There are two main categories of force control schemes: hybrid position-force control and impedance control. However, the former does not take into account the dynamic interaction between the robot’s end effector and the environment. In contrast, impedance control includes regulation and stabilization of robot motion by creating a mathematical relationship between the interaction forces and the reference trajectories. It involves an energetic pair of a flow and an effort, instead of controlling a single position or a force. A mass-spring-damper impedance filter is generally used for safe interaction purposes. Tuning the parameters of the impedance filter is important and, if an unsuitable strategy is used, this can lead to unstabl

The UN organization is considered one of the most important organizations at the international level. It has accomplished multiple tasks and roles of many different issues and events that hit the developing and advanced world countries. It has performed a series of procedures and laws that have had an impact on ending the wars and conflicts that plagued some countries and continued for a period of time in the past. Moreover, it has improved the level of the international relations between a number of countries due to the problems and incidents took place between them. It has relied on finding solutions and treatments for humanitarian problems such as the preservation of the environment, preventing the spread of epidemics and diseases Thi

The currency in circulation is a key element of the monetary supply system of the Iraqi economy because itreflects the level of economic activity and the liquidity level in the market. It can be expressed as an important tool when formulating monetary policy. This research aims to analyze and forecast the behavior of the currency in circulation in Iraq using the ARMA-GARCH model for monthly data from 2004 to 2025 to understand the dynamics of monetary liquidity, The sample was divided into two parts: approximately 80% for the training set (2004-2021), and approximately 20% for the testing set (2022-2025). Data were analyzed in Python using many packages. The results showed that the time series was initially non-stationary but became

Polymer electrolyte films composed of PVP and PVP/glycerin with varying concentrations of CuCl2 (10, 20, and 30 wt.%) were synthesized using the solution casting method. The synthesized electrolyte films were characterized using FTIR, XRD, UV-Vis, DSC, and TGA techniques. FTIR spectroscopy revealed an O-H stretching vibration of PVP around 3300 cm(-1), which experienced broadening and a reduction in intensity upon the introduction of glycerin and CuCl2. XRD analysis displayed a characteristic peak at 2 theta similar to 20 degrees, with the peak shifting towards higher angles and a slight decrease in intensity as the CuCl2 concentration increased, indicating a disruption of the crystalline structure of the host matrix. UV-Vis analysis reveal

Investigating the thermal and electrical gains and efficiencies influence the designed photovoltaic thermal hybrid collector (PVT) under different weather conditions. The designed system was manufactured by attaching a fabricated cooling system made of serpentine tubes to a single PV panel and connecting it to an automatic controlling system for measuring, monitoring, and simultaneously collecting the required data. A removable glass cover had been used to study the effects of glazed and unglazed PVT panel situations. The research was conducted in February (winter) and July (summer), and March for daily solar radiation effects on efficiencies. The results indicated that electrical and thermal gains increased by the incre

Reinforced concrete (RC) slabs strengthened with carbon fibre reinforced polymer (CFRP) and subjected to flexural actions may experience many types of failure, including FRP debonding, FRP rupture and concrete crushing. Of these different types of failure modes, FRP debonding stands out as the most predominant type of failure because of its dependence on the relatively weak bond interface between the soffit of the RC member and the FRP sheet attached to it. Many anchorage systems have been developed to enhance the performance of strengthened systems, one of which is the hybrid anchor, which combines the effects of patch anchors and spike anchors. Hybrid anchors have shown significant enhancement when used with RC members subjected to shear