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joe-2996
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
Wed Sep 30 2020
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Activity- Based Costing technology and its role in Cost Guidance: An Applied Study at the General Company for Textile and Leather Industries - Leather plant - Factory No. (7)
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Iraqi industrial units face strong competition due to many problems including1- high production costs2- weak interest in studying the market3- lack of government support for their products4- dumping the market with imported products with specifications and a competitive price as well as adopting the traditional cost system in calculating costs that do not provide appropriate information for pricing decisions Which requires studying and analyzing these problems and dealing with them by adopting modern technologies so that they can compete, so the research aims to show the knowledge bases of technology Activity- Based Costing, with an indication of the role of technology Activity- Based Costing in rationalizing the tax In, and the

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Publication Date
Tue Mar 01 2016
Journal Name
Oriental Journal Of Chemistry
Synthesis and antioxidant ability of new 5-amino-1, 2, 4-triazole derivatives containing 2, 6-dimethoxyphenol
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4-amino-3-(4-(((4-hydroxy-3, 5dimethoxybenzyl) oxy) methyl) phenyl)-1, 2, 4-triazole-5-thione was synthesized by to method the first one from melt reaction of 4-(((4-hydroxy-3, 5-dimethoxybenzyl) oxy) methyl) benzoic acid with Thiocarbonyldihydrazide, the second method from convert the corresponded acid hydrazide to potassium 2-(4-(((4-hydroxy-3, 5-dimethoxybenzyl) oxy) methyl) benzoyl) hydrazinecarbodithioate salt then react with hydrazine hydrate. Newly Schiff base (7a-7f) were synthesized from reaction the 4-amino-1, 2, 4-triazol with substituted hydroxybenzaldehyde. The resulting compounds were characterized by IR, 1H-NMR, 13C-NMR, and HRMS data. 2, 2-Diphenyl-1-picrylhydrazide (DPPH) and ferric reducing antioxidant power (FRAP) assays

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Publication Date
Sun Jul 01 2018
Journal Name
Journal Of Global Pharma Technology
Synthesis of New 2, 4, 5-triphenyl imidazole Derivatives Derived from benzoin and Studying their Biological Activity
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compound [1] was formed from the reaction of benzoin and benzaldehyde in the presence of ammonia, which was reacted with sodium hydride in DMF to obtain imidazole salt. This salt was reacted with adipoyl chloride to give compound [2]. Acid hydrazide derivative [3] was obtained from the reaction of compound [2] with hydrazine hydrate. After that Shiff bases [4-9] have been synthesized from the reaction of compound [3] with different aromatic aldehydes. These new formed compounds were diagnosed by 13C-NMR, 1H-NMR for some of them (in Ahl-Albate University in Jordan) and FT-IR spectroscopy (In Baghdad University). All of the prepared products have been studied their biological activities toward two kinds of bacteria. These products show

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Publication Date
Mon Feb 20 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Synthesis and Characterization of Transition Metals Ions Complexes with 2-Thioxoimidazolidin-4-One Schiff Base as Ligand
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Mn(II), Co(II), Ni(II), Cu(II), and Cr(III) metal complexes with the ligand (L) [3-(2nitro benzylidene) amino-2-thioxoimidazolidin-4-one] have been prepared and characterized in their solid state using the elemental micro analysis (C.H.N.S), flame atomic absorption, UV-Vis spectroscopy, FT-IR, magnetic susceptibility measurements, and electrical molar conductivity. The ratio of metal to ligand [M:L] was got for all complexes in the ethanol by using the molar ratio method, which produced comparable results with those results obtained for the solid complexes. From the data of all techniques, octahedral geometry was proposed for Cr(III), Mn(II), and Co(II) complexes, while tetrahedral structure was proposed for Ni(II), Cu(II) complexes.

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Publication Date
Fri Nov 24 2023
Journal Name
Iraqi Journal Of Science
Synthesis, Characterization and Evaluation Antimicrobial Activity of Some New substituted 2-Mercapto-3-Phenyl-4(3H)-Quinazolinone
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This work includes synthesis of new heterocyclic derivatives of 2-mercpto-3-phenyl-4(3H)-quinazolinone bearing 1, 2, 4-triazole and acetylenic amines moieties by using two ways. The first way includes reaction of 2-mercpto-3-phenyl-4(3H)-quinazolinone (1) with ethyl-2-bromopropanoate in methanol as solvent to gives ester derivative (2). Then, compound (2) was converted to (hydrazide, simecarbazid, phenylsimecarbazide and thiosimecarbazide) derivatives through its reactions with (hydrazine hydrate, simecarbazid, phenylsimecarbazide and thiosimecarbazide) respectively to give compounds (3-6). Finally, the cyclization of compounds (4-6) in alkaline media (4N-NaOH) gave the corresponding substituted triazole derivatives (7-9) respectively. W

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Publication Date
Wed Dec 30 2015
Journal Name
College Of Islamic Sciences
Constants of blood money in the Koran   And its variables in the custom prevailing in Iraq
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Praise be to Allah, the Lord of the Worlds.
          Because it has a prominent role in the life of the Muslim person in particular, and in the stability, security, and safety of society in general, I found it appropriate to participate even a little in solving some of the problems that arise in the nation, and that Adello Badawi in this important issue that concerns everyone without exception And that I show that there are constants in the Koran, from which the scholars of the Ummah derived their evidence on this subject, and that there have been variables have occurred in some Islamic societies, in the issue of blood money that deserves the victim and his family, has allocated talk

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Publication Date
Sun Feb 23 2025
Journal Name
Iraqi Journal Of Humanitarian, Social And Scientific Research
The effect of special exercises with training tools in teaching the skill of circular sloping on the parallel apparatus in men's artistic gymnastics
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Publication Date
Sat Jul 31 2021
Journal Name
Iraqi Journal Of Science
Enhancement of Spectrum Sensing Performance via Cooperative Cognitive Radio ‎Networks at Low SNR
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     The inefficient use of spectrum is the key subject to overcome the upcoming spectrum crunch issue. This paper presents a study of performance of cooperative cognitive network via hard combining of decision fusion schemes. Simulation results presented different cooperative hard decision fusion schemes for cognitive network. The hard-decision fusion schemes provided different discriminations for detection levels. They also produced small values of Miss-Detection Probability at different values of Probability of False Alarm and adaptive threshold levels. The sensing performance was investigated under the influence of channel condition for proper operating conditions. An increase in the detection performance was achi

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Publication Date
Fri Dec 01 2017
Journal Name
Journal Of Economics And Administrative Sciences
Comparing the Sequential Nonlinear least squared Method and Sequential robust M method to estimate the parameters of Two Dimensional sinusoidal signal model:
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Estimation of the unknown parameters in 2-D sinusoidal signal model can be considered as important and difficult problem. Due to the difficulty to find estimate of all the parameters of this type of models at the same time, we propose sequential non-liner least squares method and sequential robust  M method after their development through the use of sequential  approach in the estimate suggested by Prasad et al to estimate unknown frequencies and amplitudes for the 2-D sinusoidal compounds but depending on Downhill Simplex Algorithm in solving non-linear equations for the purpose of obtaining non-linear parameters estimation which represents frequencies and then use of least squares formula to estimate

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Publication Date
Thu Mar 21 2019
Journal Name
J. Eng. Appl. Sci
Developing an Arabic handwritten recognition system by means of artificial neural network
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The matter of handwritten text recognition is as yet a major challenge to mainstream researchers. A few ways deal with this challenge have been endeavored in the most recent years, for the most part concentrating on the English pre-printed or handwritten characters space. Consequently, the need to effort a research concerning to Arabic texts handwritten recognition. The Arabic handwriting presents unique technical difficulties because it is cursive, right to left in writing and the letters convert its shapes and structures when it is putted at initial, middle, isolation or at the end of words. In this study, the Arabic text recognition is developed and designed to recognize image of Arabic text/characters. The proposed model gets a single l

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