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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
Sat Oct 01 2022
Journal Name
Al–bahith Al–a'alami
TV ADVERTISEMENT AND SERVICES OF MOBILE PHONE COMPANIES: (Analytical Study of the Trends of Companies and the Public towards Television Advertisement)
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An advertisement is a human activity as old as human societies. As it was practiced by each society in accordance with the circumstances of the times and the means of communication available. The evolution of advertisement in the modern era reflected many factors to become an essential part of the lives of individuals in the world. Interesting in television advertising has increased in particular because it is the first and most influential mass media in the minds of people.

Advertisements play a big role in our lives as individuals. As advertisements surround us where we have been found; and bring us many benefits; as well as their contribution to accelerate the process of economic development a

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Publication Date
Fri Dec 01 2017
Journal Name
Journal Of Economics And Administrative Sciences
Comparing the Sequential Nonlinear least squared Method and Sequential robust M method to estimate the parameters of Two Dimensional sinusoidal signal model:
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Estimation of the unknown parameters in 2-D sinusoidal signal model can be considered as important and difficult problem. Due to the difficulty to find estimate of all the parameters of this type of models at the same time, we propose sequential non-liner least squares method and sequential robust  M method after their development through the use of sequential  approach in the estimate suggested by Prasad et al to estimate unknown frequencies and amplitudes for the 2-D sinusoidal compounds but depending on Downhill Simplex Algorithm in solving non-linear equations for the purpose of obtaining non-linear parameters estimation which represents frequencies and then use of least squares formula to estimate

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Publication Date
Sat Apr 30 2022
Journal Name
Iraqi Journal Of Science
Low Latency UHD Adaptive Video Bitrate Streaming Based on HEVC Encoder Configurations and Http2 Protocol
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      Applying 4K, (Ultra HD) Real-time video streaming via the internet network, with low bitrate and low latency, is the challenge this paper addresses. Compression technology and transfer links are the important elements that influence video quality. So, to deliver video over the internet or another fixed capacity medium, it is essential to compress the video to more controllable bitrates (customarily in the 1-20 Mbps range). In this study, the video quality is examined using the H.265/HEVC compression standard, and the relationship between quality of video and bitrate flow is investigated using various constant rate factors, GOP patterns, quantization parameters, RC-lookahead, and other types of video motion sequences. The ultra

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Publication Date
Sun Feb 27 2022
Journal Name
Iraqi Journal Of Science
Adaptive Learning System of Ontology using Semantic Web to Mining Data from Distributed Heterogeneous Environment
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    Nowadays, the process of ontology learning for describing heterogeneous systems is an influential phenomenon to enhance the effectiveness of such systems using Social Network representation and Analysis (SNA). This paper presents a novel scenario for constructing adaptive architecture to develop community performance for heterogeneous communities as a case study. The crawling of the semantic webs is a new approach to create a huge data repository for classifying these communities. The architecture of the proposed system involves two cascading modules in achieving the ontology data, which is represented in Resource Description Framework (RDF) format. The proposed system improves the enhancement of these environments ach

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Publication Date
Thu Aug 01 2019
Journal Name
International Journal Of Electrical And Computer Engineering (ijece)
Evaluation of routing protocol with multi-mobile sinks in WSNs using QoS and energy consumption parameters
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An efficient networks’ energy consumption and Quality of Services (QoS) are considered the most important issues, to evaluate the route quality of the designed routing protocol in Wireless Sensor Networks (WSNs). This study is presented an evaluation performance technique to evaluate two routing protocols: Secure for Mobile Sink Node location using Dynamic Routing Protocol (SMSNDRP) and routing protocol that used K-means algorithm to form Data Gathered Path (KM-DGP), on small and large network with Group of Mobile Sinks (GMSs). The propose technique is based on QoS and sensor nodes’ energy consumption parameters to assess route quality and networks’ energy usage. The evaluation technique is conducted on two routing protocols i

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Publication Date
Thu Mar 30 2023
Journal Name
Iraqi Journal Of Science
New mode for the on –line determination of metoclopramide hydrochloride in pure and pharmaceutical preparations via the use of homemade Ayah 6SX1-T-2D Solar cell CFI Analyser
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A newly developed analytical method characterized by its speed and sensitivity for the determination of metoclopramide hydrochloride (MCP-HCl) in pure and pharmaceutical preparations via absorbance measurement by Ayah 6SX1-T-2D Solar cell-CFI Analyser. The method is based on the oxidation of the drug with Ce(IV)sulfate in acidic medium to form a red color species which determined using homemade Ayah 6SX1-T-2D Solar cell . Chemical and physical parameters were studied and optimized. The calibration graph was linear in the range of 0.05- 16 mMol.LP-1Pwith correlation coefficient r = 0.9855. The limit of detection(S/N = 3) 0.332 μg/sample from the step wise dilution for the minimum concentration in the linear dynamic ranged of the calibrat

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Publication Date
Mon Jul 03 2017
Journal Name
Iraqi New Medical Journal
Coarctation of aorta in pediatric age group: mode of presentation, early and intermediate outcomes of interventional treatment
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Although rare, coarctation of aorta is a treatable cause of hypertension, transcatheter dilatation by balloon with or without stent are a well-known treatment strategy

Publication Date
Sun Oct 22 2023
Journal Name
Iraqi Journal Of Science
New Mode for the On-Line Determination of Amiloride in Pure and Pharmaceutical Preparation Using CFIA Via the Use of Linear Array from Six LED (Snow White) with One Solar Cell in a Homemade Ayah 6Sx1-T-1D Solar CFI Analyser
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A newly flow injection-turbidimetric method characterized by it is speed and sensitivity has been developed for the determination of Amiloride in pure and pharmaceutical preparations. It is based on the formation of yellowish white precipitate for the Amiloride-phosphomolybidic acid ion pair in aqueous medium. Turbidity was measured by Ayah 6Sx1-T-1D solar cell CFI analyser via the attenuation of incident light from the surfaces precipitated particles at 0-180. The Chemical and physical parameters were investigated. Linear dynamic range for the attenuation of incident light versus Amiloride concentration was of 0.005-10 mmol.L-1, with the correlation coefficient (r) of 0.9986 , while the percentage linearity (r2%) was 99.71%. The L.O.

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Publication Date
Sun Jul 02 2023
Journal Name
Iraqi Journal Of Science
New Mode for the On-Line Determination of Amiloride in Pure and Pharmaceutical Preparation Using CFIA Via the Use of Linear Array from Six LED (Snow White) with One Solar Cell in a Homemade Ayah 6Sx1-T-1D Solar CFI Analyser
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A newly flow injection-turbidimetric method characterized by it is speed and sensitivity has been developed for the determination of Amiloride in pure and pharmaceutical preparations. It is based on the formation of yellowish white precipitate for the Amiloride-phosphomolybidic acid ion pair in aqueous medium. Turbidity was measured by Ayah 6Sx1-T-1D solar cell CFI analyser via the attenuation of incident light from the surfaces precipitated particles at 0-180. The Chemical and physical parameters were investigated. Linear dynamic range for the attenuation of incident light versus Amiloride concentration was of 0.005-10 mmol.L-1, with the correlation coefficient (r) of 0.9986 , while the percentage linearity (r2%) was 99.71%. The L.O.

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Publication Date
Sat Sep 01 2007
Journal Name
Journal Of Economics And Administrative Sciences
Comparison Between Ordinary Method and Robust Method to estimate the Parameters of the Univariate Mixed Model with Low Order
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A condense study was done to compare between the ordinary estimators. In particular the maximum likelihood estimator and the robust estimator, to estimate the parameters of the mixed model of order one, namely ARMA(1,1) model.

Simulation study was done for a varieties the model.  using: small, moderate and large sample sizes, were some new results were obtained. MAPE was used as a statistical criterion for comparison.

 

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