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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
Sun Jan 01 2017
Journal Name
Journal Of Engineering
Evaluation of Textile Filter in Field Drains
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The role of drain in agricultural lands is to remove excess surface and subsurface water to create a good environment for root growth and to increase crops yield. The main objective of this research was to evaluate the performance of closed drains when using textile filter instead of crushed gravel filter. The research has been executed in the laboratory using a sand tank model and by using two types of the soil. One of soils was light soil (sandy soil) and the other heavy soil (loamy soil). The tests were classified into four cases; each case was supplied discharge during 10 days. The results showed that the amount of out flow when using graded crushed gravel filter is greater than the amount of out flow in case of usin

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Publication Date
Sun Sep 26 2021
Journal Name
Al-khwarizmi Engineering Journal
Phytotoxicity of Salvinia molesta in Diesel Exposure
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Phytoremediation is one of the methods to remove various types of pollutants from water and soil using plants. Salvinia molesta, an aquatic plant, is chosen in this study to determine its ability to degrade diesel as the pollutant in synthetic wastewater with different diesel concentrations (0, 8,700, 17,400, and 26,100 mg/L) for 14 days. Total petroleum hydrocarbon (TPH) has been used as an indicator to represent diesel concentration variation in wastewater. Degradation of TPH was 85.1% for diesel concentration of 8,700 mg/L, compared with only 53.9% in the corresponding control without plant. While, acute toxicity on S. molesta exposed in diesel concentrations of 17,400 and 26,100 mg/L was observed and eventually had

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Publication Date
Thu Feb 13 2020
Journal Name
College Of Islamic Sciences
سيا Contextual study of faces and isotopes
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This is a contextual study in face and isotope science, and I have made it in one of the terms faces and isotopes, which is the word (bad). Quranic also, and that is at every aspect they mentioned.
The nature of the research required that it be divided into three sections:
The first topic: I singled it out to show the types of contextual connotations.
- The second topic: I singled it out to define the word bad and its meaning.
- The third topic: I devoted it to the study of the word bad and explaining the significance of the Quranic context on the additional meaning and the original meaning.
Conclusion: It mentioned the most important results, which are:
1- The significance of the Quranic context is one of the most impo

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Publication Date
Thu Mar 01 2018
Journal Name
Journal Of Engineering
Tribological Characteristics Evaluation of Mustard Oil Blends
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A progressive increase in the desire for environmentally friendly lubricants by users and strict government regulations for the use of these lubricants has provided an opportunity to use plant oils as biodegradable lubricants, therefore vegetable oils have been investigated to replace oil lubricants because of their maintaining the conditions of nature (environment) properties. In this paper, the influences of the blending ratio of mustard seeds oil with commercial mineral oil (SAE40) on the tribological characteristics were investigated and compared with mineral oil using the four-ball tribotester. Mustard seeds oil was blended with mineral oil at a volumetric ratio ranging from 22.5 to 90%. All experimental works were

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Publication Date
Fri Feb 01 2019
Journal Name
Journal Of The College Of Education For Women
Conservation of Concept among Children: Semantic Study
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Conservation of Concept among Children: Semantic Study

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Publication Date
Wed Jan 01 2025
Journal Name
Lecture Notes In Networks And Systems
Diagnosis of Diabetes Using Artificial Intelligence Programs
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Scientific development has occupied a prominent place in the field of diagnosis, far from traditional procedures. Scientific progress and the development of cities have imposed diseases that have spread due to this development, perhaps the most prominent of which is diabetes for accurate diagnosis without examining blood samples and using image analysis by comparing two images of the affected person for no less than a period. Less than ten years ago they used artificial intelligence programs to analyze and prove the validity of this study by collecting samples of infected people and healthy people using one of the Python program libraries, which is (Open-CV) specialized in measuring changes to the human face, through which we can infer the

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Publication Date
Tue Nov 22 2016
Journal Name
Der Pharma Chemica
Evaluation of Commercial Antacid Tablets in Iraq
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Antacids are commonly used drugs which are considered inert and free of pharmacological effect by many patients and physicians. They are weak bases that neutralize the gastric acid and relief pain. These weak bases dissociate to neutralize gastric acid and form neutral salts. The ultimate goal of antacid therapy is to reduce the concentration and a total load of acid in gastric juice to a pH 4 - 5. This in vitro study was promised to study the acid neutralizing capacity (ANC) of six commonly available antacids tablets in the Iraqi market by using back titration method. The highest ANC values were for Rennie (17.131± 0.083 and 16.926± 0.052 mEq) in two different hydrochloric acid (HCl) concentrations 1N and 0.5 N, respectively. The static

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Scopus
Publication Date
Tue Feb 05 2019
Journal Name
Journal Of The College Of Education For Women
Untold Story in the Language of Theatre
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The language of theatre is made by a number of physical tools and moral elements. So as the actors, costumes, lightings and accessories represent the physical aspects of the show, they also represent its moral aspect too. When they transform from plastic words in the space of the visual show to become signs carrying its indications that give the meaning through the link, overlap and arrangement of its movements so as to finally look like as wording in a sentence carries the meaning and represent the language of theatre speech.
The show usually sends the recipient continuous signs that go beyond the limits of expressions that are conveyed by these tools, and that cover the largest part of the meaning. So what is kept hidden or unannoun

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Publication Date
Sun Sep 01 2013
Journal Name
Baghdad Science Journal
Synthesis and Characterization of New Thioxanthone Derivatives
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This work comprises the synthesis of new thioxanthone derivatives containing C-substituted thioxanthone. To obtain these derivatives, the o-mercapto benzoic acid was chosen as the starting material, which was reacted with dry benzene in sulfuric acid (98 %) to produce the thioxanthone (1). The 2,7-(disulfonyl phosphine imine) thioxanthone (4-8) were prepared from reaction of compound (1) with chlorosulfonic acid gave 2,7-(disulfonyl chloride) thioxanthone (2). Treatment of (2) with sodium azide to produce 2,7-(disulfonyl azide) thioxanthone (3). Condensation of (3) with phosphorus compounds afforded compounds (4-8). The 2,7-(disulfonamide) thioxanthone (9-21) was obtained when co

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Publication Date
Wed Dec 07 2011
Journal Name
Journal Of Planner And Development
Change in the centers of historical cities
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The historical center cities were exposed to change, which included its social and economical structures, Which led to sweeping changes in land use, causing a change in the result, in urban fabric and the physical structure and therefore to see visual. We have attracted these centers as a result of pressure from urban development and contemporary reflection of the agents of change which have been hit during the late period a development residential newly not sympathize mostly with the content of the historical and at the expense of removing large parts of the urban fabric and replace it with patterns of structural and styles of architecture has not been connected with reality. Which led to the loss of some historical and architec

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