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Design of L1 -Adaptive Controller for Single Axis Positioning Table
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L1 adaptive controller has proven to provide fast adaptation with guaranteed transients in a large variety of systems. It is commonly used for controlling systems with uncertain time-varying unknown parameters. The effectiveness of  L1 adaptive controller for position control of single axis has been examined and compared with Model Reference Adaptive Controller (MRAC). The Linear servo motor is one of the main constituting elements of the x-y table which is mostly used in automation application. It is characterized by time-varying friction and disturbance.

    The tracking and steady state performances of both controllers have been assessed for two different types of input signals ramp and step inputs. The simulated results based on MATLAB (2012a) package showed that L1 adaptive controller could outperform MRAC in terms of robustness and tracking.  

 

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Publication Date
Mon Oct 09 2023
Journal Name
2023 Ieee 34th International Symposium On Software Reliability Engineering Workshops (issrew)
Semantics-Based, Automated Preparation of Exploratory Data Analysis for Complex Systems
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Publication Date
Wed Mar 29 2017
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Measurements of HbA1c for Patients with Diabetes Mellitus and Foot Ulceration
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People with diabetes can develop different foot problems. In the blood stream glucose reacts with hemoglobin to make a glycosylated hemoglobin molecule called hemoglobin A1c or HbA1c, the more glucose in the blood the more hemoglobin A1c will be present in the blood. The HbAlc test is currently one of the best ways to check diabetes to be under control.  The aim of study is to compare between the blood investigations which includes the fasting blood sugar and HbAlC (glycosylated hemoglobin), and to evaluate the benefit of  HbAlc (measurement for diabetic patients with foot ulcer,  to be a good indicator for controlling blood glucose). Sixty patients with type2 diabetes mellitus from the outpatient clinic of Baghdad Teachin

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Publication Date
Sat Oct 08 2016
Journal Name
Methods In Molecular Biology
Production of Adjuvant-Loaded Biodegradable Particles for Use in Cancer Vaccines
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Publication Date
Thu Dec 01 2022
Journal Name
Iraqi Journal Of Physics
Numerical Simulation for Cylindrical Electrostatic Precipitator: Effect of the Applied Voltage
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Coaxial (wire-cylinder) electrodes arrangements are widely used for electrostatic deposition of dust particles in flue gases, when a high voltage is applied to electrodes immersed in air and provide a strongly non-uniform electric field. The efficiency of electrostatic filters mainly depends on the value of the applied voltage and the distribution of the electric field. In this work, a two-dimensional computer simulation was constructed to study the effect of different applied voltages (20, 22, 25, 26, 28, 30 kV) on the inner electrode and their effect on the efficiency of the electrostatic precipitator. Finite Element Method (FEM) and COMSOL Multiphysics software were used to simulate the cross section of a wire cylinder. The results sh

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Publication Date
Sun Apr 30 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Study Reinforcing and Applied Load of Wear Rate for Epoxy Composites
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This research studies Reinforcing and applied load of  Wear Rate for Epoxy composites contains from epoxy resin (Ep) as a matrix material and reinforced by Gawain red wood flour , Russian white wood flour , glass powder and rock wool fibers , with volume fraction (20%) for all samples in lab conditions.  by using the load (10,20 ,30 ,40) Newton of iron disc for testing  time(10) minute, and the results have shown that the reinforcing of epoxy resin led to decrease  wear rate for all samples except the hybrid composites reinforced earth glass powder , that the wear rate values  decrease  from   (22×10-9g/cm) to (4×10-9g/cm) of composite material(Ep+R.W.F) and thus(Ep+W.W.F)   at la

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Publication Date
Wed Nov 02 2011
Journal Name
Journal Of Engineering
Implementation of Gypseous Soil-asphalt Stabilization Technique for Base Course Construction
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The aim of this research work is to study the effect of stabilizing gypseous soil, which covers vast areas in the middle, west and south parts of Iraq, using liquid asphalt on its strength properties to be used as a base course layer replacing the traditional materials of coarse aggregate and broken stones which are scarce at economical prices and hauling distances. Gypseous soil brought from Al-Ramadi City, west of Iraq, with gypsum content of 66.65%, medium curing cutback asphalt (MC-30), and hydrated lime are used in this study. The conducted tests on untreated and treated gypseous soil with different percentages of medium curing cutback asphalt (MC-30), water, and lime were: unconfined compression strength, and one dimensional confine

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Publication Date
Sat Jan 01 2022
Journal Name
مجلة كلية الكوت الجامعة للعلوم الإنسانية
Student - Teacher Environmental Sustainability Values College of Education for Pure Sciences
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Research objective to identify the degree of environmental sustainability values of the student-teacher in the College of Education for Pure Sciences. In this research the methodology of relational descriptive research was adopted, and the research sample consisted of (116) students from the College of Education for Pure Sciences / Ibn Al-Haytham / University of Baghdad From the Department of Chemistry (fourth stage), that is, 54% of the research community were randomly selected. The research tool was prepared, represented by a measure of environmental sustainability values of (20) items, the results of the research showed: The poor degree of environmental sustainability values. The Statistical Portfolio of Social Sciences (SPSS) was adopte

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Publication Date
Tue Aug 01 2023
Journal Name
Journal Of Materials Science: Materials In Electronics
Fabrication and characterization of CoxMn0.25−xMg0.75Fe2O4 nanoparticles for H2S sensing applications
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Publication Date
Fri Aug 20 2021
Journal Name
Iraqi Journal Of Laser
Pulsed Er,Cr:YSGG Laser For Surface Modification of Dental Zerconia Ceramic
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Background: Surface treatment of machined dental zirconia for enhancement of the adhesion to resin cement, using Er,Cr:YSGG  Laser. Materials and Methods: Total number of 42 zirconia disc specimens (9 mm diameter, and 2 mm height) was sintered according to the manufacturer instruction. They are divided into six groups, each group of seven samples. Laser groups (Experiment parameters) were depend on laser total irradiation time, pulse duration, and power. Group (A): 20 sec., 60 µs pulse duration. Group (B): 30 sec., 60 µs pulse duration. Group (C): 40 sec., 60 µs pulse duration. Group (D): 20 sec., 700 µs pulse duration. Group (E): 30 sec., 700 µs pulse duration, with different powers used (1, 1

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Publication Date
Sun Aug 06 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Study of The Dynamical Behavior For Deuterons in Dense Plasma Focus
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    The motion of fast deuterons in most dense plasma focus devices  ( DPF ) , may be characterized that it has a complex nature in its paths and this phenomena by describing a through gyrating motion with arbitrary changes in magnitude and direction .  In this research , we focused on the  understanding the theoretical concepts which  depend deeply on the experimental results to explain the deuteron motions in the pinch region , and then to use the fundamental physical formulas that are deeply related to the explanation of this motion to prepare a suitable model for calculating the vertical and radial components for deuteron velocity by improving the  Rung – Kutta  Method

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