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Design and Implementation for 3-DoF SCARA Robot based PLC
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Abstract 

This paper presents mechanical and electrical design, and implementation  process of industrial robot, 3-DoF type SCARA (selective compliment assembly robot arm),with two rotations and one translation used for welding applications.The design process also included the controller design which was based on PLC(programmable logic controller) as well as selection of mechanical and electrical components.The challenge was to use the available components in Iraq with reasonable costs. The robot mentioned is fully automated using programmable logic controller PLC(Zelio type SR3-B261BD),with 16inputs and 10 outputs. The PLC was implemented in FBD logic to obtain three different automatic motions with high efficiency withouterror,where the two links can stop in a certain points and link 3 bushed down for doing the task in a desired trajectory motion by programming the PLCcontroller.

Keywords: DoF, FBD, PLC, SCARArobot.

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Publication Date
Sat Jun 26 2021
Journal Name
Journal Of The College Of Education For Women
The Wisdom-Based Thinking and its Relationship to the Psychological Capital: طلل غالب علوان
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The present study aims to identify wisdom-based thinking and its relationship to psychological capital. It further aims to find out the differences in the level of wisdom-based thinking and psychological capital according to the variables of gender and specialization (scientific, humanities). To achieve this, the study has been conducted on a sample of (380) male and female students. The two scales, wisdom-based thinking and psychological capital are implemented to the sample after being constructed by the researcher and after ensuring their psychometric characteristics' suitability for the study's aims. Results concerning the first aim have shown that there is a significant relationship among students. The second aim has revealed that t

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Publication Date
Mon Feb 20 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
A Hybrid Algorithm to Protect Computer Networks Based on Human Biometrics and Computer Attributes
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Objective of this work is the mixing between human biometric characteristics and unique attributes of the computer in order to protect computer networks and resources environments through the development of authentication and authorization techniques. In human biometric side has been studying the best methods and algorithms used, and the conclusion is that the fingerprint is the best, but it has some flaws. Fingerprint algorithm has been improved so that their performance can be adapted to enhance the clarity of the edge of the gully structures of pictures fingerprint, taking into account the evaluation of the direction of the nearby edges and repeat. In the side of the computer features, computer and its components like human have uniqu

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Publication Date
Tue Dec 29 2020
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Preparation, Characterization and Optimization of Etoposide-Loaded Gold Nanoparticles Based on Chemical Reduction Method
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In recent years, observed focus greatly on gold nanoparticles synthesis due to its unique properties and tremendous applicability. In most of these researches, the citrate reduction method has been adopted. The aim of this study was to prepare and optimize monodisperse ultrafine particles by addition of reducing agent to gold salt, as a result of seed mediated growth mechanism. In this research, gold nanoparticles suspension (G) was prepared by traditional standard Turkevich method and optimized by studying different variables such as reactants concentrations, preparation temperature and stirring rate on controlling size and uniformity of nanoparticles through preparing twenty formulas (G1-G20). Subsequently, the selected formula that pr

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Publication Date
Sun Apr 26 2020
Journal Name
Iraqi Journal Of Science
Selective Image Encryption Based on DCT, Hybrid Shift Coding and Randomly Generated Secret Key
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Most of today’s techniques encrypt all of the image data, which consumes a tremendous amount of time and computational payload. This work introduces a selective image encryption technique that encrypts predetermined bulks of the original image data in order to reduce the encryption/decryption time and the
computational complexity of processing the huge image data. This technique is applying a compression algorithm based on Discrete Cosine Transform (DCT). Two approaches are implemented based on color space conversion as a preprocessing for the compression phases YCbCr and RGB, where the resultant compressed sequence is selectively encrypted using randomly generated combined secret key.
The results showed a significant reduct

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Publication Date
Thu Jul 01 2021
Journal Name
Applied Thermal Engineering
Consecutive charging and discharging of a PCM-based plate heat exchanger with zigzag configuration
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Publication Date
Sat Oct 30 2021
Journal Name
Iraqi Journal Of Science
An Integrated Microfacies and Well Logs-Based Reservoir Characterization of Yamama Formation, Southern Iraq
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     The Yamama Formation includes important carbonates reservoir that belongs to the Lower Cretaceous sequence in Southern Iraq. This study covers two oil fields (Sindbad and Siba) that are distributed Southeastern Basrah Governorate, South of Iraq. Yamama reservoir units were determined based on the study of cores, well logs, and petrographic examination of thin sections that required a detailed integration of geological data and petrophysical properties. These parameters were integrated in order to divide the Yamama Formation into six reservoir units (YA0, YA1, YA2, YB1, YB2 and YC), located between five cap rock units. The best facies association and petrophysical properties were found in the shoal environment, wh

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Publication Date
Tue Sep 01 2020
Journal Name
Al-khwarizmi Engineering Journal
Pre-Processing and Surface Reconstruction of Points Cloud Based on Chord Angle Algorithm Technique
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Although the rapid development in reverse engineering techniques, 3D laser scanners can be considered the modern technology used to digitize the 3D objects, but some troubles may be associate this process due to the environmental noises and limitation of the used scanners. So, in the present paper a data pre-processing algorithm has been proposed to obtain the necessary geometric features and mathematical representation of scanned object from its point cloud which obtained using 3D laser scanner (Matter and Form) through isolating the noised points. The proposed algorithm based on continuous calculations of chord angle between each adjacent pair of points in point cloud. A MATLAB program has been built t

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Publication Date
Wed Jan 01 2020
Journal Name
Biochemical And Cellular Archives
New derivative of chitosan based on epichlorohydrne, synthesis, characterization, antibacterial activity and swelling study
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A novel series of chitosan derivatives were synthesized via reaction of chitosan with carbonyl compounds and grafted it’s by with different amine compounds substituted hydrogen. The produced polymers were characterized by different analyses FTIR, 1HCNMR, XRD, DSC and TGA. Solubility in water as well as many solvent was investigated, antibacterial activity of chitosan and its derivatives against two types of bacteria E. coli and S. aureus was also investigated. The results showed that derivatives sort of have antibacterial activities against Esherichia coli (Gram negative) better than chitosan whilst compound IX has better antibacterial against Staphylococcus aureus (Gram positive). SEM analysis showed that increase of surface roughness wi

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Publication Date
Mon Nov 29 2021
Journal Name
Iraqi Journal Of Science
Synthesis and Antibacterial Screening of New Schiff Bases Based on N-(4-acetophenyl) Succinimide
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A series of nine new Schiff bases based on N-(4-acetophenyl)succinimide were synthesized via multistep synthesis. In the first step N-(4-acetophenyl)succinamic acid was prepared via reaction of succinic anhydride with 4-aminoacetophenone. The prepared amic acid was dehydrated in the second step producing N-(4-acetophenyl)succinimide. The prepared succinimide represents a modified methyl ketone bearing succinimde cycle and ready for introducing in condensation reaction thus in the third step the prepared imide was introduced in acid-catalyzed condensation reaction with a variety of primary aromatic amines affording the new target Schiff bases. The results of antibacterial screening of the newly synthesized Schiff bases indicated that they

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Publication Date
Tue Jun 01 2021
Journal Name
Bulletin Of Electrical Engineering And Informatics
A new pseudorandom bits generator based on a 2D-chaotic system and diffusion property
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A remarkable correlation between chaotic systems and cryptography has been established with sensitivity to initial states, unpredictability, and complex behaviors. In one development, stages of a chaotic stream cipher are applied to a discrete chaotic dynamic system for the generation of pseudorandom bits. Some of these generators are based on 1D chaotic map and others on 2D ones. In the current study, a pseudorandom bit generator (PRBG) based on a new 2D chaotic logistic map is proposed that runs side-by-side and commences from random independent initial states. The structure of the proposed model consists of the three components of a mouse input device, the proposed 2D chaotic system, and an initial permutation (IP) table. Statist

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