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 species Cyclops varicans G.O.Sars (Which was recorded for the first time in Iraq ) was chossen to study the effect of photoperiods on the species reproduction growth . The chossen photoperiods were 0:24 , 12: 12 , and 24 : 0 L.D. The data showed obvious statistical effect of photoperiods specially 24 : 0 L.D. on the mean of clutch size , produced eggs , no. of nauplei , transformation time of nauplius I to copepodid I and transformation time of copepodid I to adult stage . The data also showed uneven effects of photoperiods on the number and maturation period of both males and females . Temperature , transparency , PH , and electrical conductivity also have been studied for the ad
... Show MoreThis work presents a five-period chaotic system called the Duffing system, in which the effect of changing the initial conditions and system parameters d, g and w, on the behavior of the chaotic system, is studied. This work provides a complete analysis of system properties such as time series, attractors, and Fast Fourier Transformation Spectrum (FFT). The system shows periodic behavior when the initial conditions xi and yi equal 0.8 and 0, respectively, then the system becomes quasi-chaotic when the initial conditions xi and yi equal 0 and 0, and when the system parameters d, g and w equal 0.02, 8 and 0.09. Finally, the system exhibits hyperchaotic behavior at the first two conditions, 0 and 0, and the bandwidth of the chaotic
... Show MoreMany pathophysiological processes can affect the pharmacokinetic properties of drugs in people with diabetes. The present study was deigned to evaluate the influence of diabetes mellitus (DM) on the pharmacokinetic parameters of metronidazole administered as single oral dose. Twelve healthy volunteers and twelve diabetic patients were enrolled in the present study. On day 1, a single oral dose of metronidazole 500 mg was administered orally to all participants at 9:00 am after a 10-hour fasting. Over the following 48 hours, blood samples were taken at frequent intervals and serum metronidazole concentrations were measured by a high-performance liquid chromatography method for assessment of pharmacokinetics of metronidazole. The data
... Show MoreA comprehensive practical study of typical mechanical properties of welded Aluminum alloy AA7020-T6 (Al-Mg-Zn), adopting friction stir welding (FSW) technique and conventional metal inert gas (MIG) technique, is well achieved in this work for real comparison purposes. The essences of present output findings were concentrated upon the FSW samples in respect to that MIG ones which can be summarized in the increase of the ultimate tensile strength for FSW was 340 MPa while it was 232 MPa for MIG welding, where it was for base metal 400 MPa. The minimum microhardness value for FSW was recorded at HAZ and it was 133 HV0.05 while it was 70 HV0.05 for MIG weld at the welding metal. The FSW produce 2470 N higher than MIG welding in the bending t
... Show MoreThe hydrochemical study of the surface and groundwater in Khan AL-Baghdadi area included interpretation of physical, chemical and biological properties of 14 wells and 6 surface water samples collected from Euphrates River.. The study covered two periods representing dry and wet periods in October 2018 and April 2019, respectively. The surface water samples were characterized as slightly alkaline, fresh water, excessively mineralized, calcium-chloride type, and hard to very hard class. While the groundwater samples were characterized as slightly alkaline, brackish water, excessively mineralized, calcium-chloride and sodium-chloride type, and hard to very hard class. The assessment of water for irrigation purposes for bo
... Show MoreThis study was carried out to investigate the possibility of chickpea soaked water as a substitute for yeast in dough fermentation and its effects on sensory properties of the laboratory loaf bread. Chickpea was soaked for 24,48 and 72 hours at room temperature and used in proportion with or without yeast in dough fermentation . The results revealed that , as the percentage of soaked chickpea water substitution increased, the volume of the produced loaf bread decreased as compared with the control treatment (only yeast ).Best results were obtained by using soaked chickpea water for 24 hours in proportion of 1:1 soaked chickpea water : yeast regarding the sensory properties ,volume and leavening of the loaf bread.
Keywords: chickpea so
Two new halogenated azo-Schiff ligands were prepared in two steps. The first step included a condensation between 4-amino acetophenone and 2-fluoro-4-bromo aniline to give the corresponding Schiff base. In the second step, the diazonium salt of this Schiff base reacted with 2-naphthol and 4,5-diphenylimidazole to form two new azo-Schiff base derivatives as ligands; (3-((E)-(4-((E)-1-((4-bromo-2-fluorophenyl) imino)ethyl) phenyl) diazenyl) naphthalen-2-ol (HSBAN) (L1) and ((E)-N-(4-bromo-2-fluorophenyl)-1-(4-((E)-(4,5-diphenyl-1H-imidazol-2-yl)diazenyl) phenyl) ethan-1-imine) (HSBAI) (L2), respectively. These new ligands were characterized by mass spectrometry, FT-IR, 1H NMR, UV-Visible spectroscopy and elemental microanalysi
... Show MoreThe process of digital transformation is considered one of the most influential matters in circulation at the present time, as it seeks to integrate computer-based technologies into the public services provided by companies or institutions. To achieve digital transformation, basics and points must be established, while relying on a set of employee skills and involving customers in developing this process. Today, all governments are seeking electronic transformation by converting all public services into digital, where changes in cybersecurity must be taken into account, which constitutes a large part of the priorities of nations and companies. The vulnerability to cyberspace, the development of technologies and devices, and the use
... Show MoreBrainstorming has been a common approach in many industries where the result is not always accurate, especially when procuring automobile spare parts. This approach was replaced with a scientific and optimized method that is highly reliable, hence the decision to optimize the inventory inflation budget based on spare parts and miscellaneous costs of the typical automobile industry. Some factors required to achieve this goal were investigated. Through this investigation, spare parts (consumables and non-consumables) were found to be mostly used in Innoson Vehicle Manufacturing (IVM), Nigeria but incorporated miscellaneous costs to augment the cost of spare parts. The inflation rate was considered first due to the market's
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