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Motion Control of Three Links Robot Manipulator (Open Chain) with Spherical Wrist
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Robot manipulator is a multi-input multi-output system with high complex nonlinear dynamics, requiring an advanced controller in order to track a specific trajectory. In this work, forward and inverse kinematics are presented based on Denavit Hartenberg notation to convert the end effector planned path from cartesian space to joint space and vice versa where a cubic spline interpolation is used for trajectory segments to ensure the continuity in velocity and acceleration.  Also, the derived mathematical dynamic model is based on Eular Lagrange energy method to contain the effect of friction and disturbance torques beside the inertia and Coriolis effect. Two types of controller are applied ; the nonlinear computed torque control (CTC) and the simpler form of its Proportional Derivative plus Gravity (PD+G)  where they are designed to reduce the tracking trajectory errors which tend to zero where the used Kp and Kv gains are 900,60. Also, the RMS errors for tracking a step input of CTC were equal to  [2.5E-14, 4.4E-14, 5.0E-14, -4.7E-14, -3.9E-14, -4.6E-14] (deg) and of PD+G were equal to [-1.77E-5, -1.22E-6, -4.28E-6, -8.97E-6, -1.32E-5, 1.05E-5] (deg)  for joints one to six, respectively. The results show that CTC is more accurate but requires additional acceleration input and is more computationally extensive and PD+G controller is performed with acceptable tracking errors in manipulator position control applications.

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Publication Date
Sat Jun 30 2007
Journal Name
Al-kindy College Medical Journal
Bacterial Infections Associated with Cutaneous Leishmaniasis
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Background:Oriental sore occurs mostly in the
mediteranian region , North Africa ,and the Middle East .
Rodents are the main reservoir for the parasite . The wet
type caused by L. major is rural and the dry type caused by
L. tropica is urban and humans are presumably the only
reservoir. Sand fly vectors are involved in all forms.
Objectives: This study aimed to show the most
important bacterial infections concomitant with cutaneous
leishmaniasis .
Methods; The study was performed on 75 patients (ages
1-50 years ) from both sexes were attending Skin Diseases
Department of Ramadi General Hospital during the period
extended from January to June 2000. These patients were
clinically diagnosed as patients

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Publication Date
Wed Feb 01 2023
Journal Name
Periodicals Of Engineering And Natural Sciences (pen)
Bitcoin Prediction with a hybrid model
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In recent years, Bitcoin has become the most widely used blockchain platform in business and finance. The goal of this work is to find a viable prediction model that incorporates and perhaps improves on a combination of available models. Among the techniques utilized in this paper are exponential smoothing, ARIMA, artificial neural networks (ANNs) models, and prediction combination models. The study's most obvious discovery is that artificial intelligence models improve the results of compound prediction models. The second key discovery was that a strong combination forecasting model that responds to the multiple fluctuations that occur in the bitcoin time series and Error improvement should be used. Based on the results, the prediction acc

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Publication Date
Thu Apr 23 2015
Journal Name
Transactions On Engineering And Sciences
Glycine Poly Acrylate with 4-Aminoantipyrine
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Transactions on Engineering and Sciences

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Publication Date
Sat Oct 01 2022
Journal Name
The Egyptian Journal Of Hospital Medicine
Neudesin Levels in Patients with Thyroidism
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Background: Neudesin is a peptide secreted in brain and adipose tissues that has neural and metabolic functions. Its role as regulator of energy expenditure leads to assumption that its level may be regulated depending on thyroid gland pathology. Objective: This study aimed to investigate serum neudesin levels in patients with thyroidism and to evaluate1 any possible relationship between plasma neudesin levels and thyroid hormone levels. Methods: The study included 100 women with newly diagnosed thyroidisim were subdivided into two groups: hyperthyroidism group (50 female patients with age ranged from 18 to 60 years) and hypothyroidism group (50 female patients with age ranged from 18 to 75 years). A control group (30 healthy females with a

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Publication Date
Sun Jun 06 2010
Journal Name
Baghdad Science Journal
Using Neural Network with Speaker Applications
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In Automatic Speech Recognition (ASR) the non-linear data projection provided by a one hidden layer Multilayer Perceptron (MLP), trained to recognize phonemes, and has previous experiments to provide feature enhancement substantially increased ASR performance, especially in noise. Previous attempts to apply an analogous approach to speaker identification have not succeeded in improving performance, except by combining MLP processed features with other features. We present test results for the TIMIT database which show that the advantage of MLP preprocessing for open set speaker identification increases with the number of speakers used to train the MLP and that improved identification is obtained as this number increases beyond sixty.

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Publication Date
Mon Jan 01 2024
Journal Name
Jordanian Journal Of Computers And Information Technology
ARABIC SOFT SPELLING CORRECTION WITH T5
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Spelling correction is considered a challenging task for resource-scarce languages. The Arabic language is one of these resource-scarce languages, which suffers from the absence of a large spelling correction dataset, thus datasets injected with artificial errors are used to overcome this problem. In this paper, we trained the Text-to-Text Transfer Transformer (T5) model using artificial errors to correct Arabic soft spelling mistakes. Our T5 model can correct 97.8% of the artificial errors that were injected into the test set. Additionally, our T5 model achieves a character error rate (CER) of 0.77% on a set that contains real soft spelling mistakes. We achieved these results using a 4-layer T5 model trained with a 90% error inject

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Publication Date
Wed Jan 01 2020
Journal Name
Revista Latinoamericana De Hipertensión
Autonomic symptoms in patients with migraine
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Publication Date
Sat Oct 01 2022
Journal Name
Al–bahith Al–a'alami
THE RISKS ASSOCIATED WITH MEDIA ETHICS
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It must be emphasized that media is amongst human studies fusing older and more recent sciences together, and that its disclosures are the physics of the new communication. Michio Kaku, a theoretical physicist, in his book “ Visions”, confirms this fact when he says :” As a research physicist, I believe that physicists have been particularly successful at predicting the broad outlines of the future .Professionally, I work in one of the most fundamental areas of physics, the quest to complete Einstein's dream of a "theory of everything." As a result, I am constantly reminded of the ways in which quantum physics touches many of the key discoveries that shaped the twentieth century. “ He then got to the fact that the physical disclo

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Publication Date
Tue Dec 11 2018
Journal Name
Iraqi National Journal Of Nursing Specialties
Factors associated with complications during pregnancy
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Objective (s): To determine factors associated with the pregnancy complications (Maternal age, education,
obstetrical history, gravidity, birth space interval, and smoking).
Methodology: A cross-sectional study conducted at Al- washash & Bab-almoadham primary health care
centers. The sample was (non probability convenient sample) which included (550) pregnant women. The
study started from 1st April 2014 to 1
st of April 2015. The data was collected by direct interview using
special questionnaire to obtain socio-demographic information.
Results: the result shows that mean age of the subjects was 26.5± 4.39 years, 57.8% were housewives, the
sample included 103 premature uterine contractions, 98 pregnancy induce

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Publication Date
Tue Feb 28 2023
Journal Name
Periodicals Of Engineering And Natural Sciences (pen)
Bitcoin Prediction with a hybrid model
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. In recent years, Bitcoin has become the most widely used blockchain platform in business and finance. The goal of this work is to find a viable prediction model that incorporates and perhaps improves on a combination of available models. Among the techniques utilized in this paper are exponential smoothing, ARIMA, artificial neural networks (ANNs) models, and prediction combination models. The study's most obvious discovery is that artificial intelligence models improve the results of compound prediction models. The second key discovery was that a strong combination forecasting model that responds to the multiple fluctuations that occur in the bitcoin time series and Error improvement should be used. Based on the results, the prediction a

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Scopus (10)
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