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.
The study aimed to reveal the level to which the international issues are integrated into the books of Saudi public education social studies and citizenship in the light of the principles of international education, and to know the level of continuity and integration of these issues in the books, to build a range and sequence matrix of international issues through it. The study followed the descriptive and analytical method that used the content analysis card as a tool for study when the tool achieved the necessary validity and reliability characteristics. The data of this study has been processed using the SPSS statistical program according to a set of appropriate methods of descriptive and inferential statistics.
The resu
... Show MoreIn this study an illustrated key for the identification of the Iraqi species of the genus Chalcophorella Kerr. is given with information about general distribution for each species. Information is also given about period of collection, plants on which the specimens were collected. The real host plant if they are available and known are also given referring to the previous works.
A biological experiment was conducted in the field of Biology Department-College of Education (Ibn Al-Haitham) University of Baghdad for growing season of (2004-2005), to study the effect of two varieties of the fenugreek plant (Trigonella foenum – graeccum L.) and gibberellic acid concentration (0, 25, 50, 100, 125) part per million and duration of four spraying (15, 20, 25, 30) day determining concentration medicinal active saponine compounds like (Trigonelline, choline, Carpaine and Gentianine). The experiment was performed according to complete Randomize Complete Blocks Design (RBCD) by three replicate was adopted, means were compared by using the least significant difference at (0.05) probability level. Results showed t
... Show MoreCopper oxide thin films were deposited on glass substrate using Successive Ionic Layer Adsorption and Reaction (SILAR) method at room temperature. The thickness of the thin films was around 0.43?m.Copper oxide thin films were annealed in air at (200, 300 and 400°C for 45min.The film structure properties were characterized by x-ray diffraction (XRD). XRD patterns indicated the presence of polycrystalline CuO. The average grain size is calculated from the X-rays pattern, it is found that the grain size increased with increasing annealing temperature. Optical transmitter microscope (OTM) and atomic force microscope (AFM) was also used. Direct band gap values of 2.2 eV for an annealed sample and (2, 1.5, 1.4) eV at 200, 300,400oC respect
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The current study aims to study one Firas Al- Himdani's Romeyat poems (320 – 357 AH), he was one of sham poets in the era of the Abbasid as to know the glories of the knight and Arabic poet, whose message led to preserve the honor of the nation and Islam prestige , along with exposing the better one . His message includes Arabic merits and high values in respect of chivalry , encouragement , sacrifice , forgiveness and tolerance in addition to morality and patience .
Artificial Neural Network (ANN) is widely used in many complex applications. Artificial neural network is a statistical intelligent technique resembling the characteristic of the human neural network. The prediction of time series from the important topics in statistical sciences to assist administrations in the planning and make the accurate decisions, so the aim of this study is to analysis the monthly hypertension in Kalar for the period (January 2011- June 2018) by applying an autoregressive –integrated- moving average model and artificial neural networks and choose the best and most efficient model for patients with hypertension in Kalar through the comparison between neural networks and Box- Je
... Show MoreThe accountants are preparing the financial statements under the Monetary Unit Stability Assumption without taking into consideration the changement of prices for the monetary unit. The income statement accounts containing different items of expenses and revenues. These items are not paid or obtained at one date, because the value of monetary unit is changing from one date to another , also the financial position contains different items of current and fixed assets, also contains different items of long-term liabilities and ownership rights, the continuity of applying historical cost principle will make the financial statements misleading, The adoption of financial analyst of these statements will affects
... Show MoreThe experiment was conducted to study the effect of leaves extract of Salvia sclarea , Rosmarinus officinalis and Thymus vulgaris with 10% and 30% concentration on germination of seeds and growth of seedlings . The effect of these extracts on infection percentage of seeds decay and surface growth of Rhizoctonia solani . The results showed that the three extracts effected significantly to reduced percentage of seeds germination, acceleration of germination , promoter indicator , infection percentage of seeds decay and surface growth of R. solani especially in 30% concentration .
In this study, four sampling stations were selected on the Tigris River (Baghdad region) in order to determine concentrations, seasonal variation and pollution intensity assessment of heavy metals (Cd, Zn and Mn) in water, sediments and Barbus xanthpterus fish in this river. The study results showed that the mean concentration of dissolved heavy metals (cadmium, zinc and manganese) were 0.004 ppm, 0.023 ppm and 0.007 ppm, respectively. Whereas, their concentrations in sediments were 1.38 ppm, 86 ppm and 231.4 ppm respectively. Irregular seasonal variation for concentrations of these metals in both sediments and water. The mean concentration of these metals in tissues of fish muscles were 0.0043 ppm, 0.0023 ppm and 0.03 ppm for cadmium, z
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