Preferred Language
Articles
/
dxeBapIBVTCNdQwCPq-p
Cascaded-Extended-State-Observer-Based Sliding-Mode Control for Underactuated Flexible Joint Robot
...Show More Authors

This article presents a new cascaded extended state observer (CESO)-based sliding-mode control (SMC) for an underactuated flexible joint robot (FJR). The control of the FJR has many challenges, including coupling, underactuation, nonlinearity, uncertainties and external disturbances, and the noise amplification especially in the high-order systems. The proposed control integrates the CESO and SMC, in which the CESO estimates the states and disturbances, and the SMC provides the system robustness to the uncertainty and disturbance estimation errors. First, a dynamic model of the FJR is derived and converted from an underactuated form to a canonical form via the Olfati transformation and a flatness approach, which reduces the complexity of the controller design. Furthermore, by taking the advantage of available measurable states, the CESO is adopted to attenuate the noises and make SMC feasible for high-order systems. Moreover, the CESO estimates the disturbances, which relaxes the upper bound of the disturbance in the SMC and reduces the chattering due to smaller switching gains. A stability analysis of the closed-loop system is presented based on the Lyapunov method. The effectiveness of the proposed control is verified in simulations and experimentally on a real-time FJR system.

Scopus Clarivate Crossref
View Publication
Publication Date
Sun Jun 01 2014
Journal Name
Baghdad Science Journal
Study of the Inter-Particle Expectation Values for Inter and Outer Shell: Khalil H. Al-Bayati|Ban H. Al-Asaad|Baidaa S. H.
...Show More Authors

In this research the Inter-Particle Expectation Values have been studied for atomics Helium (He) and Beryllium (Be) also for He-like ions, Be-like ions (Li-1, B+1? Li+1, Be+2, B+3) by using Hartree-Fock wave functions, We compared the results to some ions which have the same atomic number from each group with atomic number, We compared the results with published calculations to the last studied .

View Publication
Crossref
Publication Date
Wed Aug 10 2022
Journal Name
Ibero-american Journal Of Exercise And Sports Psychology
The impact of mental training overlap on the development of some closed and open skills in five-aside football for middle school students
...Show More Authors

The impact of mental training overlap on the development of some closed and open skills in five-aside football for middle school students, Ayad Ali Hussein, Haidar Abedalameer Habe

View Publication Preview PDF
Publication Date
Fri Jan 09 2026
Journal Name
Revista Iberoamericana De Psicología Del Ejercicio Y El Deporte, Issn 1886-8576, Vol. 17, Nº. 5, 2022, Págs. 299-306
Some basic skills in gymnastics and their relationship to negative automatic thoughts for students of the Faculty of Physical Education and Sports Sciences
...Show More Authors

Autoría: Nuha Mohsin Dhahi. Localización: Revista iberoamericana de psicología del ejercicio y el deporte. Nº. 5, 2022. Artículo de Revista en Dialnet.

View Publication Preview PDF
Scopus
Publication Date
Mon Jun 24 2024
Journal Name
International Tinnitus Journal
Distribution of HPV Genotypes 16 and 18 among Resected Tonsillar Tissues from Pediatric Patients Operated for Non- Oncologic Nasopharyngeal and Palatine Tonsillar Hypertrophies
...Show More Authors

Background: Recent advancements in molecular techniques have identified over 450 genotypes of Human Papillomavirus (HPV), classified into low- and high-oncogenic risk categories. The rise in high-oncogenic risk HPV genotypes has been linked to various cancers, including those affecting the oral, oropharyngeal, and nasopharyngeal regions in both pediatric and adult populations. Methods: In this study, a cohort of 102 tonsillar tissue samples was included. This comprised 40 specimens from pediatric patients aged 4 to 9 years with nasopharyngeal adenoid hypertrophies, and 42 specimens from pediatric patients aged 5 to 12 years with palatine tonsillar hypertrophies. Among the 82 tonsillar tissue samples analyzed, 38 were from pediatric patients

... Show More
Scopus
Publication Date
Fri Dec 01 2023
Journal Name
Iop Conference Series: Earth And Environmental Science
Estimation of secondary compounds content of some citrus leaves and their relationship by dietary preference for yellow scale insect Aonidiella. Orientalis (Hemiptera: Diaspididae)
...Show More Authors
Abstract<p>The yellow scale insect <italic>Aonidiella orientalis</italic> is an important pest of citrus trees as it absorbs sap from leaves and fruits, causing leaves to turn yellow and deform fruits and drop them. The results of study showed nutritional preference of the insect over some of studied citrus species, as sour orange was the most preferred, followed by lemon and grapefruit, mandarin and oranges were least preferred, with a rate of 22.3, 13.3, 11.7, 10.8, 3.9, and insect / 2 inch<sup>2</sup>, respectively. while results showed a difference in the content of citrus leaves from the secondary compounds, with highest concentration of phenols and total flavonoids in o</p> ... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Wed Jul 01 2020
Journal Name
Journal Of Controlled Release
Breast intraductal nanoformulations for treating ductal carcinoma in situ I: Exploring metal-ion complexation to slow ciclopirox release, enhance mammary persistence and efficacy
...Show More Authors

View Publication
Scopus (19)
Crossref (19)
Scopus Clarivate Crossref
Publication Date
Mon Jul 17 2023
Journal Name
Journal Of The Iraqi University
Analysis of the Content of the Physics Textbook of the 3rd Intermediate Grade According to the Criteria for Designing and Producing in Fographics
...Show More Authors

In this study, the researcher aims to analyze the content of the physics textbook for the 3rd intermediate grade according to the criteria for designing and producing infographics, and the research community consists of the content of the physics textbook for the 3rd intermediate grade intermediate grade for the academic year 2021-2022. The researcher adopted the analysis instruments with a number of the criteria for designing and producing infographics. The results revealed randomness in the percentage of the criteria included in the content of the physics textbook for the 3rd intermediate grade, and they are not compatible with the proposed criteria by the experts also.

Publication Date
Sun Sep 01 2013
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Impact of applying the third of basel committee11 conventions(market disciplin) in the efficient of significance components for factors of banking capital risks
...Show More Authors

We have focused the research problem through an assessment of the applicability of the third pillar of the decisions of the Basel Committee 11 (market discipline) or not and its impact on both the adequacy of bank capital, supervisory oversight and banking risks and the statement weaknesses commitment banking institutions and which in turn lead to the stability of the financial system as a whole.                         .
The research is important statement on the importance of big capital in the banking business and the attributes of a role in the absorption of losses suffered by the bank, which reflects the willin

... Show More
View Publication Preview PDF
Publication Date
Tue Dec 11 2018
Journal Name
Iraqi National Journal Of Nursing Specialties
Assessment of the Efficiency for some Disinfectants Against the Microorganisms Isolated From the Wards of Newborn and Premature Babies in Baghdad Teaching Hospital
...Show More Authors

Objective : To assess the efficiency for some disinfectants against the microorganisms isolated from
the wards of newborn and premature babies in Educational Baghdad Hospital .
Methodology :This study had done from 1\8\2014 untile 1\9\2014, we had selected three types of
disinfectants ( Incidine , Bleach and Microbac Forte )which were used for disinfection in the wards of
newborn babies at Educational Baghdad Hospital to assess their effect against the microorganisms
isolated from these wards and study the mixed affect of these disinfectants againt same
microorganisms .
Results : The results of the present study showed that there is affect of the different concentrations of
the used disinfectants against the micro

... Show More
View Publication Preview PDF
Publication Date
Fri Jul 01 2011
Journal Name
Bulletin Of The Iraq Natural History Museum (p-issn: 1017-8678 , E-issn: 2311-9799)
RECORDING OF THE MONOGENETIC TREMATODE SILURODISCOIDESMEDIACANTHUS (ACHMEROW, 1952) FOR THE FIRST TIME IN IRAQ ON THE GILLS OF THE CYPRINID FISH BARBUS LUTEUS
...Show More Authors

This paper describes the first occurrence of the monogenetic trematode Silurodiscoides
mediacanthus (Achmerow, 1952) in Iraq from gills of the cyprinid fish Barbus luteus from
Diyala river, Diyala province, Iraq. The description and measurements of this parasite were
given. In addition, key for the identification of the three species of Silurodiscoides, so far
recorded from freshwater fishes of Iraq, is included.

View Publication Preview PDF