Preferred Language
Articles
/
iRfoe5IBVTCNdQwCArEL
Hierarchical sliding mode control applied to a single-link flexible joint robot manipulator
...Show More Authors

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 proposed control. The comparative study shows the proposed method has superior performance than the conventional sliding mode control by achieving the controlled objectives such as a satisfactory tracking performance and an acceptable vibration reduction for the single link flexible joint robot manipulator.

Scopus Crossref
View Publication
Publication Date
Sun Jun 30 2024
Journal Name
Tikrit Journal For Agricultural Sciences
First record to the spider Scytodes univittata (Araneae:Scytodidae)in Baghdad, Iraq
...Show More Authors

This study is  the first and  new record  to the spider Scytodes univittata Simon, 1882  (Araneae:Scytodidae)in Baghdad /Iraq , the spiders Scytodes univittata  were collect from province Baghdad in Iraq , genus Scytodes belong to the  family Scytodidae  it is one of the most family are wide  distribution around the world have 6 eyes and are slow moving  , the genus Scytodes are known from the names spitting spiders ,.Female Scytodes univittata   can be characteristic by :large round cephalothorax length:4.45 mm , abdomen length 3.50, total body length  7.95 mm and V-shaped of  fovea, scutela triangle and large  with long  thin legs femur I have two row of spines then  spineless are in IV femur , coloration  is yello

... Show More
View Publication
Scopus Crossref
Publication Date
Wed Aug 31 2022
Journal Name
Al-kindy College Medical Journal
Cervical Pain Related to Position of the Neck during E-Learning
...Show More Authors

Background: During the pandemic, Corona virus forced many people, especially students, to spend more time than before on the computer and smartphone to study and communicate. The poor posture of the body may have worse effect on its body parts , most of which is the cervical spine (forward head posture).

Objective: To assess the incidence of neck pain and the associated factors among undergraduate medical students related to position during E learning

Subjects and Methods: Cross-sectional study was conducted among medical students in three Iraqi universities during 2021. The sample size w

... Show More
View Publication Preview PDF
Crossref
Publication Date
Mon Jan 01 2018
Journal Name
International Journal Of Innovation, Creativity And Change.
Multiple Intelligences and Their Relation to Blood Group Among University Students
...Show More Authors

Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
Study to modify the fat cow's milk for children and infants
...Show More Authors

This study Ajert to modify the chemical composition of milk fat cows and make it similar to the installation of milk fat mother through the addition of protein and soybean oil to be given Alkhltatnsp sensory protein that the best plan is the ratio of 1:1

View Publication Preview PDF
Publication Date
Mon Aug 30 2021
Journal Name
Al-kindy College Medical Journal
Serum Biomarkers are Promising Tools to Predict Traumatic Brain Injury Outcome
...Show More Authors

Traumatic Brain Injury (TBI) is still considered a worldwide leading cause of mortality and morbidity. Within the last decades, different modalities were used to assess severity and outcome including Glasgow Coma Scale (GCS), imaging modalities, and even genetic polymorphism, however, determining the prognosis of TBI victims is still challenging requiring the emerging of more accurate and more applicable tools to surrogate other old modalities

View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Sun Apr 02 2023
Journal Name
Journal Of Oral Microbiology
Current concepts in the pathogenesis of periodontitis: from symbiosis to dysbiosis
...Show More Authors

View Publication Preview PDF
Crossref (26)
Crossref
Publication Date
Sun Jan 01 2023
Journal Name
Aip Conference Proceedings
Comparison among variable selection models and its application to health dataset
...Show More Authors

View Publication Preview PDF
Crossref (1)
Scopus Crossref
Publication Date
Sat Feb 03 2024
Journal Name
مركز البينة
Neurotic Tendencies among juvenile offenders According to Karen Horney: Field study
...Show More Authors

Adolescence is considered to be one of the most dangerous and delicate stages that a juvenile goes through. It is a stage which the juvenile enters while he is a child, and emerges from it by being able to have children, but this does not mean the ability to become socially and psychologically mature

Preview PDF
Publication Date
Mon Jun 30 2025
Journal Name
Modern Sport
Cyberbullying and Its Relationship to Pessimism and Optimism Among Female Students
...Show More Authors

This study aimed to explore the relationship between cyberbullying and levels of pessimism and optimism among female university students, emphasizing the significance of these variables in students' psychological well-being. The research problem was identified in the increasing rates of cyberbullying among female students and its negative impact on optimism and pessimism, alongside the lack of effective counseling programs addressing this issue. The study sample consisted of 30 third-year students from the College of Physical Education and Sports Sciences for Women during the academic year 2023--2024. The participants were deliberately selected through a lottery method. The researchers employed the descriptive survey method as it suited the

... Show More
View Publication
Crossref
Publication Date
Mon Feb 04 2019
Journal Name
Journal Of The College Of Education For Women
Disney’s Girls: The Development of Persona from Snow White to Pocahontas
...Show More Authors

Through his female characters, Walt Disney was able to reflect the
development of the general outlook upon women in the Western world over a period
of sixty years.
This paper sheds light in how the cartoon characters changed in their reaction
to problems and means of solving them from the 30s through to the 90s of the
previous century. The main characters will be seen according to the films’ dates of
production and release.

View Publication Preview PDF