This paper presents L1-adaptive controller for controlling uncertain parameters and time-varying unknown parameters to control the position of a DC servomotor. For the purpose of comparison, the effectiveness of L1-adaptive controller for position control of studied servomotor has been examined and compared with another adaptive controller; Model Reference Adaptive Controller (MRAC). Robustness of both L1-adaptive controller and model reference adaptive controller to different input reference signals and different structures of uncertainty were studied. Three different types of input signals are taken into account; ramp, step and sinusoidal. The L1-adaptive controller ensured uniformly bounded transient and asymptotic tracking for both system's input and output signals, simultaneously with asymptotic tracking. Simulations of a DC servomotor with time-varying friction and disturbance are presented to verify the theoretical findings.
The influence of acid activation of a mixture of illite, kaolinite, and chlorite clays collected from the area of Zorbatiya (east of Iraq) on the adsorption of methyl violet 6B (MV6B) as a cationic dye was studied. The activation was carried out by using 0.25M HCl and 0.25M . Raw and acid-activated clays were analyzed by atomic force microscopy (AFM), scanning electron microscopy (SEM), and X-ray diffraction (XRD).
Batch adsorption method was used to study the adsorption of MV6B onto the raw and acid activated clays. The impacts of different factors on the adsorption process were studied, such as clay weight, agitation time, starting MV6B concentration, temperature, ionic strength, and solution pH. The adsorption process was desc
... Show MoreMixed ligand metal complexes are synthesized from oxalic acid with Schiff base, and the Schiff base was obtained from trimethoprim and acetylacetone. The synthesized complexes were of the type [M(L1)(L2)], where the metal, M, is Ni(II), Cu(II), Cr(III), and Zn(II), L1 corresponds to the trimethoprim ((Z)-4-((4-amino-5-(3,4,5- trimethoxybenzyl)pyrimidine-2-yl)imino)pentane-2-one) as the first ligand and L2 represent the oxalate anion (𝐶𝑂 ) as a second ligand. Characterization of the prepared compounds was performed by elemental analysis, molar conductivity, magnetic measurements, 1H-NMR, 13C-NMR, FT-IR, and Ultraviolet-visible (UV-Vis) spectral studies. The recorded infrared data is reinforced with density functional th
... Show MorePolycyclicacetal was prepared from the reaction of PEG with aldehyde derived from Erythro-ascorbic acid (pentulosono-ɣ-lactone-2,3-enedianisoate).All these compounds were characterized by Thin Layer Chromatography (TLC) and FTIR spectra and aldehyde was also characterized by (U.V-Vis), 1HNMR, 13CNMR, and mass spectra.The inhibitory effect of prepared polymer on the activity of human serum AcetylCholinesterase has been studied in vitro. The polymer showed a remarkable activity at low concentration (4.7x10-3 – 4.7x10-8M).
The research aimed to study the vaccination efficiency against the emerging virus SARS-CoV-2, which includes Pfizer, AstraZeneca and Sinopharm vaccines that are used exclusively in Iraq, by measuring the level of immune cells CD4+ as well as vitamin D3 using ELISA technology. Taking serums were taken from vaccinated individuals: 20 uninfected before individuals who got a vaccination and 20 people with prior infections who had the vaccine (for each type of the three vaccines). Samples were collected 21 days following the second dose as well as 3 to 6 months thereafter. The results showed that the most effective vaccine was AstraZeneca and the results of T-cells were the highest compared to Pfizer and Sinop
... Show MoreRadish (Raphanus sativus L.) and (Lepidium sativus) is commonly grown in urban and suburban areas where the soil may be polluted with heavy metal such as lead. In this study, short exposure of radish and cress plantlets to (0,10,20,30,50)ppm lead in nutrient solution (three months) in growth chamber conditions elicited an antioxidative response, measured in terms of lipid peroxidation, protein and proline accumulation and peroxidase and Catalase activity. Longer exposure to lead when radish and cress was grown outdoors for 90 days in pots filled with field soil with different lead content also resulted in higher lipid peroxidation and proline accumulation and altered protein content and enzyme activity. The results also showed significan
... Show MoreThis research aims to study the radiation concentration distribution of the old District of Najaf (Iraq), where 15 samples were taken from featured sites in the District, which represents archaeological, religious, and heritage sites. Track detector CR-39 was used to calculate the concentration of three different soil weights for each sample site after being exposed for a month. Geographical information systems (GIS) were used to distribute the radioactive concentration on the sites of the samples, where two interpolation methods, namely the inverse distance weight method (IDW) and the triangle irregular network method (NIT), to study the distribution of the radioactivity concentration. The study showed that the western part of the district
... Show MoreThis study aimed to study the effect of Ziziphus spina christi Aqueous cold and Alcoholic leaves and fruits extracts on the growth and activities of the following types of bacteria :( Escherichia coli, Pseudomonas aeruginosa, Staphylococcus aureus and Streptococcus pyogenes ). The results appeared outweigh the alcoholic extract of leaves and fruits of Sidr that prepared by saxholate extractor by addition of ethanol 95% significant superiority as compared with aqueous extract that prepared by using distilled water as was its influence inhibitor to the growth and effectiveness of bacteria , about the treatment of in-vivo to cause injury to these types of bacteria diagnosed laboratory mice and treated with alcoholic extract of the leaves o
... Show MoreThe research aims to study the elements of attraction in television advertising and determine their relationship to consumer preferences, the extent to which the sample (250) watches television advertisements, and the motives for viewing. Males and females, and the statistical program spss was used to analyze the results using percentages, arithmetic mean, correlation coefficients ch2, Pearson’s coefficient and Alpha Cronbach for the stability of the test, and the research came to the conclusion that the percentage of watching television advertisements is good motivated by the identification of new goods and services in the market, as advertisements sometimes achieve consumer preferences, and the most prominent The forms that a
... Show MoreThe ground state densities of neutron-rich (11Be,15C) and proton-rich (9C,12N,23Al) exotic nuclei are investigated using a two-body nucleon density distribution (2BNDD) with two frequency shells model (TFSM). The structure of the valence one-neutron of 11Be is in pure (1p1/2) and of 15C in pure (1d5/2) configuration, while the structure of valence one-proton configuration is in 9C,12N are to be in a pure (1p1/2) and 23Al in a pure (2s1/2) . For our studied nuclei, an efficient (2BNDD) operator for point nucleon system folded with two-body correlation operator's functions is u
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