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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 Mar 27 2020
Journal Name
Iraqi Journal Of Science
Evaluation and Comparison of Temperature-Based Models for The Prediction of The Monthly Average of Daily Global Solar Radiation for Baghdad City- Iraq
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The solar energy is the major source of power for the future and an important source of renewable energy in Iraq and the world. Suitable climate conditions for solar energy are available in Iraq, especially the high temperature in the summer season which extends for more than six months in the year. Hence, the global solar radiation is abundant with high intensity, which is very essential in applicable models for researchers and solar applications. Therefore, nine first-order regression empirical equations of Angstrom-type correlations were used to estimate the more appropriate global solar radiation model for Baghdad city. Two equations were developed empirically in this work, using the most available and easy to get meteorological data

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Tue Oct 01 2024
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Association Of Arab Universities Journal Of Engineering Sciences
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Sat Dec 01 2018
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Journal Of Pharmaceutical Sciences And Research
Pryparation, characterization and biological activity of new derivatives of 2-biphenyl-3-aminomethylimidazo(1,2-a)pyrimidine
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New Fourteen compounds were synthesized in four steps. The first step included synthesis of 2-biphenyl fused ring of imidazo(1,2- a)pyrimidine from the reaction of 2-aminopyrimidine and biphenyl phenacyl bromide . The second step was introduced aldehyde group from the reaction of 2-biphenyl fused rings of imidazo(1,2-a)pyrimidine with POCl3 in presence of DMF and CHCl3. 3-Carbaladehyde derivatives of fused imidazo/pyrimidine was reacted with different aromatic amines to afford new Schiff bases. These new 3- imines derivatives was reduced by using sodiumborohydride to yield another new 3-aminomethyl-2-biphenyl imidazo (1,2-a)pyrimidine derivatives in moderate yield .Some new prepared compounds were identified by melting point, FT- IR , 13C-

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Publication Date
Wed Feb 08 2023
Journal Name
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Stimulatory Effect of Indole 3-Acetic Acid and Benzyladenin on Two Varieties of Antirrhinum Majus L.
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This research had been conducted to investigate response of two Antirrhinum majus L. varieties, tall and dwarf variety to foliar application of Indole 3-acetic acid and Benzyladenin at (0, 60, 120, 180, 240 ppm), through plant height, fresh weight, dry weight of shoot, length of inflorescence (raceme), number of flowering buds per raceme and chlorophyll content in leaves at complete flowering stage.

Results of treatment of the tall variety with IAA and BA showed that IAA had the highest significant increase in plant height, while BA had the highest significant increase in chlorophyll content .Increasing concentrations of both IAA and BA resulted a significant increase in all growth parameters, this was obvious in floweri

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Publication Date
Sun Jul 01 2018
Journal Name
Journal Of Global Pharma Technology
Synthesis, Characterization and Investigation Liquid Crystalline, Properties of 1, 2, 3-triazole Derivatives via Cycloaddition Reaction
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The new of compounds synthesized by sequence reactions starting from a reaction of 3-phenylenediamine or 4-phenylenediamine with chloroacetyl chloride to produce the compounds [I]a,b, then the compounds[I]a,b reacted with sodium azide to yield compounds[II]a,b that reacted 1,3-dipolarcycloaddition reaction with acrylic acid to give compounds [III]a,b these compounds reacted with methanol led to ester compounds[IV]a,b then reacted with hydrazine to give acid hydrazide [V]a,b . Finally compounds [V]a,b reacted with aromatic aldehydes to product shiff bases derivatives. The compounds characterized by mp. , IR, 1HNMR in addition to mass spectroscopy for some of them the liquid crystals properties were studied by using polarized optical microsco

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Publication Date
Wed Aug 30 2023
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Exploring the Role of Caspase-3 and IL32 in SARS-CoV-2 Infection among Iraqi Patients
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     Understanding Caspase-3 (CASP-3) and interleukin-32 (IL32) roles in SARS-CoV-2 infection is critical to linearize the pathogenesis of the virus as well as the resultant disease which may uncover novel therapeutic targets in treating COVID-19 patients. This study aimed to evaluate caspase‐3 (CASP3) and interleukin 32 (IL32) roles and their correlation with the disease severity among patients.  The case-control study (140 patients and 60 healthy controls) was performed with molecular and ELISA assays. CASP3 and IL32 serum levels were determined along with other clinical data of patients. CASP3 levels were classified as significantly higher (p < 0.001), while IL-32 levels were significantly lower in production (p

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Mon Mar 15 2021
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Companies need to educate people about the facts that characterize the business. This is the mission of promotion, it is an important marketing activity, promotion communicates with others and seeks to provide customers with a new business process experience.
Advertising is the most important methods of promotion and the best way to reach an audience. Once the organization advertises its products and services, it can operate in a competitive environment. Marketing competition requires knowledge of humanity that must be affected and convinced. Advertising should create Desires and need for satisfaction. This research comes in the study of visual representations of this psychological incident and how to use it communicatively to create

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Publication Date
Sun Jan 01 2023
Journal Name
International Journal Of Intelligent Systems And Applications In Engineering
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Publication Date
Tue Mar 12 2024
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Numerical study of single-layer and interlayer grating polarizers based on metasurface structures for quantum key distribution systems
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Polarization is an important property of light, which refers to the direction of electric field oscillations. Polarization modulation plays an essential role for polarization encoding quantum key distribution (QKD). Polarization is used to encode photons in the QKD systems. In this work, visible-range polarizers with optimal dimensions based on resonance grating waveguides have been numerically designed and investigated using the COMSOL Multiphysics Software. Two structures have been designed, namely a singlelayer metasurface grating (SLMG) polarizer and an interlayer metasurface grating (ILMG) polarizer. Both structures have demonstrated high extinction ratios, ~1.8·103 and 8.68·104 , and the bandwidths equal to 45 and 55 nm for th

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Publication Date
Thu Apr 06 2023
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