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Robust Adaptive Sliding Mode Controller for a Nonholonomic Mobile Platform
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In this paper, a robust adaptive sliding mode controller is designed for a mobile platform trajectory tracking.  The mobile platform is an example of a nonholonomic mechanical system. The presence of holonomic constraints reduces the number of degree of freedom that represents the system model, while the nonholonomic constraints reduce the differentiable degree of freedom. The mathematical model was derived here for the mobile platform, considering the existence of one holonomic and two nonholonomic constraints imposed on system dynamics. The partial feedback linearization method was used to get the input-output relation, where the output is the error functions between the position of a certain point on the platform and the desired path. The dynamic error model was considered uncertain and subjected to friction torques on the wheels. The adaptive sliding mode control was utilized to design a robust controller, that will force the platform to follow the desired trajectory. The simulation of the proposed controller was done via MATLAB to reveal the ability of the robust adaptive sliding mode controller applied as a trajectory tracker for various path shapes.

 

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Publication Date
Wed Nov 30 2022
Journal Name
Iraqi Journal Of Science
Influence of Distance and Argon Flow rate on Pseudomonas aeruginosa Bacteria Exposed to Non thermal Plasma at Atmospheric Pressure
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     In this research, a type of gram negative bacteria was exposed to non-thermal plasma at a distance of (2 and 3 cm) from the plasma flow nozzle, with the use of an alternating power supply (5KHz), where exposure was made at two different voltages (4.9 and 8 kV). A negative gram of Pseudomonas aeruginosa bacteria was isolated and exposed to non-thermal plasma at different flow rates of argon gas whose value ranged from (1-5) liters/minute. The results showed that bacterial killing rate is directly proportional to distance while exposing the samples to non-thermal plasma, and the best factors by which a complete killing rate was obtained were at a distance of 2 cm with a voltage of 8 kV and a gas flow rate of 5 liters/min,

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Publication Date
Sat Dec 30 2023
Journal Name
Iraqi Journal Of Science
Computational Analysis of Metallic- Nonmetallic Nanoparticle on Jeffery Hamel Nanofluid Flow Problem
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     In this article, we investigate the heat transfer on nanoparticles Jeffrey Hamel flow problem between two rigid plane walls. Water is used as a main fluid using four different types of nanoparticles, namely aluminum, cuprous, titanium, and silver. The results of nonlinear transformational equations with boundary conditions are solved analytically and numerically. The perturbation iteration scheme (PIS) is used for the analytic solution, while for determining the numerical results, the Rang-Kutta of the four-order scheme (RK4S) is used. The effects on the behavior of non-dimensional velocity and temperature distributions are presented in the form of tables and graphs for different values ​​of emerging physical parameters (Rey

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Publication Date
Fri Apr 01 2022
Journal Name
Journal Of Engineering
Numerical study of natural convection in an annulus between two concentric cylinders provided with metal foam fins
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Natural convection in an annular space provided with metal foam fins attached to the inner cylinder is studied numerically. The metal foam fins made of copper were inserted in different axial sections with three fins in each section. The temperature of the inner cylinder is kept constant while the annular outer surface is adiabatic. The thickness effect of the inner pipe wall was considered. Naiver Stokes equation with Boussinesq approximation is used for the fluid regime while Brinkman-Forchheimer Darcy model is used for metal foam. In addition, the local thermal non-equilibrium condition in the energy equation of the porous media is presumed. The effect of Rayleigh numb

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Publication Date
Mon Jun 01 2020
Journal Name
Journal Of Engineering
Evaluating Asphalt Concrete Properties by the Implementation of Ultrasonic Pulse Velocity
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In past years, structural pavement solution has been combined with destructive testing; these destructive methods are being replaced by non-destructive testing methods (NDT). Because the destructive test causes damage due to coring conducted for testing and also the difficulty of adequately repairing the core position in the field. Ultrasonic pulse velocity was used to evaluate the strength and volumetric properties of asphalt concrete, of binder course. The impact of moisture damage and testing temperature on pulse velocity has also been studied. Data were analyzed and modeled. It was found that using non-destructive testing represented by pulse velocity could be useful to predict the quality of asphalt c

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Publication Date
Thu Sep 30 2021
Journal Name
Iraqi Journal Of Science
On Invariant Approximations in Modular Spaces
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     This article is devoted to presenting results on invariant approximations over a non-star-shsped weakly compact subset of a complete modular space by introduced a new notion called S-star-shaped with center f:  if   be a mapping and , . Then the existence of common invariant best approximation is proved for Banach operator pair of mappings by combined the hypotheses with Opial’s condition or demi-closeness condition

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Publication Date
Tue Apr 01 2008
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Non Surgical Closure of Secundum Atrial Septal Defect by Percutaneous Transcatheter Amplatzer Septal Occluder
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Background:
To assess the feasibility and early results of non-surgical transcatheter closure of atrial septal detect (ASD) using the Ampiatzer septal Occluder (ASO).
Patients and Methods:
From June 2003 to June 2005, i75 patients with ASD secundum, age range 3- 65 years, female to male ratio of 3:2. were evaluated for transcatheter closure using ASO at Ibn Al-
Bitar Hospital for Cardiac Surgery. Transthoracic echocardiography was performed in al patients using standard suhxyphoid, apical, parasternal and suprasternal views. In all
patients, the procedure was done under general anesthesia.
Results:
Based on transesophageal echocardiography (TEE) Findings, 60 patients (33.7%) did not meet the crite

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Publication Date
Sun Jan 03 2016
Journal Name
Journal Of The Faculty Of Medicine Baghdad
The role of multi-detector CT (MDCT) in patients presented with non-traumatic acute abdominal conditions
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Background: Acute abdominal pain classically refers to pain within the abdomen that has been present for less than 7 days from the time of presentation. The use of CT scan in the evaluation of acute abdominal pain has increased to a large extent due to high accuracy of CT in the diagnosis of specific diseases like appendicitis and diverticulitis, especially with the use of multidetector CT scanners. It has been shown that the use of intravenous contrast media increases the diagnostic accuracy of CT scan examination, with a positive predictive value of 95% in the cases of acute appendicitis. The accuracy of CT scan imaging in patients with acute abdominal pain was not affected by the lack of entral contrast material.
Objectives: To eva

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Publication Date
Tue Jun 25 2024
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Effect of PM2. 5 and PM10 on the Hematopoietic System of Cafés Workers in Baghdad
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The aim of our current study was to identify the effect of particulate matter of both types (PM2.5 and PM10) resulting from hookah smoking on the hemopoietic system of workers (smokers) in closed cafes. This study included six stations (cafes) on the Rusafa side of Baghdad city and conducted a blood test that included a complete blood count (CBC). A multifunctional air quality detector measured both types of particulate matter in the morning and evening. The study included 30 men (workers and smokers) and 30 men (non-smokers), whose ages ranged from 20 to 40 years. The study found that smokers had an increase in white blood cells and red blood cells, as well as an increase in the percentage of hemoglobin (HGB), hematocrit (HCT), the mean co

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Publication Date
Sun Jul 30 2023
Journal Name
Iraqi Journal Of Science
Impact of Electrodes Material on the Properties of Atmospheric DBD Plasma
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In this research, the effect of electrode material on the parameters of the produced DBD plasma was investigated. First, a non-thermal plasma was created by applying a 15 kV AC voltage between two electrodes and using a glass plate as a dielectric barrier in the design Dielectric Barrier Discharge (DBD) plasma system. The obtained plasma spectrum was analyzed using optical emission spectroscopy to calculate plasma parameters by the Boltzmann plot method. Electrodes made of copper, aluminium, and stainless steel were employed in this research. Electron temperature ( ) for copper, aluminium, and stainless steel was found to be (1.398 eV), (1.093 eV) and (1.009 eV), respectively.

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Publication Date
Tue Dec 30 2014
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Comparison between Electroplating and Electroless on Plastic Surface
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We report a method of converting non-conductive plastic surfaces into conductive by plating either copper electroless or copper electroplating -carbon black containing bending Agent onto Perspex plastics . Various approaches have been studied in order to comparing properties of the plated copper for two methods such as scanning electron microscopy (SEM),thickness, roughness, porosity, tensile Strength and elongation. The results show that the surface of electroplating was uniform, compact, and continuous and it had an obvious metallic sheen, while the surface of plated copper for electroless for it had many pores. Also observed that the coating was composed of small cells. Thes

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