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Robust Computed Torque Control for Uncertain Robotic Manipulatorss
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This paper presents a robust control method for the trajectory control of the robotic manipulator. The standard Computed Torque Control (CTC) is an important method in the robotic control systems but its not robust to system uncertainty and external disturbance. The proposed method overcome the system uncertainty and external disturbance problems. In this paper, a robustification term has been added to the standard CTC. The stability of the proposed control method is approved by the Lyapunov stability theorem.  The performance of the presented controller is tested by MATLAB-Simulink environment and is compared with different control methods to illustrate its robustness and performance.

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Publication Date
Sun Jun 05 2016
Journal Name
Baghdad Science Journal
Synthesis, Characterization of Derivatives Tetrazoles for Trimethoprim Drug
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The present work involved synthesis of serval new substituted tetrazole via Schiff bases for trimethoprim drug by two steps. The first step involved direct reaction of different ketones and aldehydes with trimethoprim producing the corresponding Schiff bases (1-10), whereas the second step, involved preparation new tetrazoles derivatives (11-20) through reaction of the ready Schiff bases (in the first step) with sodium azidein in dioxin. The prepared compounds were characterized by UV, FT-IR, and some of them by 13C-NMR, 1H-NMR spectroscopy and physical properties.

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Publication Date
Sun Jun 12 2011
Journal Name
Baghdad Science Journal
Study of optical properties for Ge - GaAs Heterojunction
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Publication Date
Thu Mar 01 2012
Journal Name
International Journal Of Innovative Computing, Information And Control
ITTP: A new transport protocol for VoIP applications
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Publication Date
Fri Apr 12 2024
Journal Name
Revista Latinoamericana De Hipertension
Most common risk factors distribution for cervical cancer
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Publication Date
Tue Oct 08 2024
Journal Name
Technology In Agronomy
Harnessing automation techniques for supporting sustainability in agriculture
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Automation is one of the key systems in modern agriculture, providing potential solutions to the challenges related to the growing world population, demographic shifts, and economic situation. The present article aims to highlight the importance of precision agriculture (PA) and smart agriculture (SA) in increasing agricultural production and the importance of environmental protection in increasing production and reducing traditional production. For this purpose, different types of automation systems in the field of agricultural operations are discussed, as well as smart agriculture technologies including the Internet of Things (IoT), artificial intelligence (AI), machine learning (ML), big data analysis, in addition to agricultural robots,

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Publication Date
Thu May 01 1997
Journal Name
Polymer-plastics Technology And Engineering
An Efficient Method for Real Gas Pseudopressure Calculation
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Publication Date
Sun Jan 01 2023
Journal Name
Journal Of Discrete Mathematical Sciences And Cryptography
A4-graph for the twisted group 3D4 (3)
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Assume that G is a finite group and X = tG where t is non-identity element with t3 = 1. The simple graph with node set being X such that a, b ∈ X, are adjacent if ab-1 is an involution element, is called the A4-graph, and designated by A4(G, X). In this article, the construction of A4(G, X) is analyzed for G is the twisted group of Lie type 3D4(3).

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Publication Date
Tue Dec 13 2022
Journal Name
Lecture Notes In Networks And Systems
Single-Bit Architecture for Low Power IoT Applications
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Publication Date
Sun Dec 07 2008
Journal Name
Baghdad Science Journal
Optimal Color Model for Information Hidingin Color Images
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In present work the effort has been put in finding the most suitable color model for the application of information hiding in color images. We test the most commonly used color models; RGB, YIQ, YUV, YCbCr1 and YCbCr2. The same procedures of embedding, detection and evaluation were applied to find which color model is most appropriate for information hiding. The new in this work, we take into consideration the value of errors that generated during transformations among color models. The results show YUV and YIQ color models are the best for information hiding in color images.

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Publication Date
Thu Oct 01 2009
Journal Name
Journal Of The College Of Languages (jcl)
ENGLISH FOR SPECIFIC PURPOSES (ESP) AND SYLLABUS DESIGN
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This research has discussed the origins of ESP, addressed key notions about ESP and examined issues in ESP syllabus design. The content of the paper was determined by a need identified based on my  experience as an ESL instructor designing and delivering the content-based language program - Language Preparation for the Cadets and Employment in the Iraqi  College of Police . These issues, where possible, have been supported by current and pertinent academic literature. It is my sincerest hope that these observations will lend insight into the challenges facing the ESL instructor acting as ESP syllabus developer.

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