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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
Fri Jul 01 2011
Journal Name
3rd European Workshop On Visual Information Processing
Mean Predictive Block Matching (MPBM) for fast block-matching motion estimation
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Publication Date
Thu May 15 2014
Journal Name
Monthly Notices Of The Royal Astronomical Society
Gravitational lensing in WDM cosmologies: the cross-section for giant arcs
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The nature of the dark sector of the Universe remains one of the outstanding problems in modern cosmology, with the search for new observational probes guiding the development of the next generation of observational facilities. Clues come from tension between the predictions from Λ cold dark matter (ΛCDM) and observations of gravitationally lensed galaxies. Previous studies showed that galaxy clusters in the ΛCDM are not strong enough to reproduce the observed number of lensed arcs. This work aims to constrain the warm dark matter (WDM) cosmologies by means of the lensing efficiency of galaxy clusters drawn from these alternative models. The lensing characteristics of two samples of simulated clusters in the Λ warm dark matter and ΛCDM

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Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
Overlap food for fish in the Haditha Dam Reservoir (Qadisiyah) Iraq
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Shehadt 683 fish of different fish present in the tank Haditha Dam during the period of February 1993 and the end Maes 1994 to identify the nutritional content of the digestive tract or the stomach for these fish and their impact on the environment of the tank and found that Fish fine linen and Alhalg animal feeding predators feed on small fish, mainly the fish brown plantnutrition

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Publication Date
Mon Mar 08 2021
Journal Name
Baghdad Science Journal
Evaluation of the one electron expeetation values for different wave functions
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The aim of this work is to evaluate the onc-electron expectation values < r > from the radial electronic density funetion D(r) for different wave ?'unctions for the 2s state of Li atom. The wave functions used were published in 1963,174? and 1993 , respectavily. Using " " ' wave function as a Slater determinant has used the positioning technique for the analysis open shell system of Li (Is2 2s) State.

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Publication Date
Tue Dec 31 2019
Journal Name
Iraqi Geological Journal
CLIMATIC WATER BALANCE FOR ISHAQI AREA, SALAH AL-DEAN GOVERNORATE, IRAQ
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In any natural area or water body, evapotranspiration is one of the main outcomes in the water balance equation. It is also a crucial component of the hydrologic cycle and considers as the main requirement in the planning and designing of any irrigation project. The climatic parameters for the Ishaqi area are calculated from the available date of Samarra and Al-Khlais meteorological stations according to a method for the period (1982–2017) according to Fetter method. The results of the mean of rainfall, relative humidity temperature, evaporation, sunshine, and wind speed of the Ishaqi area are 171.96 mm, 49.67%, 24.86 C°, 1733.61 mm, 8.34 h/day, and 2.3 m/sec, respectively. Values of Potential Evapotranspiration are determined by

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Publication Date
Thu Feb 01 2024
Journal Name
Baghdad Science Journal
Comparative Study of Gamma- Ray Shielding Parameters for Different Epoxy Composites
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In the current work various types of epoxy composites were added to concrete to enhance its effectiveness as a gamma- ray shield. Four epoxy samples of (E/clay/B4C) S1, (E/Mag/B4C) S2, (EPIL) S3 and (Ep) S4 were used in a comparative study of gamma radiation attenuation properties of these shields that calculating using Mont Carlo code (MCNP-5). Adopting Win X-com software and Artificial Neural Network (ANN), µ/ρ revealed great compliance with MCNP-5. By applying (µ/ρ) output for gamma at different energies, HVL, TVL and MFP have been also estimated. ANN technique was simulated to estimate (µ/ρ) and dose rates. According to the results, µ/ρ of all epoxy samples scored higher than standard concrete. Both S2 and S3 samples having h

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Publication Date
Fri Jan 01 2010
Journal Name
Positioning
Fluid Inclusions Usage for Assessing Oil Migration in Duhok, North Iraq
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Publication Date
Sat Jan 01 2022
Journal Name
Journal Of The Mechanical Behavior Of Materials
Identifying the selection criteria of design consultant for Iraqi construction projects
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Abstract<p>The quality and cost of constructed buildings are heavily influenced by the performance of design/auditing consultants. Thus, selecting the right design consultant and design auditing consultants is of utmost importance and not an easy task for any construction client. so, the client should specify the efficiency criteria and assess the performance levels of the design and design auditing consultant firm. The study aims to identify the selection criteria of the design consultant in construction projects and also identify the selection criteria of the design auditing consultant for the construction projects by using the Delphi survey with applying the principal components analysis (PCA</p> ... Show More
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Publication Date
Fri Apr 28 2023
Journal Name
Surgical Neurology International
Neurosurgery theater-based learning: Etiquette and preparation tips for medical students
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Publication Date
Thu Jan 16 2020
Journal Name
Periodicals Of Engineering And Natural Sciences
Comparison of some reliability estimation methods for Laplace distribution using simulations
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In this paper, we derived an estimator of reliability function for Laplace distribution with two parameters using Bayes method with square error loss function, Jeffery’s formula and conditional probability random variable of observation. The main objective of this study is to find the efficiency of the derived Bayesian estimator compared to the maximum likelihood of this function and moment method using simulation technique by Monte Carlo method under different Laplace distribution parameters and sample sizes. The consequences have shown that Bayes estimator has been more efficient than the maximum likelihood estimator and moment estimator in all samples sizes