Trajectory tracking and vibration suppression are essential objectives in a flexible joint manipulator control. The flexible joint manipulator is an under-actuated system, in which the number of control actions is less than the degree of freedom to be controlled. It is very challenging to control the underactuated nonlinear system with two degree of freedom. This paper presents a hierarchical sliding mode control (HSMC) for a rotary flexible joint manipulator (RFJM). Firstly, the rotary flexible joint manipulator is modeled by two subsystems. Secondly, the sliding surfaces for both subsystems are constructed. Finally, the control action is designed based on the Lyapunov function. Computer simulation results demonstrate the effectiveness of

The current study was conducted to find out the effect of the sediment source (sedimentary of Iraqi-Iranian borderline and Tigris River) on the content and distribution of feldspar minerals and their effect on the optical properties of these minerals in some soils of Wasit and Maysan province. Eight pedons were chosen to represent the study area, five of them represented sediments coming from the borderline, which included pedons of (Badra, Taj Al-Din, Al-Shihabi, Jassan, and Galat), while two of them represent the sediments of the Tigris River (Essaouira, Al-Dabouni). Finally, the pedon of Ali Al-Gharbi represented the mixing area of sediments of all the torrents coming from borderline and the sediments of the Tigris River. The diagnostic

     Anemia is a major significant public health issue that affects both pregnant and non-pregnant women throughout the world. This study aimed to determine the prevalence and severity of anemia, as well as its classification, based on MCV values in non-pregnant women residing in the Garmian province in the east of Iraq. Blood samples were collected from non-pregnant women between the ages of 16 and 49 years. Anemia is classified as mild, moderate and severe, and as microcytic, normocytic and macrocytic depending on the level of Hb or mean corpuscular volume (MCV) respectively. In this study sociodemographic and hematological characteristics were also evaluated. The results showed that 56% of the study samples were anemic, and of the

The aim of the study was extraction of arial part of Euphorbia cyathophora constituents with methanol and evaluate its effect on mitotic index and total chromosomal aberration bone marrow cell and spleen cell in mice  200 gm of E. cyathophora fine powder was defatted then extracted by cold maceration 80% ethanol for seven days. The extract was filtered and dried in a rotary evaporator then the dried extract was suspended with water and consecutively extracted using chloroform, ethyl acetate for each. The aqueous layer was then mixed with 100ml methanol. These fractions are dried under reduced pressure to obtain the dry extract. Twenty-four Albino mice were used for the experiment. The animals were divided into four groups: Gr

The objective of this study was to compare the sensitivity and specificity of rK39,
ELISA and IFA tests for the diagnosis of visceral leishmaniasis using blood
samples. Samples were collected from 146 suspected patients and 30 healthy
individual as control. The results showed 52 (35.62%), 58 (39.73%) and 71
(48.64%) positive samples by rK39, ELISA and IFA , respectively. IFA test showed
a higher sensitivity (48.63%) than ELISA and rk39 dip stick (39.72%) and (35.61%)
respectively. The highest sensitivity of agreement (K: 0.912) was found between
rK39 dipstick and ELISA. Therefore, we suggest the application of rK39 dipstick
and ELISA methods in endemic areas of visceral leishmaniasis for early and
accurate diag

This study focuses on cation and anion concentrations and their distribution in the Dibdibba aquifer in the Zubair area at Basra city, southern Iraq to assess the groundwater quality for the agricultural purpose. The physicochemical properties (TSS, Ec, pH, cation and anion concentrations) of the groundwater samples through
18 wells was measured. Results showed that the dominant groundwater type is Na, Mg, Ca-Chloride type. The Magnesium Hazard, Sodium Adsorption Ratio, Na%, total dissolved solid, Electrical conductivity and pH were used to assess the suitability of groundwater for irrigation purposes.. The assessment results indicate that the groundwater is characterized by no Mg-harmful, excellent

Linear regression is one of the most important statistical tools through which it is possible to know the relationship between the response variable and one variable (or more) of the independent variable(s), which is often used in various fields of science. Heteroscedastic is one of the linear regression problems, the effect of which leads to inaccurate conclusions. The problem of heteroscedastic may be accompanied by the presence of extreme outliers in the independent variables (High leverage points) (HLPs), the presence of (HLPs) in the data set result unrealistic estimates and misleading inferences. In this paper, we review some of the robust

This study evaluated the effect of spore suspension and fungal filtrate against different developmental stages of Tribolium castaneum third and fifth larval instars and adults. Two isolates of entomopathogenic fungus Metarhizium anisopliae were used (commercially (Met 52 EC), and domesticly). For the two isolates, the effectiveness of various conidial concentrations were (1 × 104 ; 1 × 106 ; 1 × 108  conidia/ ml) and various concentrations of fungal filtrate (100,75,50%) were evaluated. It is observed that the fungal filtrate at a concentration of 75% and the conidial concentration of 1 x 108 conidia /ml for both isolates were the most effective in causing the highest mortality rates to the third and fifth instar larva and adult

Serum samples were obtained from patients suffering from chronic Rheumatoid Arthritis (RA) disease. They were divided into three groups; 20 patients with RA taking biological treatment Etanercept (Enbrel), 20 patients with RA not taking biological treatment (disease modifying anti-rheumatic drug) and 10 people as healthy control group. The ages of these patients and control group were between 46-50 years old; one male and 19 female in each group. The samples were used for measuring the levels of Interleukin (IL)-1 Beta and Interleukin-10 using the Enzyme Linked Immunosorbent Assay technique. Both interleukins were at their highest levels in the group of RA patients treated with biological treatment followed by the RA patients group that

Abstract

This study investigates the mechanical compression properties of tin-lead and lead-free alloy spherical balls, using more than 500 samples to identify statistical variability in the properties in each alloy. Isothermal aging was done to study and compare the aging effect on the microstructure and properties.

The results showed significant elastic and plastic anisotropy of tin phase in lead-free tin based solder and that was compared with simulation using a Crystal Plasticity Finite Element (CPEF) method that has the anisotropy of Sn installed. The results and experiments were in good agreement, indicating the range of values expected with anisotropic properties.

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