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.
The fingerprints are the more utilized biometric feature for person identification and verification. The fingerprint is easy to understand compare to another existing biometric type such as voice, face. It is capable to create a very high recognition rate for human recognition. In this paper the geometric rotation transform is applied on fingerprint image to obtain a new level of features to represent the finger characteristics and to use for personal identification; the local features are used for their ability to reflect the statistical behavior of fingerprint variation at fingerprint image. The proposed fingerprint system contains three main stages, they are: (i) preprocessing, (ii) feature extraction, and (iii) matching. The preprocessi
... Show More The study was performed to isolate and identify the Myxococcus
xanthus from (50) samples of grave soils .Special growth conditions had been used to support the growth of M.
xanthus and to suppressed the growth of other microorganisms like (Drying , High concentration of antibiotics and specific growth media)
M. . xanthus isolates had been subjected to the morphological, cultural and biochemical examinations for identification . Results obtaind could be summarized as follows : 1. Myxobacteria were found as normal flora inhabitants of the arid soils. 2. Ten local isplates of M. xanthus out of (50) soil samples were isolated
Enterococci are usually encountered and predominate in oral infections, especially those associated with dental root canal infections of necrotic pulp and periodontitis. This study aimed to detect and identify Enterococcus faecium isolated from infected root canals, using polymerase chain reaction ( PCR). Thirty samples were collected from patients with necrotic pulp, infected root canals, and endodontic treatment failure, attending the Conservative Treatment Department, College of Dentistry, Mosul University, Dental Teaching Hospital. The samples were obtained by inserting sterile paper points into the root canals and transferred in brain heart infusion broth vials to be inoculated in a selective M-Enterococcus Agar Base . T
... Show MoreTwenty purified isolates were obtained by using different soil sources, only twelve isolates belonging to Aspergillus genera depending on cultural and morphological characterization. The isolates were used as alkaline protease producer. The highest proteolytic, enzymatic activity (95.83U/ml) was obtained from
Azadirachtin is a naturally occurring substance that belongs to an organic molecule class which is called tetranortriterpenoids. It is on of the most powerful plant derived insecticides known, its structure is similar to insect hormones called ecdysoncs (Molting Hormone), which control the process of metamorphosis. Azadirachtin has been isolated from fruits of Melia azedarach L. The structure of this compound was determined by spectral studies (IR spectra and GC Mass spectra) and denitrified by then layer chromotochraphy (TLC).
The durability of asphalt pavement is associated with the properties and performance of the binder. This work-study intended to understand the impact of blending Styrene-Butadiene-Styrene (SBS) to conventional asphalt concrete mixtures and calculating the Optimum Asphalt Content (OAC) for conventional mixture also; compare the performance between SBS modified with the conventional mixture. Two different kinds of asphalt penetration grades, A.C. (40-50) and A.C. (60-70), were improved with 2.5 and 3.5% SBS polymer, respectively. Marshall properties were determined in this work. Optimum Asphalt Content (OAC) was 4.93 and 5.1% by weight of mixture for A.C. (40-50) and (60-70), respectively. Marshall properties results show an increasem
... Show MoreTo enhance interfacial bonding between carbon fibers and epoxy matrix, the carbon fibers have been modified with multiwall carbon nanotubes (MWCNTs) using the dip- coating technique. FT-IR spectrum of the MWCNTs shows a peak at 1640 cm−1 corresponding to the stretching mode of the C=C double bond which forms the framework of the carbon nanotube sidewall. The broad peak at 3430 cm−1 is due to O–H stretching vibration of hydroxyl groups and the peak at 1712 cm−1 corresponds to the carboxylic (C=O) group attached to the carbon fiber. The peaks at 2927 cm−1 and 2862 cm−1 ar
Investigating gender differences based on emotional changes becomes essential to understand various human behaviors in our daily life. Ten students from the University of Vienna have been recruited by recording the electroencephalogram (EEG) dataset while watching four short emotional video clips (anger, happiness, sadness, and neutral) of audiovisual stimuli. In this study, conventional filter and wavelet (WT) denoising techniques were applied as a preprocessing stage and Hurst exponent
The main purpose of the research is to demonstrate the importance of the insurance sector in the economy through its role in providing security for all economic sectors and thus stimulating the gross domestic product and reducing dependence on the output of the oil sector, which may expose the Iraqi economy to several problems and imbalances, I have found that there is a great weakness in the role of the insurance sector in Iraq at the level of government, companies and individuals, and the reason for this is the lack of policies supporting the insurance sector and the lack of work in the strategy of economic diversity and the decrease of security awareness by individuals so became Developing the sector to ensure the urgent need
... Show MoreThis research tests the relationship linkage and effect between the Employees Empowerment Strategy and Organizational Innovation, The research problem is how to understand the Employees Empowerment Strategy role in the achievement Organizational Innovation in Diyala Public Company For Electrical Industrial. A questionnaire was used in data collection depending on the distribution of (32) forms to the research sample. Data were analyzed Using (SPSS)program. Using a number of statistical tools for tests the research hypothesis. The research found set of conclusions, one of the most important thinks was, that there is a linkage and impact relation between Employees Empowerment Strategy, its variables, and Organizational Innovation a
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