Preferred Language
Articles
/
alkej-693
Inverse Kinematics Analysis and Simulation of a 5 DOF Robotic Arm using MATLAB
...Show More Authors

Kinematics is the mechanics branch which dealswith the movement of the bodies without taking the force into account. In robots, the forward kinematics and inverse kinematics are important in determining the position and orientation of the end-effector to perform multi-tasks. This paper presented the inverse kinematics analysis for a 5 DOF robotic arm using the robotics toolbox of MATLAB and the Denavit-Hartenberg (D-H) parameters were used to represent the links and joints of the robotic arm. A geometric approach was used in the inverse kinematics solution to determine the joints angles of the robotic arm and the path of the robotic arm was divided into successive lines to accomplish the required tasks of the robotic arm.Therefore, this method can be adopted for engineering applications. MATLAB (Graphical User Interface) program was used to simulate the movement of the robotic arm in 3D. Also, MATLAB (GUI) has been used to view the position of each joint.The results showed thatthe maximum error in the x, y, and z coordinates of the end-effector were 0.0251 %, 0.0239 %, and 0.1085 % respectively.

View Publication Preview PDF
Quick Preview PDF
Publication Date
Sun Jun 02 2019
Journal Name
Journal Of The College Of Languages (jcl)
A Pragmatic Analysis of the Use of Intensifiers in Charles Dickens’ Hard Times
...Show More Authors

The present study investigates the use of intensifiers as linguisticdevices employed by Charles Dickens in Hard Times. For ease of analysis, the data are obtained by a rigorous observation of spontaneously occurring intensifiers in the text. The study aims at exploring the pragmatic functions and aesthetic impact of using intensifiers in Hard Times.The current study is mainly descriptive analytical and is based on analyzing and interpreting the use of intensifiers in terms ofHolmes (1984) andCacchiani’smodel (2009). From the findings, the novelist overuses intensifiers to the extent that 280 intensifiers are used in the text. These intensifiers(218) are undistinguished

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sun Mar 01 2020
Journal Name
Baghdad Science Journal
Discussing Fuzzy Reliability Estimators of Function of Mixed Probability Distribution By Simulation
...Show More Authors

This paper deals  with constructing mixed probability distribution  from exponential with scale parameter (β) and also Gamma distribution with (2,β), and the mixed proportions are (  .first of all, the probability density function (p.d.f) and also cumulative distribution function (c.d.f) and also the reliability function are obtained. The parameters of mixed distribution, ( ,β)  are estimated by three different methods, which are  maximum likelihood, and  Moments method,as well proposed method (Differential Least Square Method)(DLSM).The comparison is done using simulation procedure, and all the results are explained in tables.

View Publication Preview PDF
Scopus (1)
Crossref (1)
Scopus Clarivate Crossref
Publication Date
Tue Mar 01 2022
Journal Name
Iraqi Journal Of Physics
Simulation of Small Radio Telescope Antenna Parameters at Frequency of 1.42 GHz
...Show More Authors

The paper presents an overview of theoretical aspects of small radio telescope antenna parameters. The basic parameters include antenna beamwidth, antenna gain, aperture efficiency, and antenna temperature. These parameters should be carefully studied since they have vital effects on astronomical radio observations. The simulations of antenna parameters were carried out to assess the capability and the efficiency of small radio telescopes to observe a point source at a specific frequency. Two-dimensional numerical simulations of a uniform circular aperture antenna are implemented at different radii. The small diameter values are chosen to be varied between (1-10) m. This study focuses on a small radio telescope with a diameter of 3 m sin

... Show More
View Publication Preview PDF
Crossref (2)
Crossref
Publication Date
Sat Aug 01 2020
Journal Name
Iop Conference Series: Materials Science And Engineering
Simulation of Sediment Transport in the Upper Reach of Al-Gharraf River
...Show More Authors
Abstract<p>For the past few years, the sediment began to accumulate in Al-Gharraf River which reduces the flow capacity of the River. In the present research, a numerical model was developed using Hec-Ras software, version 5.0.4. to simulate the flow and sediment transport in the upper reach of the river. The hydrological and cross-section data measured by the Ministry of Water Resources, for the reach located between Kut and Hai cities and having a length of 58200 m, was used to perform calibration and verification of the model. Moreover, field sampling of suspended and bed loads was gathered for five months starting from 7/2/2019, and laboratory tests of samples were conducted to be used as in</p> ... Show More
View Publication
Scopus (12)
Crossref (1)
Scopus Crossref
Publication Date
Mon Aug 01 2016
Journal Name
Journal Of Engineering
Exploring the Factors Affecting the Elemental Cost Estimation with Relationship Analysis Using AHP
...Show More Authors

Cost estimation is considered one of the important tasks in the construction projects management. The precise estimation of the construction cost affect on the success and quality of a construction project. Elemental estimation is considered a very important stage to the project team because it represents one of the key project elements. It helps in formulating the basis to strategies and execution plans for construction and engineering.  Elemental estimation, which in the early stage, estimates the construction costs depending on  . minimum details of the project so that it gives an indication for the initial design stage of a project. This paper studies the factors that affect the elemental cost estimation as well as the rela

... Show More
View Publication Preview PDF
Publication Date
Fri Feb 08 2019
Journal Name
Iraqi Journal Of Laser
Urinary Tract Stones Fragmentation using (2100 nm) Holmium: YAG Laser: (In vitro Analysis)
...Show More Authors

Urinary stones are one of the most common painful disorders of the urinary system. Four new technologies have transformed the treatment of urinary stones: Electrohydraulic lithotripsy, ultrasonic lithotripsy, extracorporeal shock wave lithotripsy, and laser lithotripsy.The purpose of this study is to determine whether pulsed holmium laser energy is an effective method for fragmenting urinary tract stones in vitro, and to determine whether stone composition affects the efficacy of holmium laser lithotripsy. Human urinary stones of known composition with different sizes, shapes and colors were used for this study. The weight and the size of each stone were measured. The surgical laser system which used in our study is Ho:YAG laser(2100nm)

... Show More
View Publication Preview PDF
Publication Date
Sun Jan 01 2006
Journal Name
Acta Crystallographica Section E
(OC-6-32)-Bis[5-bromo-2-(4-bromophenyldiazenyl) phenyl]dicarbonylruthenium(II)
...Show More Authors

The title compound, [Ru(C12H7Br2N2)2(CO)2], possesses a distorted octahedral environment about the Ru atom, with two cyclometallated 4,40-dibromoazobenzene ligands and two mutually cis carbonyl ligands. The donor atoms are arranged such that the N atoms are respectively trans to a carbonyl ligand and an aryl C atom. Comment The title compound, (I), has been prepared as a minor product of the reaction of Ru3(CO)12 and 4,40-dibromoazobenzene in refluxing n-octane; the major product is the cluster complex Ru3(3-NC6H4Br)2(CO)9 (Willis et al., 2005). Two strong (CO) absorptions at 2039 and 1991 cm1 in the IR spectrum of (I) are consistent with the presence of two mutually cis carbonyl groups. The crystal structure was investigated to ascertai

... Show More
Publication Date
Wed Feb 01 2023
Journal Name
Baghdad Science Journal
Sediment Assessment of Al-Hindyia and Al-Abbasyia River / Iraq by aquatic oligocheata community as bioindicators
...Show More Authors

             Bioindicators have an important role in assessing the quality of water bodies. Aquatic oligocheates, was used as a bioindicator to assess the sediment quality of Al-Hindyia and AL-Abbasyia river (branches of Euphrates River in Iraq). Two sites in each river have been   chosen for this purpose, site S1 was located at Al-Hindyia River and S2 at Al-Abbasyia River. Some kinds of biological indices were used in this study, comprising the percentage of oligochaetes in benthic invertebrates, ranged from 20.3-60.16%. While the percentage of Tubificidae within benthic invertebrates was close 43.3-43.9%.Index of pollution D ranged from 0.13-0.21. The maximum percentage of aquatic oligochaetes to insects larvae of family

... Show More
View Publication Preview PDF
Scopus (2)
Scopus Clarivate Crossref
Publication Date
Sun Jan 02 2022
Journal Name
Journal Of The College Of Languages (jcl)
Ideological Polarization as a Deception Strategy in the Discourse of American Think Tanks: A Critical Discourse Analysis
...Show More Authors

Deception is an inseparable facet of political discourse in attaining strategic political gains though compromising public opinion. However, the employment of discursive deception strategies by the policy-making institutions of think tanks has not received due attention in the literature. The current study aims at exploring how the ideologizing deception strategies are utilized by the conservative American think tank of the Washington Institute to reproduce socio-political realities and re-shape public opinion. To fulfill this task, van Dijk’s (2000) notion of ideological polarization which shows positive self-representation and negative other representation is adopted to conduct a critical discourse analysis of four Arabic texts relea

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Thu May 31 2012
Journal Name
Al-khwarizmi Engineering Journal
Effect of Journal Misalignment on the Static Characteristics of Porous Journal Bearings Lubricated with Couple Stress Fluid
...Show More Authors

In this paper, a theoretical study to the effect of journal misalignment on the static characteristics of oil filled porous journal bearing when lubricated with couple stress fluid has been carried out.

The analytical model used through this work is for a bearing with isotropic permeability. Considering isotropic permeability the Reynolds' equation for the oil film is modified to include a so – called filter term and the effect of fluid coupled stress. The pressure equation for the porous medium is obtained from Darcy's law and continuity equation. The equation which was used to evaluate the oil film thickness was modified to include the effect of possible misalignment in longitudinal and transverse directions. The governing eq

... Show More
View Publication Preview PDF