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Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle
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In this paper, first and second order sliding mode controllers are designed for a single link robotic arm actuated by two Pneumatic Artificial Muscles (PAMs). A new mathematical model for the arm has been developed based on the model of large scale pneumatic muscle actuator model. Uncertainty in parameters has been presented and tested for the two controllers. The simulation results of the second-order sliding mode controller proves to have a low tracking error and chattering effect as compared to the first order one. The verification has been done by using MATLAB and Simulink software.

 

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Publication Date
Thu Jul 20 2023
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Score for the group 𝓢𝓛(2,38)
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Publication Date
Thu Mar 01 2007
Journal Name
Journal Of Economics And Administrative Sciences
Wavelet Analysis For Sunspot Time Series
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Abstract

In this research we study the wavelet characteristics for the important time series known as Sunspot, on the aim of verifying the periodogram that other researchers had reached by the spectral transform, and noticing the variation in the period length on one side and the shifting on another.

A continuous wavelet analysis is done for this series and the periodogram in it is marked primarily. for more accuracy, the series is partitioned to its the approximate and the details components to five levels, filtering these components by using fixed threshold on one time and independent threshold on another, finding the noise series which represents the difference between

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Publication Date
Sun Apr 01 2012
Journal Name
Journal Of Educational And Psychological Researches
Perceived Self-efficacy for university students
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Research was: 1- known as self-efficacy when students perceived the university. 2- know the significance of statistical differences in perceived self-efficacy according to gender and specialty. Formed the research sample of (300) students were chosen from the original research community by way of random (150) male specialization and scientific and humanitarian (150) females specialized scientific and humanitarian. The search tool to prepare the yard tool to measure perceived self-efficacy based on measurements and previous literature on the subject of perceived self-efficacy. The researcher using a number of means, statistical, including test Altaúa and analysis of variance of bilateral and results showed the enjoyment of the research s

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Publication Date
Thu Dec 01 2011
Journal Name
Iraqi Journal Of Physics
Multilayer Perceptron for analyzing satellite data
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Different ANN architectures of MLP have been trained by BP and used to analyze Landsat TM images. Two different approaches have been applied for training: an ordinary approach (for one hidden layer M-H1-L & two hidden layers M-H1-H2-L) and one-against-all strategy (for one hidden layer (M-H1-1)xL, & two hidden layers (M-H1-H2-1)xL). Classification accuracy up to 90% has been achieved using one-against-all strategy with two hidden layers architecture. The performance of one-against-all approach is slightly better than the ordinary approach

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Publication Date
Fri Jan 01 2016
Journal Name
International Journal Of Chemical Engineering
Microbubble Distillation for Ethanol-Water Separation
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In the current study, a novel approach for separating ethanol-water mixture by microbubble distillation technology was investigated. Traditional distillation processes require large amounts of energy to raise the liquid to its boiling point to effect removal of volatile components. The concept of microbubble distillation by comparison is to heat the gas phase rather than the liquid phase to achieve separation. The removal of ethanol from the thermally sensitive fermentation broths was taken as a case of study. Consequently the results were then compared with those which could be obtained under equilibrium conditions expected in an “ideal” distillation unit. Microbubble distillation has achieved vapour compositions higher than th

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Publication Date
Fri Jul 21 2023
Journal Name
Journal Of Engineering
Spectral Technique for Baud Time Estimation
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A new approach for baud time (or baud rate) estimation of a random binary signal is presented. This approach utilizes the spectrum of the signal after nonlinear processing in a way that the estimation error can be reduced by simply increasing the number of the processed samples instead of increasing the sampling rate. The spectrum of the new signal is shown to give an accurate estimate about the baud time when there is no apriory information or any restricting preassumptions. The performance of the estimator for random binary square waves perturbed by white Gaussian noise and ISI is evaluated and compared with that of the conventional estimator of the zero crossing detector.

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Publication Date
Sun Mar 01 2020
Journal Name
Iop Conference Series: Materials Science And Engineering
Gliding arc discharge for water treatment
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Abstract<p>The significant shortage of usable water resources necessitated the creation of safe and non-polluting ways to sterilize water and rehabilitate it for use. The aim of the present study was to examine the ability of using a gliding arc discharge to inactivate bacteria in water. Three types of Bacteria satisfactory were used to pollute water which are Escherichia coli (Gram-negative), Staphylococcus aurous (Gram-positive) and salmonella (Gram-negative). A DC power supply 12V at 100 Hz frequency was employed to produce plasma. pH of water is measured gradually during the plasma treatment process. Contaminated water treated by gliding arc discharge at steadying the gas flow rate (1.5 l/mi</p> ... Show More
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Publication Date
Fri Mar 20 2020
Journal Name
Journal Of Xi'an University Of Architecture & Technology
Academic Laboratory Skills For Chemistry Students at the College of Education For Pure Sciences -Ibn Al Haitham
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The current research aims to find out the extent to which students of the Faculty of Education for Pure Sciences\/Ibn al-Haitham have owned laboratory academic skills, the researcher adopted a descriptive research approach to conform to the goal of the research, the research sample the consisted of 140 students from the Department of Chemistry Phase II, The research tool, which consisted of a measure of laboratory academic skills, which consisted of seven skills and consisted of 28 paragraphs (four paragraphs per field), was prepared and the pent-up scale was chosen because the selected sample were university students, and the results showed the ownership of students' skills of laboratory academic skills other than skill The use of the libr

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Publication Date
Tue Apr 14 2015
Journal Name
Journal Of Physical Education
Analyze study for basic shooting kind in basketball and it relation with teams rank for youth players
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The levels of shooting in basketball not very good appears un healthy phenomenon for age stages especially youth players on Iraq and therefore there is lower level in skills especially shooting that seems the players represent their players not good levels which cause difficult in choosing players for youth national team. The research sample were youth teams in Baghdad for season 2012-2013 their birth 1996 and the number teams (7) and after getting results and treat it statically the important ones were : there is a large number of failure attempts on success ones in basic shooting in basketball for youth teams in Baghdad teams (2012-2013) season and basic shooting have effective participation (positive relation) in youth teams ranking in B

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Publication Date
Tue Dec 22 2020
Journal Name
Collaboration And Integration In Construction, Engineering, Management And Technology
A Hybrid Conceptual Model for BIM Adoption in Facilities Management: A Descriptive Analysis for the Collected Data
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