Flexible joint robot (FJR) manipulators can offer many attractive features over rigid manipulators, including light weight, safe operation, and high power efficiency. However, the tracking control of the FJR is challenging due to its inherent problems, such as underactuation, coupling, nonlinearities, uncertainties, and unknown external disturbances. In this article, a terminal sliding mode control (TSMC) is proposed for the FJR system to guarantee the finite-time convergence of the systems output, and to achieve the total robustness against the lumped disturbance and estimation error. By using two coordinate transformations, the FJR dynamics is turned into a canonical form. A cascaded finite-time sliding mode observer (CFTSMO) is construct

This paper deals with the continuous classical optimal control problem for triple partial differential equations of parabolic type with initial and boundary conditions; the Galerkin method is used to prove the existence and uniqueness theorem of the state vector solution for given continuous classical control vector. The proof of the existence theorem of a continuous classical optimal control vector associated with the triple linear partial differential equations of parabolic type is given. The derivation of the Fréchet derivative for the cost function is obtained. At the end, the theorem of the necessary conditions for optimality of this problem is stated and is proved.

     In this research, our aim is to study the optimal control problem (OCP) for triple nonlinear elliptic boundary value problem (TNLEBVP). The Mint-Browder theorem is used to prove the existence and uniqueness theorem of the solution of the state vector for fixed control vector. The existence theorem for the triple continuous classical optimal control vector (TCCOCV) related to the TNLEBVP is also proved. After studying the existence of a unique solution for the triple adjoint equations (TAEqs) related to the triple of the state equations, we derive The Fréchet derivative (FD) of the cost function using Hamiltonian function. Then the theorems of necessity conditions and the sufficient condition for optimality of

The high mobility group A1 gene (HMGA1) rs139876191 variant has been related to metabolic syndrome and type 2 diabetes, but data are lacking in Middle Eastern populations. The study aimed to assess whether the HMGA1 rs139876191 variant is associated with metabolic syndrome risk and whether this variant predicts the risk of insulin resistance. This case-control study was carried out at single center in Kirkuk city/ Iraq from February to August 2022. Polymorphisms in HMGA1 and genotyping were identified by Sanger sequencing of genomic DNA obtained from 91 Iraqi participants (61 patients with metabolic syndrome and 30 control). Lipid profile, serum (glucose and insulin), glycated hemoglobin, blood pressure, body mass index, and waist circumfer

Schiff base derived from PVA and Erythroascorbic acid derivative (pentulosono-ɣ-lactone-2, 3-enedianisoate) was synthesized and characterized by Thin Layer Chromatography (TLC) and FTIR spectra, aldehyde was also characterized by (U.V-Vis), 1HNMR, 13CNMR and mass spectra. The inhibitory effect of prepared polymer on the activity of human serum Cholinesrerase has been studied in vitro. The polymer showed a remarkable activity at low concentration (4.5*10-3 – 4.5*10-8 M).

  The study was aimed to isolate and identify endophytic fungi from myrtle (Mrtus communis) leaves and study their extracellular enzymes activity. Results revealed isolation of 99 species or ioslated of endophytic fungi obtained from 500 leaves fragment, which represented colonization frequency (CF) of 20.4%. Those fungi were related to 23 species or isolates, Aspergilli were dominated over all species (11 species) with CF 14%. Moreover A. niger and A. flavus showed the higtest CF values over all. Other isolated fungi were related to the genera: Penicillium spp., Cladosporium sp., Cunninghamella sp., Derchslera sp., Alternaria sp. Paecilomyces sp. and sterile fungi (mycelia sterilia). Extracelluar enzymes activity showed varation in

A study that collected 240 samples and divided into two groups: the first 120 samples were for diabetics and the second 120 samples were for healthy people, and each group included (90, 20.10) samples from the mouth, urine and vagina respectively, The results showed positive (28.67, 4.00, 1.67) isolates of Candida. In the mouth, urine and vagina, respectively, of diabetic patients compared to (9.33, 2.33, 5.00) positive isolates in the mouth, urine and vagina, respectively, in the healthy. The rate of positive isolates in women was high in women with diabetes and healthy, and it reached 25.33 and 9.00 isolates, respectively, compared with the rate of isolates in men with Candida disease for diabetic patients and healthy people 14.67 and 2.0

Newly prepared derivatives of Heterocyclic of dicarboxylic acid include 1, 2, 4-Triazoledicarboxylic acid. Thiocarbohydrazine (TCH) reacts with aliphatic and aromatic dicarboxylic acids, and when these resulting compounds interact with compounds containing a group of carbonyl they result in Schiff base, which are very important in the industrial and medical fields and the acids used (oxalic acid, succinic, terephthalic) to prepare the triazole, then the reaction with Para-chlorobenzendihaide. and some physical properties were measured for these products. The biological activity of the prepared compounds has been studied, and it has been shown that they have different effects on the bacteria, compounds prepared with Fourier Transform Infrare

         The objective of the present study is to compare the effect of insulin like growth factor-1 on the lipid profile in sera of diabetic patients with and without dyslipidemia having the same medical treatment and compared with healthy control. The study included three groups. The biochemical parameters which were measured include, fasting blood sugar(FBS), glycated hemoglobin (HbA1c), fasting insulin, insulin like growth factor-1(IGF-1),  lipid profile [Total cholesterol (Tc) , triglyceride(TG), high density lipoprotein cholesterol(HDL-c) ,low density lipoprotein-cholesterol (LDL-c)and very low density lipoprotein-cholesterol (VLDL-c)], Atherogenic index of plasma(AIP), insulin resistance(IR). The resu

Celiac disease (CD) is the most common genetically - based disease in correlation with food intolerance. The aim of this study is to measure the activity of ALT enzyme and purify enzyme from sera women with celiac disease. Alanine aminotransferase (ALT) activity has been assayed in (30) women serum samples with celiac disease, age range between (20-40) year and (30) serum of healthy women as control group, age range between (22-38) year. In the present study, the mean value of ALT activity was significantly higher in patients with celiac disease than healthy group (p<0.01). The ALT enzyme was partial purified from sera women with celiac disease by dialysis, gel filtration using Sephadex G- 50 and ion exchange chromatography using DEAE- cell