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Hamilton–Jacobi Inequality Adaptive Robust Learning Tracking Controller of Wearable Robotic Knee System

A Wearable Robotic Knee (WRK) is a mobile device designed to assist disabled individuals in moving freely in undefined environments without external support. An advanced controller is required to track the output trajectory of a WRK device in order to resolve uncertainties that are caused by modeling errors and external disturbances. During the performance of a task, disturbances are caused by changes in the external load and dynamic work conditions, such as by holding weights while performing the task. The aim of this study is to address these issues and enhance the performance of the output trajectory tracking goal using an adaptive robust controller based on the Radial Basis Function (RBF) Neural Network (NN) system and Hamilton–Jacobi Inequality (HJI) approach. WRK dynamics are established using the Lagrange approach at the outset of the analysis. Afterwards, the L2 gain technique is applied to enhance the control motion solutions and provide the main features of the designed WRK control systems. To prove the stability of the controlled system, the HJI approach is investigated next using optimization techniques. The synthesized RBF NN algorithm supports the easy implementation of the adaptive controller, as well as ensuring the stability of the WRK system. An analysis of the numerical simulation results is performed in order to demonstrate the robustness and effectiveness of the proposed tracking control algorithm. The results showed the ability of the suggested controller of this study to find a solution to uncertainties.

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Publication Date
Fri Jul 01 2016
Journal Name
Journal Of Engineering
Identificatio n Of Key Factors Affecting Waste Management In Life Cycle Of The Construction Project By Using Delphi Technique

The problem of generated waste as a result of the implementation of construction projects, has  been aggravated recently because of construction activity experienced by the world, especially Iraq, which is going through a period of reconstruction, where construction waste represents (20-40%) of the total generated waste and has a negative effect on the environment and economic side of the project. In addition, the rate of consumpted  amounts of natural resources are estimated to be about 40% in the construction industry, so it became necessary to reduce waste and to be manage well. This study aims to identify the key factors affecting waste management through the various phases of the project, and this is accom

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Publication Date
Mon Jan 28 2019
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Effect of customer relationship Management on improving Financial Performance: An Applied Study in a Number of Iraq Private Banks

The research focuses on determining the role of customer relationship management in improving financial performance by surveying the opinions of a number of employees of a number of Iraqi private banks. The customer has become the focus of attention and the most important factors of success and profitability and competition. Therefore, decisions related to the customer are important decisions that support the process of making, And follow-up of administrative decisions, including financial decisions aimed at improving the financial performance of banks and distinguish them from competitors.    Thus, the techniques used in customer relations management programs to collect, analyze and use data and information have beco

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Publication Date
Wed May 01 2019
Journal Name
Iraqi Journal Of Science
Employ GIS Data to update the Map of the College of Water Resources Engineering Using Aerial and Satellite Images

The study has used Geographic Information Systems (GIS) data and Arc GIS software, to produce a new map. This map contains a spatial database of the newly constructed buildings, in the area of water resources engineering college, and using the above tool for updating contains the college in any time, also the map and browse all buildings individually or in clustered, for example, browsing geometric data,  statistical data and the plans of drawings, and make any necessary changes to these sectors immediately, or in the future, like the expansion of the study halls by constructed a new floor, or add supplements, prepare any electrical to any building, and  anything else.  The paper also, updates the old Google Earth image, f

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Publication Date
Tue May 23 2023
Journal Name
Journal Of Engineering
Modeling and Simulation of Copper Removal from the Contaminated Soil by a Combination of Adsorption and Electro-kinetic Remediation

Electro-kinetic remediation technology is one of the developing technologies that offer great promise for the cleanup of soils contaminated with heavy metals. A numerical model was formulated to simulate copper (Cu) transport under an electric field using one-dimensional diffusion-advection equations describing the contaminant transport driven by chemical and electrical gradients in soil during the electro-kinetic remediation as a function of time and space. This model included complex physicochemical factors affecting the transport phenomena, such as soil pH value, aqueous phase reaction, adsorption, and precipitation. One-dimensional finitedifference computer program successfully predicted meaningful values for soil pH profiles and Cu

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Publication Date
Mon Oct 01 2007
Journal Name
Journal Of The Faculty Of Medicine Baghdad
the effect of 23- valent pneumococcal polysaccharide vaccine on pharyngeal colonization in healthy children under 5 years of age

Background: streptococcal pneumonia is one of the most common pathogens that cause otolaryngological disease.

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Publication Date
Thu Dec 23 2021
Journal Name
Iraqi Journal Of Science
The Effect of Laser Heating and Overcasting Deposition on the Efficiency of Plasmonic Solar Cell with Noble Metallic Nanostructures

     Surface plasmon resonance could  increase the efficiency of solar cells , when light  is trapped  by  the noble metallic nanoparticles arrangement at and into the silicon solar cell (SSC) surface. Pure noble metal (silver and gold) nanoparticles (NPs) have been synthesized as colloids  in de-ionized water (DW) by pulsed laser ablation (PLA) process at optimum laser fluence. Silicon solar cell with low efficiency was converted to plasmonic silicon solar cell by overcasting deposition method of silver nanoparticles on the front side of the SSC. The performance of plasmonic solar cell (PSC) was increased  due to  light trapping. Two mechanisms  were involved : inserting silver

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Publication Date
Sun Apr 02 2017
Journal Name
Journal Of Educational And Psychological Researches
Self -affirmation and its relation of tendency toward perfection and the awareness of creativity among fine arts institutions students

The study aimed to identify self –affirmation degree, tendency degree toward perfection, awareness degree of creativity among fine arts institutions students, and the significant correlation between self -affirmation and its tendency toward perfection, and the awareness of creativity among fine arts institutions students. To achieve these objectives, the author had constructed two scales: one to measure self –affirmation among the sample based on “Lang& Jakobowski theory” (Lang& Jakobowski, 1973) that consisted of (54) item divided into two parts: qualitative and situational. The other scale is to measure the tendency toward perfection depend on (flett & Hewitt, 1991) that composed of (46) item divided into two sectio

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Publication Date
Wed May 17 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
The Interaction Effect of Urea and Super Phosphate Fertilizer on the Nutritional Status of Wheat Plant (Triticum aestivum L.)

 A pots experiment was conducted in the plastic house of Kalar Horticulture station Province of Sulaimania, by using soil brought from one of Kalar region fields during growing season of 2007-2008, to study the effect of increasing levels of urea fertilizer which is           (0, 0.20,0.40,0.80) g/pot which equals to (0,100,200,400) kg urea/ha, and super phosphate fertilizer which is (0,0.24,0.48)gm/pot which is equal (0,120,240) kg sup/ha, in nutrition state of wheat IPA 95 component, clay determining  Nitrogen, Phosphor and Potassium content in green part and seeds.        The Completely Randomized Design was used with three replication per t

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Publication Date
Sun May 10 2015
Journal Name
Al-academy
Outstanding aesthetic decoration in the doors of the holy shrines (shrine of Imam Hussein, model): ماهر حسين علي الحبوبي

The problem of the search (how to employ own aesthetic values sculpture prominent decorations doors in the holy shrines) as research aims to detect these formulas employed in relief sculpture in accordance with the aesthetic values of the decorations that add structure in the form of doors shrines dimensions of functional and aesthetic and expressive By selecting the general system configurations spaces for doors and select the components of the structural configurations decorative prominent types (geometric and floral and linear and composite) as well as identify the techniques adopted in the executive configurations doors at the level of raw materials and processors show. Find and define the beauty of decorative formations prominent of

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Publication Date
Wed Apr 01 2009
Journal Name
Journal Of The Faculty Of Medicine Baghdad
0.1 Second versus 0.2 Second pulse duration of Frequency Doubled Nd: YAGLaser in treatment of Clinically Significant Diabetic Maculopathy.

Background: clinically significant macular edema (CSME) is the commonest cause of visual loss in patients with diabetes mellitus and laser focal photocoagulation is the golden standard for treating it. Patients and Methods: A frequency doubled Nd: YAG laser was used to treat all eyes included in this study with diabetic maculopathy. Thirty eyes of three insulin dependent and twenty six non insulin dependent diabetic Iraqi patients were included. The study involved twenty six males, three females and followed for one year. Their ages were ranging between 36- 59 years, all of them from patients attending ophthalmic out-patient department in the medical city in the period between January 2005 and June 2006

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