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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
Mon Mar 08 2021
Journal Name
Baghdad Science Journal
Performance quality of single and ?two stage solar concentrators
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The performance of single and two stage solar concentrator were studied ' " The ratio of the primary to the secondary mirrors diameter is taking to be 0.5, depending on the theoretical calculation for the accumulated energy by the concentrator with ratio between 0.0 to 0.9. The design of the systems were designed and examined by using a ray-tracing program. The efficiency of the single and the two stage concentrators are calculated and compared with and without cooling systems.

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Publication Date
Sat May 01 2021
Journal Name
Journal Of Physics: Conference Series
Seismic performance of Al-wand earth dam: numerical analysis
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Abstract<p>The seismic can be threatened the stability of the flexible body of the earth dam and can cause completely damaged or deformation on their embankment. Therefore, a geotechnical engineer needs to know the effect of earthquakes on earth structures. The change in the seismic zone that recently Iraq affected is the reason for this research, in general, in 2017, the whole of Iraq, and in particular the region, where the Al-Wand earth dam (the subject of the study) is located, was exposed to several earthquakes. This research project mainly aims to study the behavior of Al-Wand earth dam under seismic load in different conditions by simulating Al-Wand earth dam through numerical modeling an</p> ... Show More
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Publication Date
Fri Aug 02 2024
Journal Name
Journal Of Electrochemical Energy Conversion And Storage
Electrochemical Performance of Co1-xMnxFe2O4 Decorated Nanofiber Polyaniline Composites
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The current work is concerned with preparing cobalt manganese ferrite (Co1-xMnxFe2O4) with different concentrations of cobalt and manganese (x=0.2, 0.4, and 0.6) and decorating it with polyaniline (PAni) for use in supercapacitive applications. The results of the X-ray diffraction (XRD) manifested a broad peak of PAni and a cubic structure of cobalt manganese ferrite having crystal size between 60 nm and 138 nm, which decreases with increasing concentration of Mn. The field emission scanning electron microscopy (FESEM) images evidenced that the PAni has nanofiber (NF) structures, according to the method of preparation, where the hydrothermal method was used. The magnetic properties of the prepared ferrite, as well as the prepared PAni/Co1-x

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Publication Date
Wed May 18 2016
Journal Name
Al-academy
Actor performance features in the types of theatrical silent
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Publication Date
Tue Jun 14 2022
Journal Name
Al-academy
The effectiveness of the deconstructive pattern in theatrical performance
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Theatrical art, from (Plato) to (Heidegger), passing through (Husserl) and (Husserl) has propagated the parallel relations between the overlapping formal patterns in the world of hypotheses crowded with diaspora and scattering, leading to the manifestations of implicit meaning in the intellectual and aesthetic discourse, through the deconstructive pattern that restructures The aesthetic image according to the aesthetic data to be employed, so the effectiveness of the deconstructive system had an important role in authorizing the Ghanaian logic and continuity on which the Western meta meaning was based, and the artistic scene was subjected to it in line with literature and art to be able to pay attention to the achievement and clarify it

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Publication Date
Sun Feb 28 2021
Journal Name
Journal Of Economics And Administrative Sciences
Evaluation of Educational Performance according to Centralization and Decentralization
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The research aims to identify the effect of applying administrative decentralization to an educational performance by assessing educational performance before and after the process of transferring powers from the federal government (the Iraqi Ministry of Education) to local governments (governorates) as well as identifying the appropriate central or decentralized administrative system to advance the educational reality and performance. To achieve the goal of the research, educational data was collected and analyzed, as well as the measurement of educational performance indicators and analysis during two phases, the first represents the stage of applying the central system and spanned between the academic year (2011-2012) and the

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Publication Date
Sat May 01 2021
Journal Name
Journal Of Physics: Conference Series
Performance application of ultraviolet disinfection technique for raw water
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Abstract<p>Microbial water disinfection with UV rays is a universal technology. Disinfection is a method used to treat drinking water. This can be accomplished using physical and/or chemical processes. Physical Methods: Heating and UV rays are two main methods - UV rays to destroy cells and kill bacteria. The physical process generally gives drinking water an instant purification without producing harmful substances. However, there is no pollution in the water to ensure continuous cleaning. This study’s primary goal is to obtain environmentally safe drinking water in situations of water shortages and homes that lack clean water. Therefore, resort to appropriate home treatment. Therefore, an ex</p> ... Show More
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Publication Date
Wed Aug 26 2020
Journal Name
International Journal Of Research In Social Sciences And Humanities
THE ROLE OF A PROTEAN CAREER IN HIGH PERFORMANCE
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Publication Date
Tue Jan 01 2019
Journal Name
Energy Procedia
Analysing of Hueckel Edge Detector Performance Using Satellite Image
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In this research, an analysis for the standard Hueckel edge detection algorithm behaviour by using three dimensional representations for the edge goodness criterion is presents after applying it on a real high texture satellite image, where the edge goodness criterion is analysis statistically. The Hueckel edge detection algorithm showed a forward exponential relationship between the execution time with the used disk radius. Hueckel restrictions that mentioned in his papers are adopted in this research. A discussion for the resultant edge shape and malformation is presented, since this is the first practical study of applying Hueckel edge detection algorithm on a real high texture image containing ramp edges (satellite image).

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Publication Date
Fri Mar 30 2007
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Performance of Dual-Media Down-Flow Rapid Gravity Filters
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The present study was conducted to evaluate the effect of variation of influent raw water turbidity, bed composition, and filtration rate on the performance of mono (sand) and dual media (sand and anthracite) rapid gravity filters in response to the effluent filtered water turbidity and headloss development. In order to evaluate each filter pe1formance, sieve analysis was made to characterize both media and to determine the effective size and uniformity coefficient. Effluent filtered water turbidity and the headloss development was recorded with time during each experiment.

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