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.
In this study, the kinetics for the reaction of tert-butanol esterification with acetic acid in the presence of Dowex 50Wx8 catalyst was investigated. The reaction kinetic experiments were conducted in 1000 milliliter vessel at temperatures ranged from 50 - 80 oC, catalyst loading 25-50 g/L, and the molar ratios of acetic acid to tert-butanol from 1/3 – 3/1. The reaction rate was found to increase with increasing temperature and catalyst loading. It was also found the conversion of the tert-butanol increases as the molar ratio of acid to alcohol increases from 1/3 – 3/1. The Non-ideality of the liquid phase was taken into account by using activities instead of molar fractions. The activity coefficients were calculated according to th
... Show MoreThe 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.
During the syrvey on natural enemies of whiteflies in Iraq, the following. predators were recorded.
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.
The current study aims to find out:
- The ingratiating behavior of university students.
- 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
... Show MoreData compression offers an attractive approach to reducing communication costs using available bandwidth effectively. It makes sense to pursue research on developing algorithms that can most effectively use available network. It is also important to consider the security aspect of the data being transmitted is vulnerable to attacks. The basic aim of this work is to develop a module for combining the operation of compression and encryption on the same set of data to perform these two operations simultaneously. This is achieved through embedding encryption into compression algorithms since both cryptographic ciphers and entropy coders bear certain resemblance in the sense of secrecy. First in the secure compression module, the given text is p
... Show More<span>Deepfakes have become possible using artificial intelligence techniques, replacing one person’s face with another person’s face (primarily a public figure), making the latter do or say things he would not have done. Therefore, contributing to a solution for video credibility has become a critical goal that we will address in this paper. Our work exploits the visible artifacts (blur inconsistencies) which are generated by the manipulation process. We analyze focus quality and its ability to detect these artifacts. Focus measure operators in this paper include image Laplacian and image gradient groups, which are very fast to compute and do not need a large dataset for training. The results showed that i) the Laplacian
... Show MoreBeata thalassemia
Beta thalassemia syndrome by reduction or absence of B-globin chain synthesis. Without iron chelation therapy (ICT) the regular blood transfusion would increase the iron stores to several times. Endocrine glands are vulnerable to iron overload causing endocrine dysfunction. Iron deposition within the parathyroid gland causes hypoparathyroidism particularly after ten years of age. Pancreatic islets are very susceptible to oxidative damage due to iron overload; their high divalent metal expression makes them highly susceptible to iron-catalyzing oxidative stress. The pathogenicity of osteopathy in is multifactorial comprising environmental (diet and lifestyle), iatrogenic (medicines), genetic and acqui
... Show MoreRadiation measuring devices need to process calibration which
lose their sensitivity and the extent of the response and the amount of
stability under a changing conditions from time to time and this
period depends on the nature and use of field in which used devices.
A comparison study was done to a (451P) (ionization chamber
survey meter) and this showed the variation of calibration factor in
five different years. This study also displayed the concept of
radiation instrument calibration and necessity of every year
calibration of them.
In this project we used the five years calibration data for ionization
chamber survey meter model Inspector (451P) to get that the values
of Calibration Factor (CF) and Res
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