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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
Mon Sep 01 2014
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Business Process Re-engineering and its Role of Achieving Competitive Advantage: An application study in the State Company of Vegetable Oil Industry
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The business process re-engineering is one of the popular concepts at this time because its provide a radical solution for the problems that companies faces. This method appeared because the changes of competition and costumers 'desires at the two last decades. The markets become wider because of the globalization so the companies must change its way to stay a life.

        The research aim is to concentrate on the  BPR  because it's a  philosophy aims to re-organize the company's business process to achieve the competitive advantage, the research also aims to a plicate  the BPR using cost management technique  in the State Company of Vegetable Oils Industry.

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Publication Date
Wed Sep 24 2025
Journal Name
International Journal Of Environmental Analytical Chemistry
Mesoporous activated carbon from eggshell waste via H₃PO₄ chemical activation and its application in the removal of Janus Green B dye
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The main objective of this study was to evaluate the adsorption efficiency of two adsorbent materials, Iraqi chicken eggshells (ESh) and activated carbon (AC) derived from ESh powder for the removal of a cationic dye (Janus green B; JGD) from aqueous solution. Activated carbon was synthesised from ESh using a simple chemical activation method using phosphoric acid as the activating agent. The physicochemical properties of the adsorbents were characterised by the Brunauer–Emmett–Teller (BET) method, FT-IR spectroscopy, scanning electron microscopy (SEM), energy-dispersive X-ray spectroscopy (EDS), inductively coupled plasma optical emission spectroscopy (ICP-OES), and point of zero charge (pHpzc). The results of BET analysis confirmed th

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Publication Date
Wed Sep 24 2025
Journal Name
International Journal Of Environmental Analytical Chemistry
Mesoporous activated carbon from eggshell waste via H₃PO₄ chemical activation and its application in the removal of Janus Green B dye
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The main objective of this study was to evaluate the adsorptionefficiency of two adsorbent materials, Iraqi chicken eggshells (ESh)and activated carbon (AC) derived from ESh powder for theremoval of a cationic dye (Janus green B; JGD) from aqueoussolution. Activated carbon was synthesised from ESh usinga simple chemical activation method using phosphoric acid asthe activating agent. The physicochemical properties of the adsor-bents were characterised by the Brunauer–Emmett–Teller (BET)method, FT-IR spectroscopy, scanning electron microscopy(SEM), energy-dispersive X-ray spectroscopy (EDS), inductivelycoupled plasma optical emission spectroscopy (ICP-OES), andpoint of zero charge (pHpzc). The results of BET analysis confirmedthat AC has

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Publication Date
Wed Nov 21 2018
Journal Name
International Journal Of Control, Automation And Systems
Design and Stability Analysis of a Fractional Order State Feedback Controller for Trajectory Tracking of a Differential Drive Robot
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Publication Date
Thu Dec 01 2016
Journal Name
Journal Of Economics And Administrative Sciences
Integrative analysis of the value & supply chains and its impact in supporting customer value An application study in Southern Cement Company - Kufa Cement Plant
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Abstract\

The value chain analysis is main tools to achieve effective and efficient cost management; it requires a depth and comprehensive understanding for all internal and external activities associated with creating value.  Supply chain as apart of value chain, that means managing it in active and efficient can achieve great results when adopting a comprehensive and integrated performance for these two chains activities. The research aims to identify possible ways to integrate the performance of value and supply chains of the sample" Kufa-cement plant" and determine the effect of this integration in enhancing customer value. The research arrival that logical and integrated analysis of value and supply chains helps

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Publication Date
Wed May 17 2023
Journal Name
Journal Of The Australian Ceramic Society
Dielectric and scattering properties of transparent SiC composite in X-band range for radome application
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Publication Date
Tue Dec 20 2022
Journal Name
2022 International Conference On Computer And Applications (icca)
Design Mobile Application for Blood Donation System
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Publication Date
Sat Feb 02 2019
Journal Name
Journal Of The College Of Education For Women
The effect of learning program in developing some social concepts for nursery kids about ( 4 – 5 ): The effect of learning program in developing some social concepts for nursery kids about ( 4 – 5 )
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Abstact:
Nursery is one of educational institution in the process of developing the
social concepts that it includes a quirking the knowledge and experiences that
help the kid to adjust with environment through arrangement words ,
movements and concrete things which are transferred to the kids so as to
realize these concepts .
Social concepts are numbers of words and statements with social nature
which the kids learn through the family or nursery in order to effect their
educational style of independent and helping the others .
The re searcher adopted this theory because of the little studies in the
filed of social concepts in the nursery.
The aims of the study are as following :
1- building tools for

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Publication Date
Sat Dec 01 2018
Journal Name
Applied Soft Computing
A new evolutionary algorithm with locally assisted heuristic for complex detection in protein interaction networks
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Publication Date
Sun Aug 24 2014
Journal Name
Wireless Personal Communications
Multi-layer Genetic Algorithm for Maximum Disjoint Reliable Set Covers Problem in Wireless Sensor Networks
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