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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
Sat Nov 12 2016
Journal Name
International Journal Of Mechanical Engineering And Technology (ijmet)
PERFORMANCE OF TWO-WAY NESTING TECHNIQUES FOR SHALLOW WATER MODELS
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A new two-way nesting technique is presented for a multiple nested-grid ocean modelling system. The new technique uses explicit center finite difference and leapfrog schemes to exchange information between the different subcomponents of the nested-grid system. The performance of the different nesting techniques is compared, using two independent nested-grid modelling systems. In this paper, a new nesting algorithm is described and some preliminary results are demonstrated. The validity of the nesting method is shown in some problems for the depth averaged of 2D linear shallow water equation.

Publication Date
Sun Sep 07 2014
Journal Name
Baghdad Science Journal
A New Operational Matrix of Derivative for Orthonormal Bernstein Polynomial's
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Publication Date
Sun Dec 19 2021
Journal Name
Iraqi Journal Of Science
Geological Modeling for Yamama Formation in Abu Amood Oil Field
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3D geological model of a simple petroleum reservoir for Yamama Formation has
been built in Abu Amood Oil Field using Petrel software, which is a product of
Schlumberger. This model contains the structure, stratigraphy and reservoir
properties (porosity and water saturation) in three directions(X, Y and Z).Geologic
modeling is an applied science of creating computerized representations of portions
of the earth's crust, especially oil and gas fields.
Yamama Formation in Abu Amood Oil Field is divided into thirteen zones by
using well logs and their petrophysical properties, six of which are reservoir zones.
From the top of the formation these six zones are: (YB-1, YB-2, YB-3, YC-1, YC-2
and YC-3). These reservoir

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Publication Date
Wed May 01 2019
Journal Name
Iraqi Journal Of Science
Fabrication and Study of Nano catalysis for Alkaline Fuel Cell
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Publication Date
Mon Jan 01 2018
Journal Name
Indian Journal Of Pure & Applied Physics
Diferuloymethane anchored anatase TiO2 nanoparticle for dye sensitized solar cell
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Publication Date
Sun Dec 27 2020
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Banking Market & Its Effect To Fulfill Competitive Advantage For Banks
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As harmony with modernized environmental developments which were appeared within economical , banking areas with what accompanied of chances or challenges , the matter is required to face those modernizations , adaptation with them , as considering them strength points not weak points , and these developments banking marketing as it should be on the Iraqi public banks and private and hybrid to take advantage of this process to increase excellence and the expansion of the banking business opportunities, , enlarge in the banking businesses especially the banking transaction are distinguished by serious competition & strong between banks , and the final result is to serve Iraqi banking system & customers that the national economy ta

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Publication Date
Sun Dec 04 2016
Journal Name
Baghdad Science Journal
Estimating Parametersof Gumbel Distribution For Maximum Values By using Simulation
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In this research estimated the parameters of Gumbel distribution Type 1 for Maximum values through the use of two estimation methods:- Moments (MoM) and Modification Moments(MM) Method. the Simulation used for comparison between each of the estimation methods to reach the best method to estimate the parameters where the simulation was to generate random data follow Gumbel distributiondepending on three models of the real values of the parameters for different sample sizes with samples of replicate (R=500).The results of the assessment were put in tables prepared for the purpose of comparison, which made depending on the mean squares error (MSE).

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Publication Date
Thu Oct 01 2020
Journal Name
Journal Of Engineering
Electrocoagulation for Treatment of Simulated Blowdown Water Of Cooling Tower
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This study investigates the results of electrocoagulation (EC) using aluminum (Al) electrodes as anode and stainless steel (grade 316) as a cathode for removing silica, calcium, and magnesium ions from simulated cooling tower blowdown waters. The simulated water contains (50 mg/l silica, 508 mg/l calcium, and 292 mg/l magnesium). The influence of different experimental parameters, such as current density (0.5, 1, and 2 mA/cm2), initial pH(5,7, and 10), the temperature of the simulated solution(250C and 35 0C), and electrolysis time was studied. The highest removal efficiency of 80.183%, 99.21%, and 98.06% for calcium, silica, and magnesium ions, respectively, were obtained at a current de

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Publication Date
Wed Apr 25 2018
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Local Search Algorithms for Multi-criteria Single Machine Scheduling Problem
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   Real life scheduling problems require the decision maker to consider a number of criteria before arriving at any decision. In this paper, we consider the multi-criteria scheduling problem of n jobs on single machine to minimize a function of five criteria denoted by total completion times (∑), total tardiness (∑), total earliness (∑), maximum tardiness () and maximum earliness (). The single machine total tardiness problem and total earliness problem are already NP-hard, so the considered problem is strongly NP-hard.

We apply two local search algorithms (LSAs) descent method (DM) and simulated annealing method (SM) for the 1// (∑∑∑

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Publication Date
Thu May 18 2023
Journal Name
Journal Of Engineering
Evaluating the Crop Coefficient for Cherries Plants in Michigan State
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Crop coefficient for cherries was evaluated by measure the water consumption in Michigan State to find its variation with time as the plant growth. Crop coefficients value (Kc) for cherries were predicated by Michigan State University (MSU) and also by Food and Agriculture Organization (FAO) according to consume of water through the season. In this paper crop coefficients for cherries are modified accordingly to the actual measurements of soil moisture content. Actual evapotranspiration (consumptive use) were measured by the soil moisture readings using Time Domain Reflectometers (TDR), and compared with the actual potential evapotranspiration that calculated by using modified Penman-Monteith equation which depends on metrological statio

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