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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 Dec 01 2018
Journal Name
Journal Of Economics And Administrative Sciences
Sustainable Accounting indicators that related with create value for the firm
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The business environment is witnessing great and rapid developments due to the economic and technological development that has caused damage to human beings, which requires the need to reduce this damage and work to protect the environment and participate in supporting the social aspects. This requires economic resources to be realized by the economic units. Economic development in preserving the environment that has caused damage and supporting the social aspects that preserve human rights, enhance their position and satisfy their needs in society. Global professional organizations, the United Nations and stakeholder representatives have been issuing the Global Reporting Initiative (GRI) to find guidelines for the preparation of

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Publication Date
Tue Mar 30 2021
Journal Name
Baghdad Science Journal
Solvability of Some Types for Multi-fractional Integro-Partial Differential Equation
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In this article, the solvability of some proposal types of the multi-fractional integro-partial differential system has been discussed in details by using the concept of abstract Cauchy problem and certain semigroup operators and some necessary and sufficient conditions. 

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Publication Date
Thu Apr 28 2022
Journal Name
Iraqi Journal Of Science
An Evolutionary Bi-clustering Algorithm for Community Mining in Complex Networks
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A network (or formally a graph) can be described by a set of nodes and a set of edges connecting these nodes. Networks model many real-world phenomena in various research domains, such as biology, engineering and sociology. Community mining is discovering the groups in a network where individuals group of membership are not explicitly given. Detecting natural divisions in such complex networks is proved to be extremely NP-hard problem that recently enjoyed a considerable interest. Among the proposed methods, the field of evolutionary algorithms (EAs) takes a remarkable interest. To this end, the aim of this paper is to present the general statement of community detection problem in social networks. Then, it visits the problem as an optim

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Publication Date
Sat Mar 30 2013
Journal Name
College Of Islamic Sciences
The comparative approach (stabilizer) and the need for Arabic to it
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Linguistic research according to modern curricula:
   It is one of the important matters that occupy the ideas of those concerned with linguistic studies, whether Arabic or otherwise. Recent years have witnessed the advancement of this methodological approach, and books and studies in Arabic have been written on important, multifaceted issues, of grammatical and linguistic origins, and their balance with new developments and ideas attracted mostly from Western studies.
    The comparative approach - as they call it - is one of the modern approaches that is based on balancing a language with other sisters belonging to its family, to reach similarities and differences between them, and to know the c

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Publication Date
Mon Oct 01 2018
Journal Name
Journal Of Educational And Psychological Researches
PROPOSED STANDARDS FOR EVALUATING THE EDUCATIONAL VIDEO ON THE SOCIAL MEDIA
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In the spreading of the Internet, mobile smart devices, and interactive websites such as YouTube, the educational video becomes more widespread and deliberative among users. The reasons for its spread are the prevalence of technologies, cheap cost, and easy to use. However, these products often lack to the distinction in video production. By following videos of an educational channel on YouTube, some comments found to discuss the lack of the content presented to motivate the learners, which lead to reduce the viewers of the videos. Therefore, there is an important decision to find general standards for the design and production of educational videos. A list of standards has been drawn up to help those interested in producing educational

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Publication Date
Thu Nov 29 2018
Journal Name
Iraqi Journal Of Science
Application of WDR Technique with different Wavelet Codecs for Image Compression
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     Storing and transferring the images data are raised in recent years due to requisiteness of transmission bandwidth for considerable storage capacity. Data compression method is proposed and applied in an attempt to convert data files into smaller files. The proposed and applied method is based on the Wavelet Difference Reduction (WDR) as considered the most efficient image coding method in recent years. Compression are done for three different Wavelet based Image techniques using WDR process. These techniques are implemented with different types of wavelet codecs. These are Daub2+2,2 Integer Wavelet transform, Daub5/3 integer to integer wavelet transform, and Daub9/7 Wavelet transform with level four. The used mu

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Publication Date
Wed Jul 01 2015
Journal Name
Journal Of Engineering
Cathodic Protection for Above Ground Storage Tank Bottom Using Data Acquisition
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Impressed current cathodic protection controlled by computer gives the ideal solution to the changes in environmental factors and long term coating degradation. The protection potential distribution achieved and the current demand on the anode can be regulated to protection criteria, to achieve the effective protection for the system.

In this paper, cathodic protection problem of above ground steel storage tank was investigated by an impressed current of cathodic protection with controlled potential of electrical system to manage the variation in soil resistivity. Corrosion controller has been implemented for above ground tank in LabView where tank's bottom potential to soil was manipulated to the desired set poi

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Publication Date
Sun Sep 06 2009
Journal Name
Baghdad Science Journal
Cox proportion hazard model for patients with hepatitis disease in Iraq
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Cox regression model have been used to estimate proportion hazard model for patients with hepatitis disease recorded in Gastrointestinal and Hepatic diseases Hospital in Iraq for (2002 -2005). Data consists of (age, gender, survival time terminal stat). A Kaplan-Meier method has been applied to estimate survival function and hazerd function.

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Publication Date
Fri Sep 22 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Expermental Comparison For The Performance of Circular And Square Solar Cell
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An    Experimental     comparison     between     the     current-voltage

characteristic and    the  efficiency    conversion from  solar  to  electric energy   were studied  for square  and circular  single crystal  silicon  solar

cell of equal area (35.28  cm2)  . The results show  that the solar shape is

an  important factor  in  calculating the  current-voltage characteristics and  efficiency of  the  solar  cell.  It was  shown   that  the  performance effici

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Publication Date
Thu Apr 13 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Efficient Semi-Analytic Technique for Solving Nonlinear Singular Initial Value Problems
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 The aim of this paper is to present a semi - analytic technique for solving singular initial value problems of ordinary differential equations with a singularity of different kinds to construct polynomial solution using two point  osculatory  interpolation.           The efficiency and accuracy of suggested method is assessed by comparisons with exact and other approximate solutions for a wide classes of non–homogeneous, non–linear singular initial value problems.             A new, efficient estimate of the global error is used for adaptive mesh selection. Also, analyze some of the numerical aspects

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