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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
Fri Sep 30 2022
Journal Name
Iraqi Journal Of Science
Glaucoma Diagnosis Based on Retinal Fundus Image: A Review
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    Glaucoma is one of the most dangerous eye diseases. It occurs as a result of an imbalance in the drainage and flow of the retinal fluid. Consequently, intraocular pressure is generated, which is a significant risk factor for glaucoma. Intraocular pressure causes progressive damage to the optic nerve head, thus leading to vision loss in the advanced stages. Glaucoma does not give any signs of disease in the early stages, so it is called "the Silent Thief of Sight". Therefore, early diagnosis and treatment of retinal eye disease is extremely important to prevent vision loss. Many articles aim to analyze fundus retinal images and diagnose glaucoma. This review can be used as a guideline to help diagnose glaucoma. It presents 63 artic

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Publication Date
Sat Dec 31 2016
Journal Name
Al-kindy College Medical Journal
Hemoptysis Hospital Based Study, At AL- Kindy Teaching Hospital
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Background: Expectoration of blood that originated in the lungs or bronchial tubes is a frightening symptom for patients and often is a manifestation of significant and possibly dangerous underlying disease. Tuberculosis was and still one of the common causes followed by bronchiactasis , bronchitis, and lung cancer. Objectives: The aim of this study is to find the frequency of causes of respiratory tract bleeding in 100 patients attending alkindy teaching hospital.Type of the study: : Prospective descriptive observational study Methods of a group of patients consist of one hundred consecutive adult patients, with Lower respiratory tract bleeding are studied. History, physical examination, and a group of selected investigations performed,

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Publication Date
Mon May 17 2021
Journal Name
Surgical Neurology International
PubMed-indexed neurosurgical research productivity of Iraq-based neurosurgeons
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Background:

Research is a central component of neurosurgical training and practice and is increasingly viewed as a quintessential indicator of academic productivity. In this study, we focus on identifying the current status and challenges of neurosurgical research in Iraq.

Methods:

An online PubMed Medline database search was conducted to identify all articles published by Iraq-based neurosurgeons between 2003 and 2020. Information was extracted in relation to the following parameters: authors, year of publication, author’s affiliation, author’s specialty, article type, article citation, journal name, journal

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Publication Date
Fri May 17 2013
Journal Name
International Journal Of Computer Applications
Fast Lossless Compression of Medical Images based on Polynomial
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In this paper, a fast lossless image compression method is introduced for compressing medical images, it is based on splitting the image blocks according to its nature along with using the polynomial approximation to decompose image signal followed by applying run length coding on the residue part of the image, which represents the error caused by applying polynomial approximation. Then, Huffman coding is applied as a last stage to encode the polynomial coefficients and run length coding. The test results indicate that the suggested method can lead to promising performance.

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Publication Date
Thu Feb 28 2019
Journal Name
Iraqi Journal Of Science
Key Generator to Encryption Images Based on Chaotic Maps
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It is known that images differ from texts in many aspects, such as high repetition and correlation, local structure, capacitance characteristics and frequency. As a result, traditional encryption methods can not be applied to images. In this paper we present a method for designing a simple and efficient messy system using a difference in the output sequence. To meet the requirements of image encryption, we create a new coding system for linear and nonlinear structures based on the generation of a new key based on chaotic maps.

The design uses a kind of chaotic maps including the Chebyshev 1D map, depending on the parameters, for a good random appearance. The output is a test in several measurements, including the complexity of th

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Publication Date
Sat May 08 2021
Journal Name
Iraqi Journal Of Science
Software Fault Estimation Tool Based on Object-Oriented Metrics
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A fault is an error that has effects on system behaviour. A software metric is a value that represents the degree to which software processes work properly and where faults are more probable to occur. In this research, we study the effects of removing redundancy and log transformation based on threshold values for identifying faults-prone classes of software. The study also contains a comparison of the metric values of an original dataset with those after removing redundancy and log transformation. E-learning and system dataset were taken as case studies. The fault ratio ranged from 1%-31% and 0%-10% for the original dataset and 1%-10% and 0%-4% after removing redundancy and log transformation, respectively. These results impacted direct

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Publication Date
Mon Dec 28 2020
Journal Name
Journal Of The College Of Education For Women
Cognitive Implications of Usage-Based Approach: رغد فهمي اعجمي
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Tremendous efforts have been exerted to understand first language acquisition to facilitate second language learning. The problem lies in the difficulty of mastering English language and adapting a theory that helps in overcoming the difficulties facing students. This study aims to apply Thomasello's theory of language mastery through usage. It assumes that adults can learn faster than children and can learn the language separately, and far from academic education. Tomasello (2003) studied the stages of language acquisition for children, and developed his theory accordingly. Some studies, such as: (Ghalebi and Sadighi, 2015, Arvidsson, 2019; Munoz, 2019; Verspoor and Hong, 2013) used this theory when examining language acquisition. Thus,

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Publication Date
Fri Dec 30 2022
Journal Name
Iraqi Journal Of Science
Photoconductive Detector Based on Graphene Doping with Silver Nanoparticles
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      Graphene (Gr) decorated with silver nanoparticles (Ag NPs) were used to fabricate a wideband range photodetector. Silicon (Si) and porous silicon (PS) were used as a substrate to deposit Gr /Ag NPs by drop-casting technique. Silver nanoparticles (Ag NPs) were prepared using the chemical method. As well as the dispersion of silver NPs is achieved by a simple chemistry process on the surface of Gr.

    The optical, structure and electrical characteristics of AgNPs and Gr decorated with Ag NPs were characterized by ultraviolet-visible spectroscopy (UV-Vis), x-ray diffraction (XRD).  The X-ray diffraction (XRD) spectrum of Ag NPs exhibited 2θ values (38.1o, 44.3 o, 64.5 o and 77.7

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Publication Date
Sun Feb 25 2024
Journal Name
Baghdad Science Journal
Research on Emotion Classification Based on Multi-modal Fusion
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Nowadays, people's expression on the Internet is no longer limited to text, especially with the rise of the short video boom, leading to the emergence of a large number of modal data such as text, pictures, audio, and video. Compared to single mode data ,the multi-modal data always contains massive information. The mining process of multi-modal information can help computers to better understand human emotional characteristics. However, because the multi-modal data show obvious dynamic time series features, it is necessary to solve the dynamic correlation problem within a single mode and between different modes in the same application scene during the fusion process. To solve this problem, in this paper, a feature extraction framework of

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Publication Date
Wed Mar 30 2022
Journal Name
Iraqi Journal Of Science
A Review on E-Voting Based on Blockchain Models
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    Developing a solid e-voting system that offers fairness and privacy for users is a challenging objective. This paper is trying to address whether blockchain can be used to build an efficient e-voting system, also, this research has specified four blockchain technologies with their features and limitations. Many papers have been reviewed in a study covered ten years from 2011 to 2020. As a result of the study, the blockchain platform can be a successful public ledger to implement an e-voting system. Four blockchain technologies have been noticed from this study. These are blockchain using smart contracts, blockchain relying on Zcash platform, blockchain programmed from scratch, and blockchain depending on digital signature. Each bl

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