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SIMULATION AND EVALUATION OF SLIDING MODE CONTROLLER FOR ELBOW EXOSKELETON SYSTEMS
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Joint dysfunction disables are impacting millions of individuals worldwide. It significantly interferes with essential daily tasks like eating, drinking, and writing, often making self-care challenging for those affected. Exoskeleton robots are developed to enable individuals with impaired physical functions to perform daily activities and maintain independence. This study introduces a wearable exoskeleton control system for the elbow joint designed, providing an alternative assistive solution to traditional treatment methods. The elbow exoskeleton system used for therapy has nonlinearity and time-dependent parameters. To address these challenges, this work presents a sliding mode control (SMC) for tracking the path of an EES. To reduce the chattering phenomenon in the SMC, power rate (PR) and boundary layer (BL) reaching laws are introduced. The heap-based algorithm (HBA) is used to tune design parameters of SMC. Massive simulations that were implemented in MATLAB confirmed the effectiveness of the suggested methodologies as they proved the reduction in the chattering and the improvement in the system performance. The simulation outcomes reveal that both approaches are able to eliminate the chattering phenomenon. However, the value of the IAE of the system controlled by SMC with the PR reaching law is reduced by 42.7% in compares with the system controlled by SMC with the BL reaching law. In addition, the IAE under uncertainty has been improved by 43.9%.

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Publication Date
Thu Jan 31 2019
Journal Name
Engineering Journa
Flexural Moment Capacity Evaluation of Reinforced RPC Two-way Slabs
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The aim of this paper is to determine the flexural moment capacity of Reactive Powder Concrete (RPC) two-way slabs based on three models proposed by previous studies (Model 1, Model 2, and Model 3). The results obtained from these models were compared with those obtained from experimental work to check the accuracy and the applicability of the adopted theoretical models. The experimental program included the testing of three simply supported RPC two-way slabs (1000x1000x70) mm each. The tested specimens had identical properties except their steel fibres volume ratios (0.5 %, 1 %, and 1.5 %). The comparison with the experimental data showed that (Model 3) is the most suitable one among the three models. Model 1 was found to underestimate the

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Publication Date
Tue May 01 2018
Journal Name
Journal Of Physics: Conference Series
Evaluation of the Epoxy/Antimony Trioxide Nanocomposites as Flame Retardant
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Publication Date
Sun Apr 08 2018
Journal Name
Al-khwarizmi Engineering Journal
Evaluation the Mechanical Properties of Kaolin Particulate Reinforced Epoxy Composites
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Epoxy resin has many chemical features and mechanical properties, but it has a small elongation at break, low impact strength and crack propagation resistance, i.e. it exhibits a brittle behavior. In the current study, the influence of adding kaolin with variable particle size on the mechanical properties (flexural modulus E, toughness Gc, fracture toughness Kc, hardness HB, and Wear rate WR) of epoxy resin was evaluated. Composites of epoxy with varying concentrations (0, 10, 20, 30, 40 weights %) of kaolin were prepared by hand-out method. The composites showed improved (E, Gc, Kc, HB, and WR) properties with the addition of filler. Also, similar results were observed with the decrease in particle size. In addition, in this study, mult

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Publication Date
Tue Dec 30 2025
Journal Name
حوليات أداب عين شمس
Evaluation of Groundwater Suitability in Ain Tamr District in Iraq
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Publication Date
Tue Dec 30 2008
Journal Name
Al-kindy College Medical Journal
Evaluation of the Potential Role of Serum Selenium in Diabetic Patients
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Background: The altered status of some essential trace elements observed in diabetes could have deleterious influences on the health of the diabetics. Objectives: To estimate and study the potential role of serum Selenium in type 1, type 2 diabetics and healthy subjects; and its relation with lipid profile and glycemic index. Methods: A case control designed study was carried out at the National Diabetes Center (NDC) / Al-Mustansiria University; on a total of 94 participants formed of 32 type 1 diabetics, 32 type 2 diabetics and 30 healthy control participants. Data collected about age, sex and BMI; also, blood samples examined for FPG, HbA1C, serum total cholesterol, HDL cholesterol, non-HDL cholesterol, serum triglyceride and sera were

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Publication Date
Fri Jun 30 2023
Journal Name
Iraqi National Journal Of Nursing Specialties
Evaluation of Parents’ Knowledge about Nutritional Management of children with Phenylketonuria
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Abstract

Objective(s): to Evaluation of Parents’ Knowledge about Nutritional Management of kids with Phenylketonuria; to Identify the association between parents’ Knowledge about nutritional management then their demographic variables of fathers, mothers (parents age, residence then socioeconomic position).

Methodology: A non-experimental project; was accompanied on parents of phenylketonuria kid in Baghdad town since the period 3 June to 5 October 2022. A Non-probability sample (convenience) of 35 PKU children and their parents (father and mother) was selected Purposively from the hospitals that are select for the study. A survey is built for the purpose of the educa

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Publication Date
Thu Jun 29 2023
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Evaluation of the Mishrif Formation Using an Advanced Method of Interpretation
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The Mishrif Formation is one of the most important geological formations in Iraq consisting of limestone, marl, and shale layers since it is one of the main oil producing reservoirs in the country, which contain a significant portion of Iraq's oil reserves. The formation has been extensively explored and developed by the Iraqi government and international oil companies, with many oil fields being developed within it. The accurate evaluation of the Mishrif formation is key to the successful exploitation of this field. However, its geological complexity poses significant challenges for oil production, requiring advanced techniques to accurately evaluate its petrophysical properties.

   This study used advanced well-logging analysi

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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)
Evaluation of Analgesic Activity of Newly Synthesized Phthalyl- tyrosyl-glycin Sodium
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Alteration in the backbone structure of the endogenously released opioid peptides Leu5/Met5 enkephalins may result in compounds having comparable profile of pharmacological activity but with different physicochemical properties and side effects. Phthalyl amino acid and phthalyl esters are among the derivatives that have been synthesized and evaluated for their antibacterial and antifungal activities.This study was conducted to evaluate the possible analgesic activity of phthalyl-tyrosyl-glycin sodium that has been recently synthesized by our team.The study was carried out on 24 albino mice using hot plate method. The animals were allocated in to three groups; the first group received saline and represent a control g

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Publication Date
Mon Mar 13 2017
Journal Name
Journal Of Baghdad College Of Dentistry
Evaluation of Osseointegration of Dental Implants Prepared by Piezosurgery (Clinical Study)
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ABSTRACT Background: Piezosurgery device is a system developed recently to overcome the limitation of the traditional surgical technique in implant site preparation, which use the principle of ultrasonic microvibrations to create precise & selective cut in bone in harmony with the surrounding tissues. The aim of this study was to evaluate the outcomes of implants inserted by ultrasonic implant site preparation protocol (UISP) using piezosurgery device, regarding the survival rate, stability and other related factors, at 16 weeks postoperative follow up period. Materials and Methods: A total of (24) patients, (6) males and (18) females, aged between (19-51) years old, contributed in this study receiving a total of (42) implants, all of these

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Publication Date
Tue Jun 02 2026
Journal Name
Medicine And Health Sciences
Performance Evaluation of TB-LAMP in the Diagnosis of Pulmonary Tuberculosis
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Background: Tuberculosis (TB), caused by Mycobacterium tuberculosis (MTB), is one of the most common infectious diseases, especially in countries with limited healthcare resources. Early and accurate diagnosis is essential to curb its spread, and loop-mediated isothermal amplification (LAMP) is a rapid, cost-effective, and reliable molecular diagnostic method. Objective: The objective of this study was to evaluate the performance of TB-LAMP as a rapid and reliable diagnostic tool for pulmonary TB and compare it with direct smears and Gene Xpert, using culture as a reference. Materials: Between February and July 2025, a total of 397

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