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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
Wed Aug 31 2022
Journal Name
Iraqi Journal Of Science
Optimal CPU Jobs Scheduling Method Based on Simulated Annealing Algorithm
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     Task scheduling in an important element in a distributed system. It is vital how the jobs are correctly assigned for each computer’s processor to improve performance. The presented approaches attempt to reduce the expense of optimizing the use of the CPU. These techniques mostly lack planning and in need to be comprehensive. To address this fault, a hybrid optimization scheduling technique is proposed for the hybridization of both First-Come First-Served (FCFS), and Shortest Job First (SJF). In addition, we propose to apply Simulated Annealing (SA) algorithm as an optimization technique to find optimal job’s execution sequence considering both job’s entrance time and job’s execution time to balance them to reduce the job

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Publication Date
Sun Mar 12 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
The Effect of Copper Nanoparticles on Seminal Vesicles and Testosterone Hormone in Male Albino Mice
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The study conducted to demonstrate the effect of copper nanoparticles (Cu-NPs) on the seminal vesicle and testosterone hormone of males' albino mice. Twenty mice were used and divided into four groups control group and three groups that orally administrated with 100 mg/kg Cu-NPs for 7, 14 and 21 days and each group have 5 animals. Then, the blood was withdrawn from the animals to measure the level of the hormone testosterone in the next day after all the dosages period and then the animal was sacrificed. Seminal vesicles isolated from each animal and measured weight then histological sections were prepared to observe the changes of seminal vesicles sections. Then the morphometric was carried out to the lining cells and their nucleus and

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Publication Date
Tue Aug 31 2021
Journal Name
Iraqi Journal Of Science
A 2D Seismic Reflection and Interpretation Study of the Khan Al-Baghdadi area within the Palaeozoic Era (western Iraq)
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     This research deals with a 2D seismic structural and stratigraphic interpretation of Khan Al-Baghdadi area which is located in the western part of Iraq in Anbar governorate. Two main seismic reflectors are identified within the Silurian and Ordovician; these are the Hot_shale_1 within Akkas Formation and the Top Khabour Formation, which were deposited during the Paleozoic, based on synthetic seismogram of Akk_3 well near the study area. Time, depth, and velocity maps show the presence of two anticline structures trending east-west and located on the west side of the study area. The first is the Tulul structure (here denoted as A) and the second is denoted as B. Also, the maps show the increase in time towards the

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Scopus (3)
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Publication Date
Sat Mar 30 2013
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Studying the Performance of Refrigeration Units Powered by Solar Panel
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An experimental study was conducted to determine the performance of a solar electric refrigeration system. The system contained flat photovoltaic solar panel which absorbs the solar energy and convert it to electrical energy, used to run the refrigeration cycle. Two refrigeration cycles with electrical solar panel were used over a period of 12 months, the first one with classical parts known in refrigeration cycle, while the second one introduced heat exchanger which improves the coefficient of performance by saving the consumed energy. The coefficient of performance of these refrigeration cycles with compressor efficiency 85% are 2.102 and 2.57 respectively. The overall efficiency of the two systems are 18.9% and 23.13%.

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Publication Date
Sun Apr 01 2007
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Correlation between the conventional, routine histological grading of transitional cell carcinoma of the urinary bladder and morphometric analysis
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Background: Transitional cell carcinoma of the urinary bladder is one of the important malignancies in both sex groups .It is considered as a heterogenous neoplasm with different
biological behavior, in which the majority are early non invasive with tendency for recurrence and some may progress to invasive tumor. An important clinicopathological features are ,the tumor stage and histological grade which are used as prognostic parameters of the tumor and play an important role in therapy. Due to the subjectivity of the histological grading , the reproducibility was low . Many studies showed the value of quantitative analysis of the tumor as an important method in determining the recurrence of the tumor and

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Crossref
Publication Date
Tue Dec 21 2021
Journal Name
Journal Of Legal Sciences
The scope of parliamentary immunity in the UAE Constitutional organization: Comparative Study
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The immunity enjoyed by members of parliament is one of the most important guarantees for the performance of their parliamentary work, which protects them from threats or any reprisals against them.

There are two types of immunity:

  Objective immunity: the member does not bear any responsibility for the opinions, ideas, and statements he expresses within the council or its committees, but even outside it by some systems.

  Procedural immunity: that prevents criminal actions from being taken during or outside the session of the Council, with the approval of a body specified by the constitutions of the countries under study, but it is restricted by conditions and controls stipulated. It contains constitut

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Crossref
Publication Date
Tue Oct 01 2019
Journal Name
Journal Of Engineering
The Effect of Diyala River Water Quality on the Quality of Tigris River Water using GIS Mapping
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The assessment of a river water’ quality is an essential procedure of monitor programs and is used to collect basic environmental data. The management of integrated water resources in a sustainable method is also necessary to allow future generations to meet their water needs. The main objective of this research is to assess the effect of the Diyala River on Tigris River water quality using Geographic Information System (GIS) technique. Water samples have been collected monthly from November 2017 to April 2018 from four selected locations in Tigris and Diyala Rivers using the grab sampling method. Fourteen parameters were studied which are Turbidity, pH, Dissolved Oxygen, Biological Oxygen Demand, Electrical Conductivi

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Crossref (1)
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Publication Date
Tue Oct 02 2018
Journal Name
Iraqi Journal Of Physics
Informative accuracy investigation and updating map using remote sensing technique and GIS
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In this work, using GPS which has best accuracy that can be established set of GCPs, also two satellite images can be used, first with high resolution QuickBird, and second has low resolution Landsat image and topographic maps with 1:100,000 and 1:250,000 scales. The implementing of these factors (GPS, two satellite images, different scales for topographic maps, and set of GCPs) can be applying. In this study, must be divided this work into two parts geometric accuracy and informative accuracy investigation. The first part is showing geometric correction for two satellite images and maps.
The second part of the results is to demonstrate the features (how the features appearance) of topographic map or pictorial map (image map), Where i

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Crossref
Publication Date
Sat Dec 30 2023
Journal Name
Iraqi Journal Of Science
Agriculture Cadaster Map of Al-Shehimea
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The cadastral map is very important because it has technical and materialist
specification of the property borders and these maps which are land registration
based on it in Iraq, the problem is an ancient maps and unfit for use, despite its
importance, Therefor the updating and digitize the cadastral map is very pivotal, this
is what we have done in the present work.
In the present work, we have an old cadastral map (as a paper) was made in 1932
with modern satellite image (Quick Bird ) 2006, which has 61 cm resolution for the
same area after. Geometric correction technique has been applied by using image-toimage
method or (image registration ) and after that we get new agricultural cadaster
map and connect the

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Publication Date
Thu Oct 13 2022
Journal Name
Plant Archives
ISOLATION AND SERODIGNOSTIC OF VIBRIO CHOLERAE FROM PATIENTS SUFFERED FROM WATERY DIARRHEA IN SUWAYRAH, WASIT GOVERNORATE, IRAQ
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Background: Cholera has been recognized as a killer disease since earliest time. The disease is caused by infection of the small intestine by Vibrio cholerae O1 and O1391 which is characterized by severe dehydrating diarrheal condition and is one disease in modern times that is epidemic, endemic and pandemic in nature. Objective: This study was carried out to detect and isolate V. cholerae from patients suffered from watery diarrhea, which may cause severe complications such as dehydration, shock followed by death. Materials and methods: stool specimens were collected from 308 patients with watery diarrhea. These samples were tested with many criteria such as TCBS agar, gram stain, biochemical tests and VITEK-2 system to improve the isolati

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