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
Mon Feb 01 2016
Journal Name
Journal Of Economics And Administrative Sciences
Measuring and analyzing the demand function for agricultural imports in Iraq for the period (1980-2012) in Autoregressive Distributed Lag Model(ARDL)
...Show More Authors

Abstract:

The issues related to foreign trade is a broad field for discussions and captures the interest of economists for their contribution to the process of economic development in the economies of the countries, especially developing ones. The imports of goods and services in foreign trade constitute an important part of the local by which the economy gets goods and services that the economy cannot produce because of the incompetent base of production. Further, the demand function of imports occupied a good deal of the attention of researchers in the field of international economics for which agricultural imports constitute an important part. The reason for the interest in the subject is due to its im

... Show More
View Publication Preview PDF
Crossref
Publication Date
Thu Feb 06 2025
Journal Name
Modern Sport
Impact style of the changeable resistance in the development some of physical & functional changes for the National team for the badminton
...Show More Authors

View Publication Preview PDF
Publication Date
Sat Feb 02 2019
Journal Name
Journal Of The College Of Education For Women
M.M. SJLA’A FA’AQ HASHAM College of Education for women - Baghdad University: M.M. SJLA’A FA’AQ HASHAM College of Education for women - Baghdad University
...Show More Authors

Abstract:
The problem of the research is that the person face in the starting of his
profession life is to go to the right profession that he or she fits in when the
person enter the works sea many problems appear to him on of them is his
non-accordance with his job ,the research targeted to know the levels of the
accordance of the kindergarten teachers and the relation between the
profession accordance and other like the kind of level and the time of service
and the research worked with (150) kindergarten teachers from the
introductory class and (150) kindergarten teachers from the kindergarten class
for the study year 2008-2009 .
The research been made a measure to get the goal of the research after
the

... Show More
View Publication Preview PDF
Publication Date
Sat Feb 26 2022
Journal Name
Iraqi Journal Of Science
New Class of Rank 1 Update for Solving Unconstrained Optimization Problem: New Class of Rank 1 Update for solving Unconstrained Optimization Problem
...Show More Authors

     The focus of this article is to add a new class of rank one of  modified Quasi-Newton techniques to solve the problem of unconstrained optimization by updating the inverse Hessian matrix with an update of rank 1, where a diagonal matrix is the first component of the next inverse Hessian approximation, The inverse Hessian matrix is  generated by the method proposed which is symmetric and it satisfies the condition of modified quasi-Newton, so the global convergence is retained. In addition, it is positive definite that  guarantees the existence of the minimizer at every iteration of the objective function. We use  the program MATLAB to solve an algorithm function to introduce the feasibility of

... Show More
View Publication Preview PDF
Scopus (4)
Crossref (1)
Scopus Crossref
Publication Date
Sat Jun 18 2022
Journal Name
Sciencescholar Publication
Logical reasoning skills according to Piaget's model for chemistry students in the college of education for pure sciences Ibn al-Haytham in
...Show More Authors

Abstract---The aim of the current research is to identify the level of logical reasoning skills in chemistry students at the Faculty of Education for Pure Sciences/ Ibn Al-Haytham for the academic year (2021-2022). The differences in their level of skills according to the gender variable (males and females) and the academic stages (first- second - third - fourth). The descriptive approach was adopted because it corresponds to the nature of the research objectives. The research sample consisted of (400 )students selected in a relatively random stratified way. The researcher constructed a logical reasoning test, which includes (6) sub-skills , which is (proportional - probabilistic- synthetic- deductive- logic- variable adjustment). The psych

... Show More
Preview PDF
Publication Date
Thu Dec 31 2020
Journal Name
College Of Islamic Sciences
The Epistemological The Epistemological Foundations for Comparison of Religions by al-Amiri: The Epistemological Foundations for Comparison of Religions by al-Amiri
...Show More Authors

 

 Research topic: (The Epistemological Foundations for Comparison of Religions by al-Amiri)

The research sought to study the topic with: a descriptive methodology by investigating the components of al-Amiri's approach to the interfaith comparison. And analytical, by showing the applied perception of an objective model in the comparison of religions to answer two questions: What are the cognitive foundations of al-Amiri? And what is his approach to establishing an objective comparison between religions?

The research started by introducing Abu al-Hassan al-Amiri, and then presented four topics: An introduction to al-Amiri's efforts in the interfaith comparison, his knowledge foundations, an applied model

... Show More
View Publication Preview PDF
Publication Date
Sat Feb 02 2019
Journal Name
Journal Of The College Of Education For Women
The principals and techniques of geography text book for fourth secondary: The principals and techniques of geography text book for fourth secondary
...Show More Authors

Abstract
The curriculum is the major effective tool in achieving the goals of
education and society.

Many countries that want to reach the forefront of developed countries
through their curriculum have realized this fact. School text book, the
application assessment for knowing the rang of success or fail of this text
book in achieving the general aims. therefore this study aims at assessing the
principals and techniques of geography text book for fourth secondary class of
literary studying from the teachers point of view according to the fields of the
book, style of material, technical arrangement of the material, ethnical
arrangement the language of the book, style of the material, technical
arrang

... Show More
View Publication Preview PDF
Publication Date
Thu Dec 01 2022
Journal Name
Environmental Nanotechnology Monitoring & Management
Green approach for the synthesis of graphene glass hybrid as a reactive barrier for remediation of groundwater contaminated with lead and tetracycline
...Show More Authors

Scopus (15)
Crossref (1)
Scopus Crossref
Publication Date
Wed Oct 01 2008
Journal Name
Journal Of Engineering
WATER QUALITY INDICES FOR TIGRIS RIVER IN BAGHDAD CITY
...Show More Authors

Due to the deterioration of water quality within the last few years because of the increase of water consumption and the waste water production and disposal into the river The water quality in both surface and ground water resources was negatively affected .The concept of water quality index is used as a tool for water quality classification in Tigris River within Baghdad City .Twenty two parameters of pollution were selected to measure the water quality indices of Tigris river within Baghdad city .Those parameters were measured during (2000-2004)as average monthly values ,three water treatment plants were selected out of the eight water treatment plants that exist along the river.Al Kharkh water treatment plant to reflect the water quality

... Show More
View Publication
Publication Date
Thu Feb 06 2025
Journal Name
Journal Of Engineering
Computational Method for Unsteady Motion of Two-Dimensional Airfoil
...Show More Authors

A numerical method is developed for calculation of the wake geometry and aerodynamic forces on two-dimensional airfoil under going an arbitrary unsteady motion in an inviscid incompressible flow (panel method). The method is applied to sudden change in airfoil incidence angle and airfoil oscillations at high reduced frequency. The effect of non-linear wake on the unsteady aerodynamic properties and oscillatory amplitude on wake rollup and aerodynamic forces has been studied. The results of the present method shows good accuracy as compared with flat plate and for unsteady motion with heaving and pitching oscillation the present method also shows good trend with the experimental results taken from published data. The method shows good result

... Show More
View Publication