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Adaptive Sliding Mode Controller for Servo Actuator System with Friction
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This paper addresses the use of adaptive sliding mode control for the servo actuator system with friction. The adaptive sliding mode control has several advantages over traditional sliding mode control method. Firstly, the magnitude of control effort is reduced to the minimal admissible level defined by the conditions for the sliding mode to exist. Secondly, the upper bounds of uncertainties are not required to be known in advance. Therefore, adaptive sliding mode control method can be effectively implemented. The numerical simulation via MATLAB 2014a for servo actuator system with friction is investigated to confirm the effectiveness of the proposed robust adaptive sliding mode control scheme. The results clarify, after comparing it with the results obtained by using classical sliding mode control, that the control efforts are reduced and the chattering amplitude is attenuated with preserving main features of the classical sliding mode control.

 

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Publication Date
Thu Jan 14 2021
Journal Name
Natural Volatiles And Essential Oils
Relationship between Toxoplasma gondii Antibodies and Blood Group in University Students
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Background: Toxoplasma gondiiis an obligate intracellular protozoan that may infect nearly all warm-blooded animals, including humans. T gondiiis thought to infect one-third of the human population.The symptoms depending on the adequacy of the immune antiparasitic response. In humans, the main source of infection is through contact with the feces of infected cats, the final host in which the T. gondii completes its life cycle. Other source of infection occurs when drinking raw milk, ingestion of contaminated meat. Aim: This descriptive study estimated the seroprevalence and risk variables for Toxoplasma gondii infection forundergraduate students of a college of Pharmacy who were studying at University of Baghdad. The frequency rate ofToxopl

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Publication Date
Mon Jan 27 2025
Journal Name
Alustath Journal For Human And Social Sciences
Efforts of Modern Arabs in Neurolinguistics, a cognitive approach
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Neurolinguistics is a new science, which studies the close relationship between language and neuroscience, and this new interdisciplinary field confirms the functional integration between language and the nervous system, that is, the movement of linguistic information in the brain in receiving, acquiring and producing to achieve linguistic communication; Because language is in fact a mental process that takes place only through the nervous system, and this research shows the benefit of each of these two fields to the other, and this science includes important topics, including: language acquisition, the linguistic abilities of the two hemispheres of the brain, the linguistic responsibility of the brain centers, and the time limit for langua

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Publication Date
Sun Nov 01 2015
Journal Name
Journal Of Engineering
The Constituents of Active Structure in Contemporary Architectural Products
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The structure is considered in its scientific formula one of the concepts which complete the architectural image that seeks to take out an effective and attractive structure in contemporary architectural production, especially that the structure -in general- represents strength in addition to delight and functional benefits according to Vitruvius trinity. So, the role of structure depends on making its aesthetical properties able to give efficiency within architectural product. That has come through adoption of intellectual mechanism of structural means and details –as a whole or parts- and focused on structure with the recipient's needs, aesthetical, and sensory purposes in addition to its fundamental role of stabilit

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Publication Date
Sun Dec 30 2012
Journal Name
Al-kindy College Medical Journal
Evaluation of Medication Errors in Hospitalized Patients
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Objectives: Many medication errors occur in the hospital, and these can endanger patients. The purpose of this study was to evaluate the incidence of medication errors in hospitalized patients, and to categorize the most frequent types of errors, and to asses the possible measures that may prevent the occurrence of such errors.
Methods: A prospective, exploratory, and evaluative study, using direct observation method to detect medication errors in adult hospitalized patients in medical and surgical units in Baquba Teaching Hospital- Diyala-Iraq.. The files of 299 patients had been reviewed from July 2009 to September 2009, including medication orders and treatment sheets to detect existing errors. The detected errors were recorded and

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Publication Date
Mon Apr 17 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Detect The Infected Medical Image Using Logic Gates
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   This paper determined the difference between the first image of the natural and the second infected image by using logic gates. The proposed algorithm was applied in the first time with binary image, the second time in the gray image, and in the third time in the color image. At start of proposed algorithm the process  images by applying convolution to extended images with zero to obtain more vision and features then enhancements images by Edge detection filter (laplacion operator) and smoothing images by using mean filter ,In order to determine the change between the original image and the injury the logic gates applied specially X-OR gates . Applying the technique for tooth decay through this comparison can locate inj

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Publication Date
Sun Jul 30 2023
Journal Name
Iraqi Journal Of Science
Color Image Steganography Using Gradient Selective Bezier Curves
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     Internet technology has revolutionized the landscape of communication technologies in the modern era. However, because the internet is open to the public, communication security cannot be guaranteed. As a result, data concealment approaches have been developed to ensure confidential information sharing. Various methods have emerged to achieve the goal of secure data communication via multimedia documents. This study proposes a method, which is both adaptable and imperceptible, for concealing a secret text in a color image. From an adaptivity perspective, image corners are detected using the Harris corner detection algorithm and utilized as anchor points for picking the optimal hiding regions of interest using Bezier curve interp

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Publication Date
Thu Apr 27 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Signature Verification Based on Moments Technique
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In this research we will present the signature as a key to the biometric authentication technique. I shall use moment invariants as a tool to make a decision about any signature which is belonging to the certain person or not. Eighteen voluntaries give 108 signatures as a sample to test the proposed system, six samples belong to each person were taken. Moment invariants are used to build a feature vector stored in this system. Euclidean distance measure used to compute the distance between the specific signatures of persons saved in this system and with new sample acquired to same persons for making decision about the new signature. Each signature is acquired by scanner in jpg format with 300DPI. Matlab used to implement this system.

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Publication Date
Sat Dec 01 2012
Journal Name
Iraqi Journal Of Physics
Power dissipation and time of breakdown in AC discharge of argon at a low pressure in the frequency range 5-10 kHz
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The influence of 5-10 kHz audio frequency on the power dissipation in ac discharge of argon gas was studied experimentally, at pressures 50-80 mTorr and electrodes separation 10 cm (pd range 0.5-0.8 Torr.
cm). The measurements have shown that the discharge behavior in the ac circuit is equivalent to a series RC circuit. It is observed that the variation curve of discharge power P with the frequency f is approximately has a Gaussian shape. It is also observed that the curve of Pm- pd is the inverse of Paschen curve, where Pm is the maximum power in the frequency range. The time of breakdown is estimated from the curve of P- f.

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Publication Date
Tue Oct 01 2019
Journal Name
Journal Of Economics And Administrative Sciences
الادارة بالرؤية المشتركة وانعكاساتها على التسويق الابداعي بحث استطلاعي لعينة من موظفي الشركة العامة للصناعات الكهربائية
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ان السبب الرئيسي لاختيار الموضوع كونه من الاساليب الادارية الحديثة التي تهدف الى انجاح المنظمة او الشركة المبحوثة, اذ تمثلت مشكلة البحث في ما دور الادارة بالرؤية المشتركة في تعزيز التسويق الابداعي بالشركة المبحوثة, يهدف البحث الى تسليط الضوء على مفهوم الادارة بالرؤية المشتركة وانعكاساتها على التسويق الابداعي للمنظمة ، باعتبارها منهج اداري حديث يسهم في تغيير وتجديد وتطوير واقع المنظمة المبحوثة( الشرك

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Crossref
Publication Date
Wed Dec 12 2018
Journal Name
Iraqi National Journal Of Nursing Specialties
Evaluation of Acute Flaccid Paralysis Surveillance System's Structure at Al-Russafa Health Directorate in Baghdad City
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Objective: evaluation of Acute Flaccid Paralysis Surveillance (AFP) System's Structure at Al-Russafa Health directorate in Baghdad City. Methodology: descriptive study using evaluation approach conducted to measure the efficiency of AFP Surveillance System structure for period from November 27th 2014 to June 30th 2015. The study adopted the non-probability multi-stage sampling approach. As nineteen health facilities under surveillance are chosen and interview is conducted with a total of 50 health worker how are involved in the AFP Surveillance System. The data are gathered from sample by using question

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