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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 Mar 30 2021
Journal Name
Journal Of Economics And Administrative Sciences
Trends of Women's Economic Empowerment in Iraq for the Period 1990-2018
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This research aims to study the economic, social, and political reality of Iraqi women by identifying the obstacles and diagnosing their empowerment trends in various fields, assessing the extent of their participation in economic activity, and re-achieving balance between women and men by reducing the gender gap between them and reducing the percentage of female unemployment to the lowest possible level. Is achieved by enhancing confidence in Iraqi women by enacting laws and making decisions that allow them to access resources freely. The researcher used the descriptive and analytical method to deal with information and data related to the research topic over a specific period (1990-2018), using local, Arab, and international re

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Crossref
Publication Date
Sun Jan 16 2022
Journal Name
Iraqi Journal Of Science
Proposed Hiding Text in Text Based On RNA for Encoding Secret Information
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In any security system, we need a high level of security, to maintain the secrecy of important data. Steganography is one of the security systems that are hiding secret information within a certain cover (video, image, sound, text), so that the adversary does not suspect the existence of such confidential information. In our proposed work will hide secret messages (Arabic or English) text in the Arabic cover text, we employed the RNA as a tool for encoding the secret information and used non-printed characters to hide these codes. Each character (English or Arabic) is represented by using only six bits based on secret tables this operation has provided a good compression since each Arabic character needs 16 bits and each English characte

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Publication Date
Fri Mar 01 2019
Journal Name
Al-khwarizmi Engineering Journal
Feature - Based Approach to Automatic Fixturing System Planning For Uniform Polyhedra Workpiece
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This paper demonstrates the design of an algorithm to represent the design stages of fixturing system that serve in increasing the flexibility and automation of fixturing system planning for uniform polyhedral part. This system requires building a manufacturing feature recognition algorithm to present or describe inputs such as (configuration of workpiece) and built database system to represents (production plan and fixturing system exiting) to this algorithm. Also knowledge – base system was building or developed to find the best fixturing analysis (workpiece setup, constraints of workpiece and arrangement the contact on this workpiece) to workpiece.

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Publication Date
Thu Apr 13 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Estimate Complete the Survival Function for Real Data of Lung Cancer Patients
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 In this paper, we estimate the survival function for the patients of lung cancer using different nonparametric estimation methods depending on sample from complete real data which describe the duration of survivor for patients who suffer from the lung cancer based on diagnosis of disease or the enter of patients in a hospital for period of two years (starting with 2012 to the end of 2013). Comparisons between the mentioned estimation methods has been performed using statistical indicator mean squares error, concluding that the survival function for the lung cancer by using shrinkage method is the best

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Publication Date
Tue Oct 20 2020
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Estimating of Survival Function under Type One Censoring Sample for Mixture Distribution
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In this article, it is interesting to estimate and derive the three parameters which contain two scales parameters and one shape parameter of a new mixture distribution for the singly type one censored data which is the branch of right censored sample. Then to define some special mathematical and statistical properties for this new mixture distribution which is considered one of the continuous distributions characterized by its flexibility. Next,  using maximum likelihood estimator method for singly type one censored data based on the Newton-Raphson matrix procedure to find and estimate values of these three parameter by utilizing the real data taken from the National Center for Research and Treatment of Hematology/University of Mus

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Crossref
Publication Date
Wed Mar 28 2018
Journal Name
Iraqi Journal Of Science
Hypothetical Method for Gamma Dose Rate Assessment to Conditioned Radioactive waste Container
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Metallic solid radioactive waste class low level - short lived Radioactive Waste

(LL-SL RW) is the main type of radioactive waste generated from decommissioning operations. Transport, storage and disposal regulations require for gamma emitting radioactive waste (mainly by 137Csisotope), that the dose rate in the proximity of the container should stand below a certain threshold. Also, the conditioning technique (using cementation technique) based on certain matrix with specific ratios should be able to attenuate the gamma radiation activity to the minimum level or to acceptable dosage rate at distance of 1m from the container. In this paper ,in absence of suitable labs for waste package assessment ,hypothetical method&n

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Publication Date
Sun Jul 02 2023
Journal Name
Iraqi Journal Of Science
Elastic Electron Scattering form Factors for Odd-A 2s-1d Shell Nuclei
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The charge density distributions (CDD) and the elastic electron scattering form
factors F(q) of the ground state for some odd mass nuclei in the 2s 1d shell, such
as K Mg Al Si 19 25 27 29 , , , and P 31
have been calculated based on the use of
occupation numbers of the states and the single particle wave functions of the
harmonic oscillator potential with size parameters chosen to reproduce the observed
root mean square charge radii for all considered nuclei. It is found that introducing
additional parameters, namely; 1  , and , 2  which reflect the difference of the
occupation numbers of the states from the prediction of the simple shell model leads
to very good agreement between the calculated an

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Publication Date
Thu Aug 30 2018
Journal Name
Iraqi Journal Of Science
Seismic Facies Analysis for Lithofacies Prediction, Okam Field of Niger Delta, Nigeria
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Seismic facies analysis constrained with well log information have been used to predict lithofacies distribution across the Okam Field of Niger Delta. Density and gamma ray logs were cross-plotted and the seismic section was subdivided vertically into different seismic facies. The delineated lithologies, from well logs were correlated with seismic facies signatures using lines of intersection across the wells. Gamma ray and resistivity logs were used to identify the interfaces between the lithofacies and correlated across the field. Structural interpretation was carried out. Time slices were generated and examined at different intervals within the identified reservoirs. Stratigraphic related attribute and envelope were extracted on these

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Publication Date
Wed May 15 2024
Journal Name
Chalcogenide Letters
Influence of annealing temperature on nano crystalline description for CuZnS thin films
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Copper Zinc Sulphide (Cu0.5Zn0.5S) alloy and thin films were fabricated in a vacuum. Nano crystallized (CZS) film with thick 450±20 nm was deposit at substrates glasses using thermal evaporation technique below ~ 2 × 10− 5 mbar vacuum to investigated the films structural, morphological and optical properties depended on annealing temperatures ( as-deposited, 423, 523 and 623) K for one hour. The influences annealed temperature on structurally besides morphologically characteristics on these films were investigated using XRD and AFM respectively. XRD confirms the formation a mixed hexagonal phase of CuS-ZnS in (102) direction with polycrystalline in nature having very fine crystallites size varying from (5.5-13.09) nm. AFM analys

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Publication Date
Sun Mar 01 2015
Journal Name
International Journal Of Engineering And Innovative Technology
White Light Generation by Electroluminescence for ZnO Nanoparticle –Organic Hybrid Junction Device
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ZnO organic hybrid junction (electroluminescence EL device) was fabricated using phase segregation method. ZnO-nanoparticle (NPs) was prepared as a colloidal by self–assembly method of Zinc acetate solution with KOH solution. Nanoparticle is employed to form organic-inorganic hybrid film and generate white light emission, while N,N’–diphenyl-N,N’ –bis(3-methylphenyl)-1,1’-biphenyl 4,4’-diamine (TPD) and polymethyl methacrylate (PMMA) are adopted as the organic matrices. ZnO NPs was used to fabricate TPD: PMMA: ZnO NPs hybrid junction device. The photoluminescence (PL) and electroluminescence (EL) spectra of the TPD: PMMA: ZnO NPs hybrid device provided a broad emission band covering entirely the visible spectrum (∼350-∼700

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