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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 Jan 01 2025
Journal Name
Medical Journal Of Babylon
Study Effect of Periostin Level in Obese Iraqi Females Patients with Type 2 Diabetes Mellitus
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Abstract<sec> <title>Background:

Obesity has been connected to a higher risk of acquiring a number of diseases, including cancer, type 2 diabetes mellitus (T2DM), hypertension, and cardiovascular disease. Periostin is a crucial regulator of the growth and maintenance of bones, teeth, and the heart.

Objectives:

The aim of the study was to estimate the level of (periostin, glycated hemoglobin [HbA1c], fasting serum [FBG], total cholesterol [TC], high-density lipoprotein [HDL], low-density lipoprotein [LDL], and triglycerides [TG]) in diabetic Ira

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Publication Date
Mon Apr 01 2019
Journal Name
Biochemical And Cellular Archives
Prevalence of Hbv, Hcv and Hiv-1, 2 infections among patients in Saladin governorate, Iraq
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Hepatitis B and Hepatitis C viruses are the major health problem in the worldwide. In the Middle East, the prevalence of HBV in general population with the chronic infectionsis 2-5%,whereas the prevalence of HCV is about 1% in Arabian Gulf countries. World Health Organization (WHO) revealed that the risks of HBV and HCV transmissionas well as human immunodeficiency virus (HIV) through the transfusion of contaminated blood and blood products is high, because of the fragility of health services in these countries. Several viral diseases are transportby different modes like bloodtransfusion, sexual contact, and unsafe injections. The mostcommon blood-transmitted viruses are hepatitis B virus(HBV), hepatitis C virus (HCV) and humanimmunodeficie

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Publication Date
Fri May 14 2010
Journal Name
Al-mustansiriyah
Synthesis, Spectroscopic and Biological Studies of Some Metal Complexes with 1, 2 bis-(orthoaminophenylthio) ethane
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Publication Date
Mon Aug 07 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Science
Synthesis and Characterization of Tetradentate Complexes Type N2O2 From the Reaction of 2-Hydroxy -1, 2-Diphynel-Ethanone Oxime [H2L] With Mn II, Fe II, Co II, Ni II, Cu II and Hg II Ions
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Tetradentate complexes type [M (HL) 2] were prepared from the reaction of 2-hydroxy -1, 2-diphynel-ethanone oxime [H2L] and KOH with ( Mn II, Fe II, Co II, Ni II , Cu II and Hg II ), in methanol with (2:1) metal: ligand ratio. The general formula for Cu II and Mn II complexes are [M (HL) 2 Cl.H2O] K, for Co II [Co (HL) 2. H2O] and [M (HL) 2] for the rest of complexes. All compounds were characterised by spectroscopic methods, I.R, U.V-Vis, H.P.L.C, atomic absorption and conductivity measurements chloride content. From the data of these measurements, the proposed molecular structures for Fe II and Hg II complexes are tetrahedrals, while Mn II and Cu II complexes are octahedrals, Ni II complex adopting square planar structure and the complex

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Publication Date
Wed Oct 01 2025
Journal Name
Indonesian Journal Of Chemistry
Synthesis of Titanium Dioxide Nanoparticles for Removal of Pb&lt;sup&gt;2+&lt;/sup&gt;, Cd&lt;sup&gt;2+&lt;/sup&gt; and Cr&lt;sup&gt;3+&lt;/sup&gt; from Wastewater
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Water pollution is widely regarded as one of the most pressing global challenges, exacerbated by human progress in industrial, agricultural, and technological sectors. Wastewater often contains non-biodegradable heavy metals that accumulate in living organisms. This accumulation poses significant risks to both environmental ecosystems and human health. The structures and surface morphology were characterized by FTIR, UV-vis measurements, XRD, SEM, and AFM. TiO2 nanoparticles could remove heavy metal ions (Pb2+, Cd2+, and Cr3+) from two samples (laboratory samples and real samples from Babylon battery factory in Al-Waziriya, Baghdad/Iraq) and measured by AAS. The results indicated that the removal percentages of heavy metal ions by T

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Publication Date
Sat Sep 01 2018
Journal Name
Polyhedron
Novel dichloro (bis {2-[1-(4-methylphenyl)-1H-1, 2, 3-triazol-4-yl-κN3] pyridine-κN}) metal (II) coordination compounds of seven transition metals (Mn, Fe, Co, Ni, Cu, Zn and Cd)
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Publication Date
Fri Mar 25 2022
Journal Name
Journal Of The College Of Basic Education
Semantic image coding in contemporary Theatrical performance
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تعد مجالات الصورة وعلاماتها الحركية حضوراً دلالياً للاتصال العلامي واتساعاً في الرابطة الجدلية ما بين الدوال ومداليها، التي تقوم بها الرؤية الاخراجية لإنتاج دلالات اخفائية تمتلك جوهرها الانتقالي عبر الافكار بوصفها معطيات العرض، ويسعى التشفير الصوري الى بث ثنائية المعنى داخل الحقول المتعددة للعرض المسرحي، ولفهم المعنى المنبثق من هذه التشفيرات البصرية، تولدت الحاجة لبحث تشكيل هذه التشفيرات وكيفية تح

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Publication Date
Fri Jan 31 2025
Journal Name
Joiv : International Journal On Informatics Visualization
RC5 Performance Enhancement Based on Parallel Computing
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This study aims to enhance the RC5 algorithm to improve encryption and decryption speeds in devices with limited power and memory resources. These resource-constrained applications, which range in size from wearables and smart cards to microscopic sensors, frequently function in settings where traditional cryptographic techniques because of their high computational overhead and memory requirements are impracticable. The Enhanced RC5 (ERC5) algorithm integrates the PKCS#7 padding method to effectively adapt to various data sizes. Empirical investigation reveals significant improvements in encryption speed with ERC5, ranging from 50.90% to 64.18% for audio files and 46.97% to 56.84% for image files, depending on file size. A substanti

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Publication Date
Mon Apr 01 2019
Journal Name
Journal Of Educational And Psychological Researches
Requirements for Implementing School Performance Indicators System
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The aim of the research is to find out the availability of the requirements of applying the indicators of school performance system in the public schools in  Mahayel Asir educational directorate through the school planning indicator, the safety and security indicator, the active learning indicator, the student guidance indicator and determining the existence of statistically significant differences between the responses of the research community according to the variable of (scientific qualification - years of work as a principal - training courses). The questionnaire was used as a tool for data collection from the research community, which consists of all the public schools’ principals (n=180) Mahayel Asir educational directorate

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Publication Date
Mon Jan 01 2024
Journal Name
Journal Of Engineering
Improving Thermal Performance in the University Classrooms
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Universities are among spaces where it's important to ensure thermal comfort in indoor spaces, improving the occupants' well-being and productivity. The problem of the research was to study appropriate glazing systems for the spaces of the University of Baghdad because glazing systems are one of the most important elements of the indoor environments, and it has a major impact on the thermal performance of buildings. Glass is one of the most seasoned materials that are most utilized in the design. Since it is a diaphanous material, it allows sunlight to enter the building, increasing the space's temperature, cooling loads, and energy consumption in summer. The research followed the experimental method by studying and

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