Optimization of Bis-anthraquinones Production from Endophytic Fungi Diaporthe sp. GNBP-10
...Show More Authors

Bis-anthraquinones with a unique molecular backbone, (+)-2,2’-epicytoskyrin A (epi) and (+)-1,1′-bislunatin (bis), was produced by endophytic fungi Diaporthe sp GNBP-10 associated with Gambir plant (Uncaria gambier). Epi and bis possess robust antimicrobial activity toward various pathogens. This study focus on knowing the optimum condition of epi and bis production from Diaporthe sp GNBP-10. A series of culture media with various nutrient compositions was investigated in epi and bis production. The content of epi and bis was determined by measuring the area under the curve from TLC-densitometric (scanner) experiment. The linear regression analysis was then applied to obtain the results. The optimi

... Show More
View Publication Preview PDF
Scopus (2)
Crossref (1)
Scopus Crossref
Publication Date
Sun Nov 17 2019
Journal Name
Journal Of Interdisciplinary Mathematics
Fuzzy preinvexity via ranking value functions with applications to fuzzy optimization problems
...Show More Authors

View Publication
Scopus (6)
Crossref (6)
Scopus Clarivate Crossref
Publication Date
Wed Jun 01 2016
Journal Name
Journal Of Economics And Administrative Sciences
Budget Programs and Performance away to enhance the control in government economic units
...Show More Authors

     The control function of important functions in the system of government for several reasons , perhaps the most important of the magnitude of spending and spending in one of the tools adopted in the implementation of the control function.                               

        Perhaps the most prominent stages of the development budget in terms of setup and use in the budget programs and performance , as specialized literature  show its importance in strengthening financial and operationl

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Mon Dec 09 2024
Journal Name
International Journal Of Mechatronics And Applied Mechanics
DESIGN OF A HYDRAULIC MOTION CONTROL SYSTEM USING TWO BACKSTEPPING TIME VARYING SLIDING MODE STRATEGIES
...Show More Authors

A second-order sliding mode control is used for high-order uncertain plants using equivalent control approach to improve the performance of control systems. They combine backstepping with quasi-continuous controller and twisting controllers. This paper considers a two of the most popular controllers that are used to solve the nonlinearities problem which are the backstepping quasi-continuous control (BQCC) and backstepping twisting controllers to control the angular velocity of a hydraulic motor to improve tracking performance and robustness to uncertainties. For the system dynamics, a linear state feedback with suitable high gain was designed as the virtual controller, where steady state error can be made arbitrarily small according to the

... Show More
View Publication Preview PDF
Scopus (2)
Scopus Crossref
Publication Date
Sun Jan 01 2023
Journal Name
Journal Of Engineering
Evaluation of the Current Status of the Cost Control Processes in Iraqi Construction Projects
...Show More Authors

One of the most important problems of Iraqi construction projects is the cost variances, so it is important to identify the problems and shortcomings that cause poor cost control. Through the utilization of questionnaires, the study evaluated how project costs were managed and reported. The questionnaire was distributed to 180 professionals working in the Iraqi construction sector, with a response rate of 91%. The results showed that a high percentage of projects are implemented with a difference between real and estimated costs, and the process of documenting cost data needs to be more secure. On the other hand, there is a weakness in providing the necessary work structure information to monitor costs and a lack of proc

... Show More
View Publication Preview PDF
Scopus (6)
Crossref (2)
Scopus Crossref