Preferred Language
Articles
/
mRcrFY4BVTCNdQwC_zFz
Robust Approach of Optimal Control for DC Motor in Robotic Arm System using Matlab Environment
...Show More Authors

Modern automation robotics have replaced many human workers in industrial factories around the globe. The robotic arms are used for several manufacturing applications, and their responses required optimal control. In this paper, a robust approach of optimal position control for a DC motor in the robotic arm system is proposed. The general component of the automation system is first introduced. The mathematical model and the corresponding transfer functions of a DC motor in the robotic arm system are presented.  The investigations of using DC motor in the robotic arm system without controller lead to poor system performance. Therefore, the analysis and design of a Proportional plus Integration plus Divertive (PID) controller is illustrated. The tuning procedure of the PID controller gains is discussed to achieve the best responses of the DC motor. It is found that with the PID controller, the system performance is enhanced, especially in terms of steady-state error but does not provide the required optimal control.  The required approach of Ackerman's formula optimal controller based on state-space feedback is investigated. A GUI using the Matlab environment is created to obtain the DC motor's responses without using a controller and with controllers. It is found that the proposed approach of the optimal controller has more robustness and enhances the overall performance of the existing PID controller in the form of reducing settling times (from 2.23 second to 0.776 seconds), minimizing percent overshoot (from 27.7 % to 1.31 %) and zero value of steady-state error.

Scopus Crossref
View Publication
Publication Date
Sun Mar 01 2009
Journal Name
Journal Of Economics And Administrative Sciences
The philosophy of Total Quality Management for the environment
...Show More Authors
The Environmental Management System (EMS) is an important foundation for effective control of the organization's outstanding environmental performance. It applies standards for substantive review and provides a structure and a way to apply it in all aspects of th
... Show More
View Publication Preview PDF
Crossref (2)
Crossref
Publication Date
Thu Nov 08 2018
Journal Name
Iraqi National Journal Of Nursing Specialties
Assessment of nurses' knowledge towards signs of gross motor delay for children at Alhawija District in Kirkuk Governorate
...Show More Authors

Background: the early identification of developmental disabilities allows intervention at the earliest possible point to
improve the developmental potential.
Objective: Identify the scope of knowledge of nurses toward signs of gross motor delay for children and its relation to
their demographic characteristics.
Methodology: A descriptive study design was conducted at (18) primary health care centers in first of the primary
health care sector of Alhawija District in Kirkuk Governorate. This study started from September 2010 to the end of
January 2011, in order to identify the level of nurses' knowledge toward signs of gross motor delay for children in
primary health care centers. Non probability (purposive) sample of

... Show More
View Publication Preview PDF
Publication Date
Tue Jun 30 2015
Journal Name
Al-khwarizmi Engineering Journal
Deflection Analysis of an Elastic Single Link Robotic Manipulator
...Show More Authors

Abstract

Robotics manipulators with structural flexibility provide an attractive alternative to rigid robotics manipulators for many of the new and evolving applications in robotics. In certain applications their use is unavoidable. The increased complexity in modeling and control of such manipulators is offset by desirable performance enhancements in some respects. In this paperthe single- link flexible robotics manipulator was designed and implemented from Perspex and designed with 0.5 m length , 0.02 m width and with 0.004 m thickness with mass located at the tip. There are four subsystems; motion, control, accelerometer and gyro and a host computer subsystem. The work principle of single-link robotics manipul

... Show More
View Publication Preview PDF
Publication Date
Thu Apr 25 2019
Journal Name
Iraqi Journal Of Market Research And Consumer Protection
PATTERN OF INVESTMENT PROJECTS IN THE INVESTMENT ENVIRONMENT: PATTERN OF INVESTMENT PROJECTS IN THE INVESTMENT ENVIRONMENT
...Show More Authors

That the building of the national economy depends on the extent of the possibility of transition from the rent economy seeking to increase GDP (GDP1), and the tendency to manage projects with external sources of funding, or allow projects with foreign capital is a necessity. The strategic challenges faced by the economy in countries that have experience in investment projects have faced several factors internal and external for a period of time and not a few and the pressures and difficulties and failures have affected in one way or another on the development work in that country. On this basis, the stakeholders have a role to pay attention to the issue of the feasibility of the pattern of foreign investment in the investment environment

... Show More
View Publication Preview PDF
Publication Date
Wed Jul 20 2022
Journal Name
International Journal Of Health Sciences
Determination the optimal conditions for production of nanocellulose from acetic acid bacteria
...Show More Authors

Bacteria could produce bacterial nanocellulose through a procedure steps: polymerization and crystallization, that occur in the cytoplasm of the bacteria, the residues of glucose polymerize to (β-1,4) lineal glucan chains that produced from bacterial cell extracellularly, these lineal glucan are converted to microfbrils, after that these microfbrils collected together to shape very pure three dimensional pored net. It could be obtained a pure cellulose that created by some M.O, from the one of the active producer organism like Acetic acid bacteria (AAB), that it is a gram -ve, motile and live in aerobic condition. The bacterial nanocellulose (BNC) have great consideration in many fields because of its flexible properties, features

... Show More
View Publication
Crossref
Publication Date
Thu Jul 18 2019
Journal Name
Annals Of Tropical Medicine & Public Health
SURVIVIN TARGETING; AN IN SILICO APPROACH FOR ANTICANCER DESIGN
...Show More Authors

Survivin, a member of inhibitor of apoptosis family is increasingly used as a target for cancer therapy design because it has a key role in cell growth and inhibition of cell apoptosis. Also it can be used as a biomarker for targeting cancer because it is found in almost all cancer but not normal cells. Our strategy was to design (computationally) a molecule to be used as survivin inhibitor. This molecule was named lead10 and was used furthermore to find (virtually) existing drugs with a good survivin inhibition activity.

Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
Solution of Variavle Delay integral eqiations using Variational approach
...Show More Authors

The main objective of this research is to use the methods of calculus ???????? solving integral equations Altbataah When McCann slowdown is a function of time as the integral equation used in this research is a kind of Volterra

View Publication Preview PDF
Publication Date
Wed Aug 25 2021
Journal Name
Caai Transactions On Intelligence Technology
Shoulder girdle recognition using electrophysiological and low frequency anatomical contraction signals for prosthesis control
...Show More Authors

View Publication Preview PDF
Scopus (17)
Crossref (13)
Scopus Clarivate Crossref
Publication Date
Sun May 24 2026
Journal Name
Journal Of Physical Education
The Effect of Exercises With Aiding Devices Using Consistent Style on Developing Motor Response Speed in Female Basketball Players U14
...Show More Authors

View Publication
Publication Date
Mon Jan 01 2018
Journal Name
Image And Video Technology: 8th Pacific-rim Symposium
A New Scheme for QoE Management of Live Video Streaming in Cloud Environment
...Show More Authors

Scopus (1)
Scopus Clarivate Crossref