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MODIFIED TRAINING METHOD FOR FEEDFORWARD NEURAL NETWORKS AND ITS APPLICATION in 4-LINK SCARA ROBOT IDENTIFICATION
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In this research the results of applying Artificial Neural Networks with modified activation function to
perform the online and offline identification of four Degrees of Freedom (4-DOF) Selective Compliance
Assembly Robot Arm (SCARA) manipulator robot will be described. The proposed model of
identification strategy consists of a feed-forward neural network with a modified activation function that
operates in parallel with the SCARA robot model. Feed-Forward Neural Networks (FFNN) which have
been trained online and offline have been used, without requiring any previous knowledge about the
system to be identified. The activation function that is used in the hidden layer in FFNN is a modified
version of the wavelet function. This approach has been performed very successfully, with better results
obtained with the FFNN with modified wavelet activation function (FFMW) when compared with classic
FFNN with Sigmoid activation function (FFS) .One can notice from the simulation that the FFMW can be
capable of identifying the 4-Links of SCARA robot more efficiently than the classic FFS.

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Publication Date
Thu Jan 14 2021
Journal Name
Iraqi Journal Of Science
A Vehicle ID identification Architecture: A Parallel-Joining WSN Algorithm
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Several remote sensor network (WSN) tasks require sensor information join. This in-processing Join is configured in parallel sensor hub to save battery power and limit the communication cost. Hence, a parallel join system is proposed for sensor networks. The proposed parallel join algorithm organizes in section-situated databases. A novel join method has been proposed for remote WSNs to limit the aggregate communication cost and enhance execution. This approach depends on two procedures; section-situated databases and parallel join algorithm utilized to store sensor information and speed up processing respectively. A segment arranged databases store information table in segmented shrewd. The Parallel-Joining WSN algorithm is effectively

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Publication Date
Tue Mar 30 2021
Journal Name
Iraqi Journal Of Science
Electrochemical Polymerization and Biological Activity of 4-(Nicotinamido)-4-Oxo-2-Butenoic Acid as An Anticorrosion Coating on A 316L Stainless Steel Surface
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In this study, poly4-(nicotinamido)-4-oxo-2-butenoic acid (PNOE) was prepared by the electro polymerization of 4-(nicotinamido)-4-oxo-2-butenoic acid (NOE) monomer on a 316 stainless steel (St.St) which acts as an anticorrosion coating.  Fourier transforms infrared (FTIR), atomic force microscopy (AFM), scanning electron microscopy (SEM), and cyclic voltammetry were used to diagnose the structure and the properties of the prepared polymer layer. The corrosion behavior of the uncoated and coated 316  St.St were evaluated by using an electro chemical polarization technique in 0.2 M hydrochloric acid  solution as a corrosive medium at a temperature range of 293 to 323 K. Nano materials, such as nano ZnO and graphene were adde

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Publication Date
Mon May 08 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
A New Method For Preparation of Microencapsulated Phase Change Materials (PCMs) For Low Coast Energy in Cooling of Building
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Microencapsulated of paraffin wax which acts as core material of phase change
material covered by polymer was prepared by using rabid (physical-chemical) with lower
energy (green) method. Prepolymer of condensed Melamine-Formaldehyde resin, was
solidified by heat effect gradually and surrounds the Paraffin wax as microcapsules. The
diameter of the prepared capsules was about (170-220) micron which has a proportion with
the prepolymer temperature, otherwise the thermal analysis appears as a best value of
enthalpy (ΔH) which was (12 J/gm) when the prepolymer temperature was (60˚C)

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Publication Date
Sun Dec 30 2001
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Isolation Behavior of Metal Modified Novolac Resin
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Publication Date
Sun Apr 29 2018
Journal Name
Iraqi Journal Of Science
Modified Artificial immune system as Feature Selection
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Feature selection algorithms play a big role in machine learning applications. There are several feature selection strategies based on metaheuristic algorithms. In this paper a feature selection strategy based on Modified Artificial Immune System (MAIS) has been proposed. The proposed algorithm exploits the advantages of Artificial Immune System AIS to increase the performance and randomization of features. The experimental results based on NSL-KDD dataset, have showed increasing in performance of accuracy compared with other feature selection algorithms (best first search, correlation and information gain).

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Publication Date
Sun Nov 01 2020
Journal Name
Journal Of Physics: Conference Series
Green Chemistry Synthesis of Modified Silver Nanoparticles
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Abstract<p>The important aspect of this unconventional approach is that eco-friendly, commercially available and straight forward method was used to prepared Silver Nanoparticles by using AgNO3 and curcumin solution as agent factor. The (TEM), (XRD), and (FTIR) was used to characterise these silver nanoparticles (AgNPs). Two types of bacterial isolates were used to indicate the antibacterial activity silver nanoparticles which prepared by curcumin solution, Gram negative like (Escherichia Coli E. Coli), & Gram positive (Stapha Urous). The results exhibit that silver nanoparticles synthesized by curcumin solution has effective antibacterial activities.</p>
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Publication Date
Mon Feb 01 2016
Journal Name
Journal Of Engineering
Fatigue Behavior of Modified Asphalt Concrete Pavement
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Fatigue cracking is the most common distress in road pavement. It is mainly due to the increase in the number of load repetition of vehicles, particularly those with high axle loads, and to the environmental conditions. In this study, four-point bending beam fatigue testing has been used for control and modified mixture under various micro strain levels of (250 μƐ, 400 μƐ, and 750 μƐ) and 5HZ. The main objective of the study is to provide a comparative evaluation of pavement resistance to the phenomenon of fatigue cracking between modified asphalt concrete and conventional asphalt concrete mixes (under the influence of three percentage of Silica fumes 1%, 2%, 3% by the weight of asphalt content), and (chan

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Publication Date
Tue May 30 2023
Journal Name
Iraqi Journal Of Science
Properties and Application of the Suggested Exponentiated Lomax Distribution Family
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     The Exponentiated Lomax Distribution is considered one of the most commonly used continuous distribution which has a major role in analysing and modelling life time data. Therefore, A family was formed for the Exponential Lomax Distribution by introducing two new distributions as special case of the Exponentiated Lomax Distribution: (Modified Exponentiated Lomax Distribution (MELD) and Restricted Exponentiated Lomax Distribution (RELD. Furthermore, to assess the usefulness and flexibility, the two distributions were applied upon simulation study besides real application with real data set. The simulation results clearly shown the flexible performance of the maximum likelihood estimators for the parameter. Also, the real applicat

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Publication Date
Mon Jun 30 2014
Journal Name
Al-kindy College Medical Journal
Effectiveness and safety of non-fixation method in cochlear implantation
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ABSTRACTBackground: cochlear implants are electronic devices that convert sound energy into electrical signals to stimulate ganglion cells and cochlear nerve fibers. These devices are indicated for patients with severe to profound sensorineural hearing losses who receive little or no benefit from hearing aids. The implant basically takes over the function of the cochlear hair cells. The implant consists of external components (microphone, speech processor and transmitting coil) and internal components (receiver stimulator and electrode array). The implant is inserted via a trans mastoid facial recess approach to the round window and scala tympani.Objectives: to determine the effectiveness and safety of non fixation method in cochlear imp

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Publication Date
Tue Jul 01 2008
Journal Name
Journal Of Educational And Psychological Researches
Synthesis of 1,3 – Diazepine -4-7 diones Analogue to valium which is used for the control of anxiety, tension states and an antidepressant
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Oxazepine [1] is non – nomologous seven –member ring  that contain two netroatoms (oxygen and nitrogen ). Meanwhile diazepine [2] contains to nitrogen atoms in seven – member  ring.

       
     
   
 

 

 

 

 

 

 

Diazepam (valium) [3] is used to relive anxiety tension associated with anxiety disorder and muscle spasms (1, 2, 3

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