The inverse kinematics of redundant manipulators has infinite solutions by using conventional methods, so that, this work presents applicability of intelligent tool (artificial neural network ANN) for finding one desired solution from these solutions. The inverse analysis and trajectory planning of a three link redundant planar robot have been studied in this work using a proposed dual neural networks model (DNNM), which shows a predictable time decreasing in the training session. The effect of the number of the training sets on the DNNM output and the number of NN layers have been studied. Several trajectories have been implemented using point to point trajectory planning algorithm with DNNM and the result shows good accuracy of the end

A piezoelectric cantilever beam with a tip mass at its free end is a common energy harvester configuration. This article introduces a new principle of designing such a harvester that increases the generated power without changing the resonance frequency of the harvester: the attraction force between two permanent magnets is used to add stiffness to the system. This magnetic stiffening counters the effect of the tip mass on the efficient operation frequency. Five set-ups incorporating piezoelectric bimorph cantilevers of the same type in different mechanical configurations are compared theoretically and experimentally to investigate the feasibility of this principle: theoretical and experimental results show that magnetically stiffened harve

Oily carwash wastewater is a high organic and chemical wastewater. This paper targeted to investigate a treatment to decrease the water consumption and contaminants in car-washing stations. Electrocoagulation combined with ultrasonic energy (Sono-Electrocoagulation) was suggested so that the carwash wastewater is treated to be reused. The effect of both the voltage and time of treatment on the removal of COD, turbidity, conductivity, and total dissolved solids (TDS) were studied at constant initial pH 7 and electrode distance 2 cm. The results showed the best results of removal COD, turbidity, TDS, and reduce electrical conductivity is when the voltage was 30 V and a treatment time of 90 minutes.

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تعتبر المعادلات التفاضلية الموجية من اهم المواضيع التي تمثل على سبيل المثال الحركة الموجية للاهتزازات الأرضية . ومن هنا فان ايجاد  حلول تقريبيه لمثل هذه المعادلات بدقة وسرعه عالية وبشكل اسرع من الحلول التحليلية والمعقدة , اصبح ممكنا من خلال استخدام الذكاء الاصطناعي واساليب  التعلم  الالي. في هذا البحث هناك ثلاثة أهداف الأول هو تحويل مشكلة القيمة الأولية للمعادلة الموجية إلى شكلها القانوني وإيجاد حلها ا

This study was aimed to find and test biological methods for reducing the aggregation of plastics such as PS in the environment  and study the ability of Greater Wax worms larvae (Galleria mellonella) to eat PS that similar in the its structure to beeswax .Weight loss, morphology changes ,FTIR spectroscopy  and GC-mass analysis were performed which showed changes in chemical properties of the PS due to degradation. In this study  the percentage of weight loss was 33% in the PS treated with G. mellonella. FTIR of PS frass showed the disappearance of aromatic cycle band that was found in the origin PS at region more than 3000 cm-1. Also The PS frass samples from wax worms larvae revealed the creation of a new O-H stretching alcohol

In this article, performing and deriving te probability density function for Rayleigh distribution is done by using ordinary least squares estimator method and Rank set estimator method. Then creating interval for scale parameter of Rayleigh distribution. Anew method using   is used for fuzzy scale parameter. After that creating the survival and hazard functions for two ranking functions are conducted to show which one is beast.

This research studies the effect of adding five different percentages of polymer (2, 4, 6, 8, and 10% of cement weight) on cement mortar's fresh and hardened properties, which was cured at laboratory temperature for 7, 14, and 28 days. Workability increases with increasing polymer. The workability value was lowest (25.6 and 29.4) % in mixtures containing 2% and 4% of (SBR). Increasing polymer ratios significantly decreased mechanical properties (compressive and flexural strength). Therefore, the best results were at 2% SBR and 4% SBR at 28 days of age. An inverse relationship was recorded between the increase in SBR ratios and polymer-modified cement mortar's compressive and flexural strength values. In general, the high

     The Non-thermal plasma has a wide range of applications in different areas. In this study, the oxidation of a model fuel containing organo-sulfur compounds (benzothiophene and dibenzothiophene) was investigated using plasma. The process involved ozone generation through dielectric barrier discharge, followed by extraction using acetonitrile. The results demonstrated the efficient oxidation and removal of dibenzothiophene and benzothiophene by non-thermal plasma. The desulfurization efficiency reached 93.78% under the optimum conditions, including a voltage of 11Kv, temperature of 50ºC, duration of 4 hours, and a flow rate of 75 ml/min.

The adsorption of hexavalent chromium by preparing activated carbon from date seeds with zinc chloride as chemical activator and granular date seeds was studied in a batch system. The characteristics of date seeds and prepared activated carbon (ZAC) were determined and found to have a surface area 500.01 m²/g and 1050.01  m²/g , respectively and  iodine number of 485.78 mg/g and 1012.91  mg/g, respectively. The effects of PH value (2-12), initial sorbate concentration(50-450mg/L), adsorbent weight (0.004-0.036g) and contact time (30-150 min) on the adsorption process were studied . For Cr(VI) adsorption on ZAC, at 120 min time contact, pH solution 2 and 0.02  adsorbent  weight  will ach