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Performance of 2- Link Robot by utilizing Adaptive Sliding Mode Controller
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The Sliding Mode Control (SMC) has been among powerful control techniques increasingly. Much attention is paid to both theoretical and practical aspects of disciplines due to their distinctive characteristics such as insensitivity to bounded matched uncertainties, reduction of the order of sliding equations of motion, decoupling mechanical systems design. In the current study, two-link robot performance in the Classical SMC is enhanced via Adaptive Sliding Mode Controller (ASMC) despite uncertainty, external disturbance, and coulomb friction. The key idea is abstracted as follows: switching gains are depressed to the low allowable values, resulting in decreased chattering motion and control's efforts of the two-link robot system. Un-known uncertainty bounded and reducing switching gains can be considered major advantages of ASMC leading to outperform ASMC upon CSMC. Simulink MATLAB 2019a was used to obtain the simulation outcomes. The outcomes have shown that both methodologies had good tracking performance to the desired position and made the system asymptotically stable through the steady-state errors investigate approaching zero. ASMC is better than CSMC illustrated by minimizing gains values, control efforts, and chattering for each link.

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Publication Date
Wed Feb 20 2019
Journal Name
Political Sciences Journal
Policies governing the mechanisms of referees
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The importance of research stems from the prominent role of leaders in the political, administrative, economic and societal spheres in general, which requires highlighting this angle. Research Hypothesis Modern policies work with mechanisms that limit the clear role of governors and transform the ruler into an executive man. It can be assumed that the type of public policy of the state is the only criterion that transfers the ruler from a ruler to an executive.

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Publication Date
Tue Jan 01 2019
Journal Name
Journal Of The College Of Languages (jcl)
Self-rhythm of the Belenoby Poet
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Al- belenoby , Andalusian obscure poet .I choose to study poetic rhythm in this poetic and the appropriateness of with what  rhythm touring in his self to give beautiful meaning raise to receiver to put the hands of continental placements creativity in poetry .I divided my research into ideas are presented in a sequential manner , I started researching with poetic rhyme than rhyme they represent the form of the poem, they represent the external form of the poem and their music that farm the general concept then the rhetorical styles that represent the internal form of the poem and it music that the listener works and enjoying it part by part all this led to the put the hands of the receiver placement creativity in Belenoby Poet.&nbs

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Publication Date
Sat Jun 30 2007
Journal Name
Al-kindy College Medical Journal
Parental Perception of Fever in Children
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Back ground : Fever is a common medical problem in
children. parents have been shown unrealistic fears of
harmful effects of fever in their children. Resulting in
inappropriate management of fever in their children.
Objective: the objective of this study was to survey
parents about their knowledge andattitude concerning fever
in their children.
Methods : The study involved random selection of
parents who brought their febrile children to emergency
department or out-patient clinics of five teaching and non
teaching hospitals in Baghdad from first of October to end
of December 2002.
Parents of 400 febrile children were interviewed using a
standard questionnaire to obtain sociodemographic
informatio

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Publication Date
Sat Oct 01 2022
Journal Name
Al–bahith Al–a'alami
COMMUNICATIVE CONNOTATION OF PEPSI COLA ADS
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A trademark is one of the most valuable elements in advertising. At the same time, it is a guarantee for both the producer and the consumer. It prevents the mixing of products with a certain mark with similar products bearing another mark; and creates confidence in the goods of the product.

With the increase in the types of goods and products and the emergence of similar goods, producers have turned to the use of the brand to identify their products and seek perfection in manufacture to maintain quality and continuous improvement which ensures good reputation and fame.

Hence, commercials for goods and services focused on the brand because they give in-depth connotations with the recipients of these ads. T

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Publication Date
Wed Apr 01 2020
Journal Name
Journal Of Economics And Administrative Sciences
Economic Researcher & Methodology of Scientific research
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The paper contains a theoretical analysis of the interrelation between methodology of economics used by economic researchers and the methodology of scientific research, encouraging readers to think differently about one of the most complicated & controversial subjects.

The analysis begins with the determination of propositions that were discussed and explained in the course of the argument.

1- The economic researcher, like a scientific one, goes after the procedures of physical sciences and benefits of the forms of logic.

2- Economics deals with human behavior while the natural sciences deal with the matter.

3-This similarity a

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Publication Date
Mon Mar 07 2022
Journal Name
Journal Of Educational And Psychological Researches
The Possible Self of University Students
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The current research aims to identify the possible self of university students and the differences in the level of possible self of students in terms of gender, specialization (scientific-humanitarian), and the interaction between them. In order to achieve the objectives of the current research, the two researchers have prepared a scale of the possible self, based on the theory (Markus and Nurius, 1986). The research tool was applied to a sample of (400) male and female students who were selected through a random stratified method from Al-Mustansiriya University students/morning studies for the academic year (2019-2020). The researcher reached the following results: the research sample has a high level of possible self; there is a differ

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Publication Date
Sun Dec 31 2000
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Kinetic Study of Methyl Bromide Production
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Publication Date
Sun Jul 01 1990
Journal Name
Bulletin Of The Iraq Natural History Museum (p-issn: 1017-8678 , E-issn: 2311-9799)
NATURAL ENEMIES OF WHITEFLIES IN IRAQ
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During the syrvey on natural enemies of whiteflies in Iraq, the following. predators were recorded.

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Publication Date
Sun Jan 01 2023
Journal Name
Aip Conference Proceedings
Bipolar fuzzy ideals of TM-algebras
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The concept of bipolar fuzzy ideals in a TM-algebra was introduced and some properties of these ideals are investigated. Also, a few relations between a bipolar fuzzy ideal and T-ideal are discussed. A new bipolar fuzzy set with a homomorphism of TM-algebra is defined. The Cartesian product of bipolar fuzzy T-ideals in Cartesian product TM-algebras is given.

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Publication Date
Wed Mar 30 2022
Journal Name
Journal Of Educational And Psychological Researches
Ingratiating Behavior of the University Students
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The current study aims to find out:

  1. The ingratiating behavior of university students.
  2. The differences of statistical significance in The ingratiating behavior among university students according to the variables of sex and specialization

The current study is determined by University of Baghdad students of both genders (males and females) and for both majors (scientific and humanities) for the academic year (2019-2020).

In order to achieve the researcher's objectives:Ingratiating behavior scale has been constructed. It consists in its final form of (32) items divided into four behaviors. The researcher has extracted scale validity and reliability.

The researcher based the two scales

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