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Intelligent Tuning Control of two Link Flexible Manipulator with Piezoelectric Actuator
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This paper represents an experimental study on the application of smart control represented by the use of the fuzzy logic controller. Two-link flexible manipulators that are used in airspace and military applications are made of flexible materials characterized by low frequency and damping ratio. To solve this problem, this paper proposes the use of smart materials (piezoelectric transducers), where each link is bonded with a pair of piezoelectric transducers that act as a sensor and another as an actuator. As the arm vibrates because of the movement generated by the motor, this voltage is controlled by a regulator inside the LABVIEW® 2020 software and sends the output control voltage to the piezoelectric actuator. Experimental results show that fuzzy logic control was efficient during high amplitude and led to pronounced results in suppressing vibrations within a short time. Fuzzy logic gives more flexibility to the designer and allows him to control the system through its simple implementation. This differs from classical control, which requires a mathematical model.

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Publication Date
Tue Jul 01 2014
Journal Name
Bulletin Of The Iraq Natural History Museum (p-issn: 1017-8678 , E-issn: 2311-9799)
A DESCRIPTION STUDY OF TWO LOCAL FISH HIMRI CARASOBARBUS LUTEUS (Heckel, 1843)(CYPRINIFORMES: CYPRINIDAE) AND HISHNI LIZA ABU (Heckel, 1843) (MUGILOIDEI : MUGILIDAE) BY BONES STAINING METHOD
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    Two local fish Himri Carasobarbus luteus (Heckel, 1843)  and Hishni Liza abu (Heckel, 1843) were stained with Alizarin Red and featured some anatomical qualities which cleared the difference of the muscular and skeletal fabric for each fish. Since clear Histologic differences appeared in these two species, it was intended from this study the possibility of adopting a diagnosis between local fish species by staining bones and tissues.

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Publication Date
Thu Jan 01 2026
Journal Name
Journal Of Studies And Researches Of Sport Education
The effectiveness of the use of yoga exercises and its impact on the reactions of the two Alvesologih nervous and respiratory systems in the correction of antenna pistol shooting accuracy
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Publication Date
Fri Jan 01 2021
Journal Name
Plant Archives
STUDY OF THE EFFECT OF SPEED, DEPTH OF THE CULTIVATION AND THE NUMBER OF TIMES THE SPRING – LOADED CULTIVATOR PASSES ON SOME TECHNICAL PARAMETERS OF THE CULTIVATOR AND ON WEED CONTROL
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Publication Date
Wed Nov 07 2018
Journal Name
Iraqi National Journal Of Nursing Specialties
Assessment of Factors Associated with Prehospital Delay of Patients with Acute Myocardial Infarction
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Objective(s): to assess the factors which are associated with the prolonged prehospital delay of patients with
acute myocardial infarction.
Methodology: A descriptive study was conducted at the Coronary Care unit (CCU) in Al-Yarmok Teaching
Hospital, Ibn AL-Nafis Hospital for Cardiovascular Diseases, AL-Kadumia Teaching Hospital, Baghdad Teaching
Hospital, and AL-Kindy Teaching Hospital during the period of the study from February 2
nd
, 2009 to October 30th
,
2009. A random sample of (160) paƟent who were admiƩed to the hospitals were selected one by one. A
questionnaire was constructed for the purpose of the study, which is comprised of four parts that include (1)
sociodemographic data; (2) prehospital d

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Publication Date
Fri Mar 31 2017
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
BIOCHEMICAL FEATURES of IRAQI PATIENTS INFECTED WITH HEPATITIS E VIRUS COMPARED WITH THOSE INFECTED WITH HEPATITIS A VIRUS
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This study was designed to compare the effect of two types of viral hepatitis A and E (HAV
and HEV) on liver functions in Iraqi individuals by the measurement of biochemical changes
associated with hepatitis.
The study performed on 58 HEV and 66 HAV infected patients compared with 28 healthy
subjects. The measured biochemical tests include total serum bilirubin, serum transminases (ALT
and AST) alkaline phosphatase (ALP) and gamma glutamyl transferase (GGT).
The study showed that adolescent and young adults (17-29) years, were mostly affected by
HEV while children (5-12) years were frequently affected by HAV. The severity of liver damage in
HEV patients was higher than HAV patients as a result of high serum transa

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Publication Date
Thu Jun 28 2018
Journal Name
Iraqi Journal Of Physics
Measurement of Percentage Depth Dose (PDD) for 6 MeV in water phantom and homogenous actual planning
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Radiotherapy is the branch of clinical medicine concerned with the application of ionizing radiation in the treatment of disease. And it is used to killing of cancer cells in a tissue using ionizing radiation while keeping the sparing of healthy cells at acceptable level. X-ray beams are used to deposit absorbed dose at depth within a patient at the site of the tumor. The aim of this work is studying the relationship between the depth dose and the field size in water phantom and homogenous actual planning. In our work, the dose distribution at different depths (zero-18 cm) deep at1cm interval treated with field size (10×10 and 20×20) cm2 were studied. Results show that high similarity between water phantom and actual planning for

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Publication Date
Sun Feb 03 2019
Journal Name
Journal Of The College Of Education For Women
The influence of Ali (may Allah be pleased with him) on interpretation: The influence of Ali (may Allah be pleased with him) on interpretation
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Abstract:
Through the research, I have briefly discussed the life of Imam Ali and
indicated the interpretation of the Qur'an by language and terminology, the
importance and characteristics of Sahabas', may Allah be pleased with them,
interpretation of the Qur'an. Also, the sayings of Imam Ali, wich included the
explanatory interpretation of the Qur'an by the Qura'n, Sunnah, language, and
correct opinion. I have also indicated the reasons of the Quran's revelation
and the readings of the Qura'n that had been received from him including the
interpretive meaning these readings revealed. Finally, I concluded my
research with the most important results and recommends.

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Publication Date
Tue Dec 31 2013
Journal Name
مجلة العلوم الاقتصادية والادارية
مقارنة بين مخطط السيطرة النسبي و مخطط السيطرة الضبابي المتعدد مع تطبيق عملي
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تعد لوحات السيطرة الخاصة بالمراقبة والسيطرة على نوعية الانتاج احدى الاساليب العلمية الاحصائية التي تستخدم لمراقبة سير العملية الانتاجية اثناء سيرالعنلية الانتاجية اثناء سيرها في مراحل الانتاج والتي عادة ما تتكون من حد وسطي وحدين اعلى وادنى للسيطرة على نوعية ودقة الانتاج متمثلا بقيم عددية . ومن ثم فان العملية الانتاجية اما ان تكون تحت السيطرة او خارجها بالاعتماد على قيم المشاهادات العددية. وفي بعض الاحيا

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Publication Date
Sun Apr 03 2011
Journal Name
Journal Of Educational And Psychological Researches
اتجاهات مديرات الرياض نحو الاساليب التربوية المتبعة من قبل المعلمات مع اطفال الروضة
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The aim of the research to show the direction of kindergarten‘s
headmasters with students and know the educational technique used by
the teachers with students inside kindergarten , also to know the
differences of headmasters directions towards these technique
according to changing of social state (married , unmarried ) and age
state (30-38) (39-47) (48-56) .
Also shows the sign among the direction of head masters and
educational technique used by teachers with student, where as the
importance of this research shows the importance of the kindergarten
stage and the importance of management .
The role of headmaster and teacher consider the relationship between
them and the mother so that this origin direc

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Publication Date
Tue Dec 30 2008
Journal Name
جامعة بغداد كلية التربية ابن الهيثم
تحضير وتشخيص معقدات لبعض مشتقات الحامض الاميني ‏الكلايسين مع أملاح بعض العناصر الفلزية
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تم في هذا البحث تحضير وتشخيص تسعة معقدات مع الليكاند ‏ ‎[N, N- Bis(2- hydroxy ethyl) Glycine]‎‏ ومختصره (‏Bicine‏) وثمانية معقدات مع الليكاند ‏‎[N- Tris(hydroxy Methyl) Methyl Glycine]‎‏ ومختصره (‏Tricine‏) مع بعض الايونات ‏الفلزية وقد جرى التفاعل على مرحلتين وكما ياتي:- ‏ ‏‌أ.‏ تحضير ملح البوتاسيوم لليكاندات وذلك من مفاعلة الليكاند مع هيدروكسيد البوتاسيوم وبنسب ‏‏(1:1) (قاعدة: ليكاند) في محيط كحولي للحصول على ملح الليكاند. ‏ ‏‌ب.‏ وفي المرحل

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