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%.
A series of new heterocyclic aromatic derivatives compounds were synthesized by reacted of Bis-methylene-di-(2-aminobenzoyl chloride) with different chloride moieties such as piperidine-1-sulfonylchloride, Pryidine-3-sulfonylchloride, 4,4and#39;-(diazene-1,2-diyl)dibenzoyl-chloride and chloramphenicol respectively, to afforded a derivatives compound containing primary amine group [A-A4]. These derivative compounds [A-A4] were reacted with polyethanol using cold-warm esterification to synthesize of new graft polymers [B1-B4]. The structures of products were conforming by FT-IR and 1H-NMR spectroscopy. XRD-Diffraction of grafted polymer showed compound [B1 and B3] were crystal and semi-crystal respectively. As well as, derivatives
... Show MoreReservoir quality assessment is important for detecting hydrocarbon-bearing zones and guiding future enhancement strategies. This study presents a detailed petrophysical evaluation of the Mishrif Formation in the Buzurgan Oilfield, which was selected due to its strategic value through its significant remaining reserves which making it an ideal candidate for advanced evaluation techniques. This study aims for shale content, porosity, permeability, water saturation, net to gross, and lithology determination. Well log and core data were used together to establish accurate property estimations. Permeability prediction through conventional methods, like core permeability-porosity correlations, was highly dispersive due to the heterogenei
... Show MoreCrabs belong to the crustacean family (Decapods crustacean), and their shells contain natural ingredients from which the bioactive compounds are derived. It has been used as folklore medicine in cancer treatment. We investigate the possible anti-inflammatory and anti-oxidant effects for crab shells and whole crabs. Thirty-six rats (150–200 gm) from both sexes were used, divided into six groups, the anti-inflammatory and anti-oxidant activity measured using cotton pellet induce granuloma model. Detection of tumor necrosis factor alpha (TNF α), Interleukin 1 beta (IL-1β), superoxide (SOD), and malondialdehyde (MDA) levels using ELISA Kits. The data analysis by one-way ANOVA followed by the Tukey test. Values are significant at (p < 0.05).
... Show MoreRadiation is a form of energy, its emitted either in the form of particles such as α-particles and β-particles (beta particles including the electron and the positron) or waves such as sunlight, X-rays and γ-rays. Radiation found everywhere around us and it comes from many different sources naturally or man-made sources. In this study a questionnaire was distributed to people working in the field of X-rays that used for a medical imaging (X-ray and CT-scan) to evaluate the extent of awareness and knowledge in estimate the damage of ionizing radiation as a result of wrong use. The questionnaire was distributed to medical clinics in Al-Harithiya in Baghdad, which it’s considered as
The research deals with the relationship between supplier evaluation (single variable) and family brand strategy (single variable) a case study in the battery factory\Al-Waziriya, and the fact that the industrial sector represents a cornerstone for building the country’s economy of and their development. The research has been selected on this basis. The problem stems from the lack of business understanding of the real role played by the assessment of the suppliers' and its strong impact on its reputation and position in the market. The research gains its importance by moving away from traditional marketing style in terms of characteristics related to the resource itself, and the service provided by the factory to c
... Show MoreInformation security contributes directly to increase the level of trust between the government’s departments by providing an assurance of confidentiality, integrity, and availability of sensitive governmental information. Many threats that are caused mainly by malicious acts can shutdown the egovernment services. Therefore the governments are urged to implement security in e-government projects.
Some modifications were proposed to the security assessment multi-layer model (Sabri model) to be more comprehensive model and more convenient for the Iraqi government. The proposed model can be used as a tool to assess the level of security readiness of government departments, a checklist for the required security measures and as a commo
Six mixed ligand complexes were prepared from malonic acid (MA), nicotinic acid (NA), and 2-aminopyridine (AP) in a (1:1:1:1) molar ratio (M: MA: NA: AP.), using aqueous ethanol as a reaction medium. The prepared compounds were analyzed by flame atomic absorption, (C.H.N.) analysis, and FTIR, UV-Vis, and mass spectroscopy, as well as conductivity measurement and magnetic susceptibility studies. Based on the combined analytical data, the prepared complexes were proposed to adopt an octahedral geometry. A urinary tract infection (UTI) is a bacterial infection that affects any part of the urinary tract. The emergence of antibiotic-resistant bacteria and fungi has led to poor patient outcomes and limited treatment options, prompting int
... Show MoreBackground This in vitro study compares a self-etch primer (SEP) to an etch-and-rinse (EaR) for bonding sapphire brackets by evaluation of the enamel etch-pattern, shear bond strength, amount of remnant adhesive and enamel surface damage following thermal and fatigue cyclic loading. Material and Methods Ceramic (sapphire) brackets were bonded to 80 extracted human premolars using two enamel etching protocols: conventional EaR using 37% phosphoric acid (PA) gel (control), and a SEP (Transbond Plus). Each group was subdivided into two subgroups (n=20 teeth) according to the time of bracket debonding: after 24 h water storage or following 5000 thermo-cycles plus 5000 cycles fatigue loading, to determine the shear bond strength (SBS), adhesive
... Show MoreBackground: This in vitro study compares a self-etch primer (SEP) to an etch-and-rinse (EaR) for bonding sapphire brackets by evaluation of the enamel etch-pattern, shear bond strength, amount of remnant adhesive and enamel surface damage following thermal and fatigue cyclic loading. Material and Methods: Ceramic (sapphire) brackets were bonded to 80 extracted human premolars using two enamel etching protocols: conventional EaR using 37% phosphoric acid (PA) gel (control), and a SEP (Transbond Plus). Each group was subdivided into two subgroups (n=20 teeth) according to the time of bracket debonding: after 24 h water storage or following 5000 thermo-cycles plus 5000 cycles fatigue loading, to determine the shear bond strength (SBS), adhesiv
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