The inverse kinematic equation for a robot is very important to the control robot’s motion and position. The solving of this equation is complex for the rigid robot due to the dependency of this equation on the joint configuration and structure of robot link. In light robot arms, where the flexibility exists, the solving of this problem is more complicated than the rigid link robot because the deformation variables (elongation and bending) are present in the forward kinematic equation. The finding of an inverse kinematic equation needs to obtain the relation between the joint angles and both of the end-effector position and deformations variables. In this work, a neural network has been proposed to solve the problem of inverse kinematic equation. To feed the neural network, experimental data were taken from an elastic robot arm for training the network, these data presented by joint angles, deformation variables and end-effector positions. The results of network training showed a good fit between the output results of the neural network and the targets data. In addition, this method for finding the inverse of kinematic equation proved its effectiveness and validation when applying the results of neural network practically in the robot’s operating software for controlling the real light robot’s position.
In this work, the finite element analysis of moving coordinates has been used to study the thermal behavior of the tissue subjected to both continuous wave and pulsed CO2 laser. The results are compared with previously published data, and a good agreement has been found, which verifies the implemented theory. Some conclusions are obtained; As pulse width decreases, or repetition rate increases, or fluence increases then the char depth is decreased which can be explained by an increase in induced energy or its rate, which increases the ablation rate, leading to a decrease in char depth. Thus: An increase in the fluence or decreasing pulse width or increasing repetition rate will increase ablation rate, which will increase the depth of cut
... Show MoreIn this paper, some necessary and sufficient conditions are obtained to ensure the oscillatory of all solutions of the first order impulsive neutral differential equations. Also, some results in the references have been improved and generalized. New lemmas are established to demonstrate the oscillation property. Special impulsive conditions associated with neutral differential equation are submitted. Some examples are given to illustrate the obtained results.
Achieving an accurate and optimal rate of penetration (ROP) is critical for a cost-effective and safe drilling operation. While different techniques have been used to achieve this goal, each approach has limitations, prompting researchers to seek solutions. This study’s objective is to conduct the strategy of combining the Bourgoyne and Young (BYM) ROP equations with Bagging Tree regression in a southern Iraqi field. Although BYM equations are commonly used and widespread to estimate drilling rates, they need more specific drilling parameters to capture different ROP complexities. The Bagging Tree algorithm, a random forest variant, addresses these limitations by blending domain kno
The researcher identified the objective of this research Do you know the impact of the way to solve problems in the achievement of the students in the fourth grade prep Islamic Education, and the researcher has identified the limits of the search, and the terms contained in the title researched and then offered the researcher previous studies relate to the subject studied, introduced Studies in Arab and foreign countries dealt with how to solve problems, the researcher identified the methodology discussed public represented by experimental method, and the sample consisted of two groups, one experimental and the other officer, and worked on the set of variables that may affect the results between the two groups in vkavot changers task, th
... Show Moreتشهد مناهج الرياضيات تطورا ملحوظا على المستوين المحلي والعالمي, تلبية لمتطلبات العصر ومواجهة تحدياته, وماسيفرضه من تطورات وتجديدات لاحقة لذلك عقدت كثير من المؤتمرات واجريت العديد من الدراسات والبحوث في مجال تعلم وتعليم الرياضيات على المستوين الاقليمي والعالمي, فقد ركزت تلك المؤترات والدراسات على العديد من التوصيات التي اصبحت فيما بعد بمثابة اتجاهات حديثة لتعليم وتعلم الرياضيات, لمواكبة التطور الحاص
... Show MoreThe main aim of this paper is to study how the different estimators of the two unknown parameters (shape and scale parameter) of a generalized exponential distribution behave for different sample sizes and for different parameter values. In particular,
. Maximum Likelihood, Percentile and Ordinary Least Square estimators had been implemented for different sample sizes (small, medium, and large) and assumed several contrasts initial values for the two parameters. Two indicators of performance Mean Square Error and Mean Percentile Error were used and the comparisons were carried out between different methods of estimation by using monte carlo simulation technique .. It was obse
... Show MoreThe population has been trying to use clean energy instead of combustion. The choice was to use liquefied petroleum gas (LPG) for domestic use, especially for cooking due to its advantages as a light gas, a lower cost, and clean energy. Residential complexes are supplied with liquefied petroleum gas for each housing unit, transported by pipes from LPG tanks to the equipment. This research aims to simulate the design and performance design of the LPG system in the building that is applied to a residential complex in Baghdad taken as a study case with eight buildings. The building has 11 floors, and each floor has four apartments. The design in this study has been done in two parts, part one is the design of an LPG system for one building, an
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