This paper investigates a new approach to the rapid control of an upper limb exoskeleton actuator. We used a mathematical model and motion measurements of a human arm to estimate joint torque as a means to control the exoskeleton’s actuator. The proposed arm model is based on a two-pendulum configuration and is used to obtain instantaneous joint torques which are then passed into control law to regulate the actuator torque. Nine subjects volunteered to take part in the experimental protocol, in which inertial measurement units (IMUs) and a digital goniometer were used to measure and estimate the torque profiles. To validate the control law, a Simscape model was developed to simulate the arm model and control law in which measurem

The adsorption of fexofenadine drug by activated charcoal powder impregnated with hydrogen peroxide (IAC) to improve its surface properties was investigated. The investigation also aimed to assess the effect of the repeated dose in increasing the amount of the drug adsorbed. The powder activated charcoal was impregnated with H₂O₂ 3%. The effects of pH of the solution, concentration of the drug and time of the reaction parameters were investigated by using UV-Vis spectroscopy. The IAC was brought in contact with the drug solution in different pH (2, 4, 7 and 9), drug concentrations (30, 60, 90 and 120 µg ml^-1) and time (15, 30, 45 and 60 minutes). After each experiment, a repeated dose of IAC was introd

An experiment was conducted in the field, Department of field crops , College of Agriculture , University of Baghdad during fall season 2011. To study the effect of interaction of water stress and hydrogen peroxide and potassium on the growth and yield of maize plant cultivar Bohooth 106. It Included the study of three levels of water stresses of 40 , 60 and 80% of the available water , (D1 , D2 and D3) respectively, three levels of hydrogen peroxide of concentrations (0 , 15 and 30 Mm), and foliar application of potassium at the concentration of 3000 mg K. L-1 K2SO4 and without applied potassium.. Split – Split with RCBD design with three replications were used. The levels of water stresses occupied the main plots , potassium lev

This research deals with the most important indicators used to measure the phenomenon of financial depth, beyond the traditional indicators, which are called quantitative indicators, which is shown to be inadequate to show the facts accurately, but it may come in the results of a counterfactual, although reliable in econometric studies done in this regard.

Therefore, this research has sought to put forward alternative indicators, is the structural indicators, and financial prices, and availability of financial instruments, and cost of transactions concluded, in order to measure the phenomenon of financial depth.

After using and analyzing data collected from countries the research

     In the current study, the emission spectra generated from clove were measured under normal atmospheric pressure with different laser energies. Clove is used as a source of essential oil in herbal medicine, in particular as a dynamic analgesic oil in dental and other diseases. For aromatherapy, Antiseptic, antiviral, and antimicrobial agents are also packaged with cloves. Compounds that reduce inflammation tend to battle sore throats, cold, and cough as they display so many advantages. The measured spectrum reveals distinctive lines of clove’s chemical elements. X-ray fluorescent (XRF) and atomic absorption spectrometry (AAS) were used to measure the spectrum generated or absorbed by detecting the presence of va

Erbium, as optical probe, doped silicate sol-gel glass with
different Er concentrations was formed by wet chemical synthesis
method using ethanol, water and tetraethaylorthosilicate
[Si(OC2H5)4] precursor. Erbium ions were incorporated into silica
sol-gel matrix via dissolution of Erbium chloride solution into the
initial Si(OC2H5)4 precursor sol. Aluminum (Al) as a co-dopant was
added to the final precursor in the form of Aluminum chloride
(AlCl3) solution. The prepared samples were analyzed using atomic
absorption analysis, X-ray diffraction and spectroscopic tests. The
experimental results concerned with the transmission spectra suggest
that the final samples have a good transparency and homogeneity.
A

      This study shows the effects of copper material electrode, applied voltage, and different pressure values on electrical discharge plasma. The purpose of the work is the application of the spectral analysis method to obtain accurate results of nitrogen plasma parameters. By using the optical emission spectroscopy (OES), many N₂ molecular spectra peaks appeared in the range from 300 to 480 nm. Also, some additional peaks were recorded, corresponding to atomic and ionic lines for nitrogen, target material, and hydrogen, in all samples. The electron density (n_e) was calculated from the measurement of Stark broadening effect, which was found to decrease with increasing pressure from 0.1 mba

 Glay pots experiments were carried out in the botanical garden of Biology Department/  College of Education for Pure Science Ibn AL-Haitham / Baghdad University for the growing season 2014-2015 , to evaluate the effect of foliar spraying of hydrogen peroxide ( H2O2) and glutamic acid and their interaction on some growth parameters and yield components of black cumin plant . The experiment included the following factors :- 1- Four concentrations of hydrogen peroxide (0 , 5 , 10 , 20 ) mM.L-1 . 2- Three concentrations of glutamic acid ( 0 , 50 , 100 ) mg.L-1 .      The experiment was designed according to completely randomized design (CRD) with three replications ,        Results revealed that