Preferred Language
Articles
/
joe-505
Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle
...Show More Authors

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.

 

View Publication Preview PDF
Quick Preview PDF
Publication Date
Tue Mar 10 2020
Journal Name
Journal Of Inverse And Ill-posed Problems
Direct and inverse source problems for degenerate parabolic equations
...Show More Authors
Abstract<p>Degenerate parabolic partial differential equations (PDEs) with vanishing or unbounded leading coefficient make the PDE non-uniformly parabolic, and new theories need to be developed in the context of practical applications of such rather unstudied mathematical models arising in porous media, population dynamics, financial mathematics, etc. With this new challenge in mind, this paper considers investigating newly formulated direct and inverse problems associated with non-uniform parabolic PDEs where the leading space- and time-dependent coefficient is allowed to vanish on a non-empty, but zero measure, kernel set. In the context of inverse analysis, we consider the linear but ill-pose</p> ... Show More
View Publication
Scopus (27)
Crossref (19)
Scopus Clarivate Crossref
Publication Date
Mon Oct 02 2023
Journal Name
Journal Of Interdisciplinary Mathematics
Score for the groups SL(2,121) and SL(2,169)
...Show More Authors

A factor group is a mathematical group obtained by aggregating similar elements of a larger group using an equivalence relation that preserves some of the group structure. In this paper, the factor groups K(SL(2,121)) and K(SL(2,169)) computed for each group from the character table of rational representations.

View Publication
Scopus (11)
Scopus Clarivate Crossref
Publication Date
Fri Jan 01 2021
Journal Name
Research Methods In Modern Urban Transportation Systems And Networks
Factors Affecting the Choice of Transportation for School Trips
...Show More Authors

View Publication
Scopus Crossref
Publication Date
Tue Apr 21 2020
Journal Name
University Of Thi-qar Journal Of Science (university Of Thi-qar Journal Of Science (utsci) The 4th Scientific Conference Of Science College/ University Of Thi_qari) The 4th Scientific Conference Of Science College/ University Of Thi_qar
Enhancement of Nano Catalyst for an Alkaline Fuel Cells
...Show More Authors

Preview PDF
Publication Date
Sat Nov 01 2014
Journal Name
Glob Dermatol
Podophyllin 25% as alternative effective topical therapy for keratoacanthoma
...Show More Authors

KE Sharquie, AA Noaimi, Glob Dermatol, 2014 - Cited by 6

View Publication
Publication Date
Mon Jun 01 2015
Journal Name
Journal Of Engineering
Laboratory Preparation of Simulated Sludge for Anaerobic Digestion Experimentation
...Show More Authors

Health and environmental factors as well as operational difficulties are major challenges facing the development of an anaerobic digestion process. Some of these problems relate to the use of sludge collected from primary and secondary clarifier units in wastewater treatment plants for laboratory purposes.

The present study addresses the preparation of sludge for laboratory purposes by using a mixture that consists of the digested sludge, which is less pathogenic, compared to the collected sludge from the primary or secondary clarifier, and food wastes. The sludge has been tested experimentally for 19 and 32 days under mesophilic conditions. The results show a steady methane production rate from the anaerobic dig

... Show More
View Publication Preview PDF
Publication Date
Tue Sep 01 2009
Journal Name
Al-khwarizmi Engineering Journal
Propagation Mechanisms for Surface Initiated Cracking in Composite Pavements
...Show More Authors

The primary objective of this study was to identify the mechanisms for the development and propagation of longitudinal cracks that initiate at the surface of composite pavement. In this study the finite element program ANSYS version (5.4) was used and the model worked out using this program has the ability to analyze a composite pavement structure of different layer properties. Also, the aim of this study was modeling and analyzing of the composite pavement structure with the physical presence of crack induced in concrete underlying layer. The results obtained indicates that increasing the thickness of the asphalt layer tends to decrease the stress intensity factor, which may be attributed to the rapidly decrease of horizontal tensile st

... Show More
View Publication Preview PDF
Publication Date
Sat Sep 01 2007
Journal Name
Saudi Medical Journal
Topical zinc sulphate solution for treatment of viral warts.
...Show More Authors

KE Sharquie, AA Khorsheed, AA Al-Nuaimy, Saudi Medical Journal, 2007 - Cited by 91

View Publication
Publication Date
Thu Mar 01 2018
Journal Name
Journal Of Engineering
Anaerobic Co-digestion of Giant Reed for Biogas Recovery
...Show More Authors

This study investigated the feasibility of anaerobic co-digestion of giant reed (GR) inoculated with waste manure as a co-substrate for biogas production. The performance of co-digestion was evaluated in 4 anaerobic digesters operated in batch mode at different conditions. The effects of alkali pretreatment with NaOH (4% w/v) solution, inoculum type, and thermal condition were studied. The results demonstrated that the alkali-pretreatment of GR enhanced the biogas generation by about 15% at mesophilic conditions. Thermophilic conditions enhanced the biogas recovery from both alkali-free and alkali pretreated GR by 15% and 127%, respectively. The kinetic study of the co-digestion process of GR for biogas recovery suggeste

... Show More
View Publication Preview PDF
Crossref (2)
Crossref
Publication Date
Thu Jan 31 2019
Journal Name
Journal Of The College Of Education For Women
The Quantitative Analysis for Road networks in Karbala Governorate
...Show More Authors

The road networks is considered to be one of the determinants that controls to specify the areas of human activities, which it depend on to specify the arrival cost , in addition it is useful to achieve the connectivity for interaction and human activities , and shorten the distance and time between the population and places of service. The density of the road network in any space directly affected by the density of population and the type of economic activities and administrative functions performed by the space. On this basis, the subject of this study is reflected in the quantitative analysis of the roads network in the Governorate of Karbala. The study consists the quantitative analysis for the roads network and the Urban Nodes in th

... Show More
View Publication Preview PDF