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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
Tue Jun 17 2025
Journal Name
Journal Of Baghdad College Of Dentistry
Sonographic evaluation of masseter muscle thickness in bruxist and non-bruxist subjects
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Background: Masseter muscle is a jaw closing muscle of the mandible involved in Para functional habits; which include lip and cheek chewing, fingernail biting, and teeth clenching or bruxism which can be classified as awake or sleep bruxism. Patients with sleep bruxism are three to four times more likely to experience jaw pain and limitation of movement than people who do not experience sleep bruxism. The aim of this study is to measure the thickness of the masseter muscle in bruxist subjects and compare it with non-bruxist subjects by using sonography. Materials and Method: Forty Iraqi subjects with age ranged (20-40) divided into two groups according to the presence of bruxism. Clinical examination was made and masseter muscle thickness

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Publication Date
Mon Dec 16 2024
Journal Name
International Journal Of Computing And Digital Systems
Digital Intelligence for University Students Using Artificial Intelligence Techniques
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The research problem arose from the researchers’ sense of the importance of Digital Intelligence (DI), as it is a basic requirement to help students engage in the digital world and be disciplined in using technology and digital techniques, as students’ ideas are sufficiently susceptible to influence at this stage in light of modern technology. The research aims to determine the level of DI among university students using Artificial Intelligence (AI) techniques. To verify this, the researchers built a measure of DI. The measure in its final form consisted of (24) items distributed among (8) main skills, and the validity and reliability of the tool were confirmed. It was applied to a sample of 139 male and female students who were chosen

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Publication Date
Sun Oct 15 2023
Journal Name
Journal Of Yarmouk
Artificial Intelligence Techniques for Colon Cancer Detection: A Review
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Publication Date
Wed Jan 01 2025
Journal Name
International Journal Of Computing And Digital Systems
Digital Intelligence for University Students Using Artificial Intelligence Techniques
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Publication Date
Thu Oct 20 2022
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Iterative Method for Solving a Nonlinear Fourth Order Integro-Differential Equation
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This study presents the execution of an iterative technique suggested by Temimi and Ansari (TA) method to approximate solutions to a boundary value problem of a 4th-order nonlinear integro-differential equation (4th-ONIDE) of the type Kirchhoff which appears in the study of transverse vibration of hinged shafts. This problem is difficult to solve because there is a non-linear term under the integral sign, however, a number of authors have suggested iterative methods for solving this type of equation. The solution is obtained as a series that merges with the exact solution. Two examples are solved by TA method, the results showed that the proposed technique was effective, accurate, and reliable. Also, for greater reliability, the approxim

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Publication Date
Tue Sep 08 2020
Journal Name
Baghdad Science Journal
Matrix Form of Deriving High Order Schemes for the First Derivative
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For many problems in Physics and Computational Fluid Dynamics (CFD), providing an accurate approximation of derivatives is a challenging task. This paper presents a class of high order numerical schemes for approximating the first derivative. These approximations are derived based on solving a special system of equations with some unknown coefficients. The construction method provides numerous types of schemes with different orders of accuracy. The accuracy of each scheme is analyzed by using Fourier analysis, which illustrates the dispersion and dissipation of the scheme. The polynomial technique is used to verify the order of accuracy of the proposed schemes by obtaining the error terms. Dispersion and dissipation errors are calculated

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Publication Date
Sat Jan 01 2022
Journal Name
Proceeding Of The 1st International Conference On Advanced Research In Pure And Applied Science (icarpas2021): Third Annual Conference Of Al-muthanna University/college Of Science
Efficient approach for solving high order (2+1)D-differential equation
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Publication Date
Mon May 20 2019
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Application of Iterative Method for Solving Higher Order Integro-Differential Equations
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The main aim of this paper is to apply a new technique suggested by Temimi and Ansari namely (TAM) for solving higher order Integro-Differential Equations. These equations are commonly hard to handle analytically so it is request numerical methods to get an efficient approximate solution. Series solutions of the problem under consideration are presented by means of the Iterative Method (IM). The numerical results show that the method is effective, accurate and easy to implement rapidly convergent series to the exact solution with minimum amount of computation. The MATLAB is used as a software for the calculations.           

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Publication Date
Sun Sep 01 2024
Journal Name
Partial Differential Equations In Applied Mathematics
Perturbation iteration transform method for solving fractional order integro-differential equation
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Publication Date
Tue Mar 26 2024
Journal Name
World Electric Vehicle Journal
Fast Finite-Time Composite Controller for Vehicle Steer-by-Wire Systems with Communication Delays
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The modern steer-by-wire (SBW) systems represent a revolutionary departure from traditional automotive designs, replacing mechanical linkages with electronic control mechanisms. However, the integration of such cutting-edge technologies is not without its challenges, and one critical aspect that demands thorough consideration is the presence of nonlinear dynamics and communication network time delays. Therefore, to handle the tracking error caused by the challenge of time delays and to overcome the parameter uncertainties and external perturbations, a robust fast finite-time composite controller (FFTCC) is proposed for improving the performance and safety of the SBW systems in the present article. By lumping the uncertainties, parameter var

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