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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
Tue Sep 01 2009
Journal Name
Al-khwarizmi Engineering Journal
Study Effect of Dezincification on the Fatigue Properties of Brass Alloy
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This research includes a study of dezincification by corrosion from brass alloys in three types of media, which are acidic solution, basic and slat solution in different percentages. The study show the higher dezincification occurs in basic solution which decrease the fatigue properties where the fatigue properties are inversely proportional with dezincification.

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Publication Date
Thu Mar 31 2016
Journal Name
Al-khwarizmi Engineering Journal
Experimental Study of the Performance of Compound Parabolic Concentrating Solar Collector
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The design, construction and investigation of experimental study of two compound parabolic concentrators (CPCs) with tubular absorber have been presented. The performance of CPCs have been evaluated by using outdoor experimental measurements including the instantaneous thermal efficiency. The two CPCs are tested instantly by holding them on a common structure. Many tests are conducted in the present work by truncating one of them in three different levels. For each truncation the acceptance half angle (θc) was changed. Geometrically, the acceptance half angle for standard CPC is (26o). For the truncation levels for the other CPC 1, 2 and 3 the acceptance half angle were 20o, 26o and 5

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Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
Hyperprolactenemia in Women with Systemic Lupus Erythematusus
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Recent accumulated evidences suggest that prolactin is an important immunomodulator and may have a role in the pathogenesis of systemic lupus erythematosus (SLE). The aim of this study was to assess the frequency of hyperprolactinemia in women with SLE and to evaluate its correlation with disease flares. Serum prolactin levels were measured in 62 women with SLE and 50 age- and sex-matched healthy controls. In patients and control groups prolactin levels were determined by immunoradiometric assay (IRMA). The prolactin level was found to be higher than normal rang in (40.3%) of SLE patients in active stage versus only (8.06%) of the same SLE patients but in the inactive stage and in (4%) of control group, the elevation was ranging between mi

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Publication Date
Sat Feb 09 2019
Journal Name
Journal Of The College Of Education For Women
Hybrid Transform Based Denoising with Block Thresholding
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A frequently used approach for denoising is the shrinkage of coefficients of the noisy signal representation in a transform domain. This paper proposes an algorithm based on hybrid transform (stationary wavelet transform proceeding by slantlet transform); The slantlet transform is applied to the approximation subband of the stationary wavelet transform. BlockShrink thresholding technique is applied to the hybrid transform coefficients. This technique can decide the optimal block size and thresholding for every wavelet subband by risk estimate (SURE). The proposed algorithm was executed by using MATLAB R2010aminimizing Stein’s unbiased with natural images contaminated by white Gaussian noise. Numerical results show that our algorithm co

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Publication Date
Mon Mar 08 2021
Journal Name
Baghdad Science Journal
Laser Finger Print Sensor with Holographic Grating
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Design and Construction system for recording Finger print by laser, and separted the signal to noise by holographic element, was done. For safety, total reflection lighting ensures hat aser earns an not enter An operators eyes. Holographic diffraction grating was used instead of computer program to contrast images.

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Publication Date
Fri Jan 01 2010
Journal Name
Iraqi Journal Of Science
RETRIEVING DOCUMENT WITH COMPACT GENETIC ALGORITHM(CGA)
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Publication Date
Wed Sep 03 2014
Journal Name
Iraqi Journal Of Science
Antineutrophil cytoplasmic antibodies in patients with tuberculosis
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Tuberculosis is caused by Mycobacterium tuberculosis; it is considered as one of the most common, infectious diseases and major causes of morbidity and mortality worldwide. A prospective study was conducted to obtain more clarification about the impact of causative agent and its treatment to enhance autoantibodies production such as ANCA and BPI which used as diagnostic markers for several diseases, and to provide further insight into the classical risk factors (age and sex).Seventy patients with tuberculosis involved in this study, 35 of them were untreated and 35 with treatment administration these patients were attending to directorate of general health national reference laboratory in Baghdad during the period between November/ 2012 and

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Publication Date
Sat Jan 01 2022
Journal Name
International Journal Of Agricultural And Statistical Sciences
ON ERROR DISTRIBUTION WITH SINGLE INDEX MODEL
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In this paper, the error distribution function is estimated for the single index model by the empirical distribution function and the kernel distribution function. Refined minimum average variance estimation (RMAVE) method is used for estimating single index model. We use simulation experiments to compare the two estimation methods for error distribution function with different sample sizes, the results show that the kernel distribution function is better than the empirical distribution function.

Scopus
Publication Date
Tue Nov 16 2021
Journal Name
Journal Of Clinical Laboratory Analysis
Hematological changes associated with COVID‐19 infection
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Abstract<sec><title>Background

The unresolved COVID‐19 pandemic considerably impacts the health services in Iraq and worldwide. Consecutive waves of mutated virus increased virus spread and further constrained health systems. Although molecular identification of the virus by polymerase chain reaction is the only recommended method in diagnosing COVID‐19 infection, radiological, biochemical, and hematological studies are substantially important in risk stratification, patient follow‐up, and outcome prediction.

Aim

This narrative review summarized the hematological changes including the blood indices, coagulative indicator

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Publication Date
Thu Feb 07 2019
Journal Name
Journal Of The College Of Education For Women
Healthy awareness Clothes associated with diseases symptoms
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The majority of used clothes represented a passion for brilliant
appearance and could be a reason for hiding body defects , as to avoid
criticism .
This may lead to purchase and wear un healthy or uncomfortable clothes
such as tide .As to appreciate the differences between wearing healthy clothes or
otherwise .
The study was carried out to assess healthy cloth awareness for university
girls as related to possibility of being subjected to harm caused by wearing tide
clothes .
The measurement items was determined and numbered ( 23 ). The answer
for these scale criteria was ( Always , Sometime ,Never ) for the weights (3,2,1)
. The scale was applied to a randomly selected sample of research community
that

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