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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 Jan 01 2016
Journal Name
Machine Learning And Data Mining In Pattern Recognition
A New Strategy for Case-Based Reasoning Retrieval Using Classification Based on Association
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Publication Date
Sun May 07 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
A Study of Reinforcing and Temperature Effect of Impact Strength for Polymer Blend
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This research prepared polymer blend contains from epoxy resin (Ep) and polyurethane
)Pu) as a matrix material of percentage (90 %) from epoxy and ) 10 (% polyurethane and
reinforced by PVC fibers and aluminum fibers two dimension knitted mat with fractional
volume(15 %), and study impact strength before and after reinforcing at temperatures of
(20,40,60(
o
CØŒand the results have shown that the reinforcing matrix materials by fibers
increased impact strength values that rise from(3.387kJ/m2) to (151.62kJ/m2) of composite
material (Ep+Pu+PVC(and thus ) Ep+Pu+PVC+Al.F) at last (Ep+Pu+Al.F (. following
composite material so that temperatures increase led to rise impact strength values except the
polymer

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Publication Date
Mon Sep 16 2019
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Strongly Convergence of Two Iterations For a Common Fixed Point with an Application
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     In this paper, we study some cases of a common fixed point theorem for classes of firmly nonexpansive and generalized nonexpansive maps. In addition, we establish that the Picard-Mann iteration is faster than Noor iteration and we used Noor iteration to find the solution of delay differential equation.

 

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Publication Date
Mon Jan 28 2019
Journal Name
Iraqi Journal Of Science
Dynamics and an Optimal Policy for A Discrete Time System with Ricker Growth
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The goal of this paper is to study dynamic behavior of a sporadic model (prey-predator). All fixed points of the model are found. We set the conditions that required to investigate the local stability of all fixed points. The model is extended to an optimal control model. The Pontryagin's maximum principle is used to achieve the optimal solutions. Finally, numerical simulations have been applied to confirm the theoretical results.

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Publication Date
Tue Jan 01 2019
Journal Name
Energy Procedia
Quadrupole Moment & Deformation Parameter for Even-Even 38Sr (A=76-102) Nuclide
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Publication Date
Mon Feb 04 2019
Journal Name
Journal Of The College Of Education For Women
Popular naming for goods and materials in the Iraqi slang "A Semantic Study"
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The current research is concerned with the prices of Goods and materials in the Iraqi slang a descriptive, lexicographic , and semantic study expressing the meanings of these names and their positions , as well as expressing the imaginations of Human mind , the popular mind in describing these goods with evaluating them besides the semantic of each word accordingly
The current research is divided into two parts , the first part is consisted of Vocalizations" words" That are arisen through cognitive naming that concentrate on the mental imaginations for the most important and sensitive such as colors , taste , shapes and forms impacts of Goods and materials according to users' ' taste for those words , on other hand, the second part of

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Publication Date
Wed Mar 25 2015
Journal Name
Comptes Rendus Chimie
A novel method for the synthesis of biodiesel from soybean oil and urea
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The increasing demand for energy has encouraged the development of renewable resources and environmentally benign fuel such as biodiesel. In this study, ethyl fatty esters (EFEs), a major component of biodiesel fuel, were synthesized from soybean oil using sodium ethoxide as a catalyst. By-products were glycerol and difatty acyl urea (DFAU), which has biological characteristics, as antibiotics and antifungal medications. Both EFEs and DFAU have been characterized using Fourier transform infrared (FTIR) spectroscopy, and 1H nuclear magnetic resonance (NMR) technique. The optimum conditions were studied as a function of reaction time, reactant molar ratios, catalyst percentage and the effect of organic solvents. The conversion ratio of soybea

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Publication Date
Fri Dec 30 2022
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Artificial Intelligent Models for Detection and Prediction of Lost Circulation Events: A Review
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Lost circulation or losses in drilling fluid is one of the most important problems in the oil and gas industry, and it appeared at the beginning of this industry, which caused many problems during the drilling process, which may lead to closing the well and stopping the drilling process. The drilling muds are relatively expensive, especially the muds that contain oil-based mud or that contain special additives, so it is not economically beneficial to waste and lose these muds. The treatment of drilling fluid losses is also somewhat expensive as a result of the wasted time that it caused, as well as the high cost of materials used in the treatment such as heavy materials, cement, and others. The best way to deal with drilling fluid losses

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Publication Date
Thu May 11 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Mammographic Doses Measurement for A Thick Compressed Breast and the Relationship Between Them
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   This study was done in Baghdad teaching Hospital by using developed instrument type GIOHO and included a number of patients with compressed breast thickness (7,8,9,10)cm .

          The relationship between radiation dose and breast thickness was linear.  All results were compared with the international standered values that measured by the International Nuctear Agency and Europeon sources ,it was found that it is in consistance or has a little difference .

         The study showed that the mean absorbed dose may be determined by using TLD measurement below 10 mGy and the glandular dose was (1.45 mGy) and this can not b

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Publication Date
Tue Jun 01 2021
Journal Name
Journal Of Planner And Development
Urban sustainability assessment for the urban renewal project in Al Shawaka a rea
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Sustainability is a major demand and need pursued by cities in all areas of life due to the environmental, social and economic gains they provide, especially in the field of city planning and urban renewal projects that aim to integrate the past, present and future.

 

The research aims to evaluate the Haifa Street renewal project, and Al-Shawaka district, one of the Baghdad districts located next to Al-Karkh, was elected by comparing the sustainability indicators of urban renewal with the reality of the situation through a field survey and questionnaire form and focusing on the social and economic impacts and environmental for the project on the study area. To reach the most important conclusions and recommendations

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