Preferred Language
Articles
/
nxYc14kBVTCNdQwCd43R
Fuzzy Luenberger Observer Design for Nonlinear Flexible Joint Robot Manipulator
...Show More Authors

The process of controlling a Flexible Joint Robot Manipulator (FJRM) requires additional sensors for measuring the state variables of flexible joints. Therefore, taking the elasticity into account adds a lot of complexity as all the additional sensors must be taken into account during the control process. This paper proposes a nonlinear observer that controls FJRM, without requiring equipment sensors for measuring the states. The nonlinear state equations are derived in detail for the FJRM where nonlinearity, of order three, is considered. The Takagi–Sugeno Fuzzy Model (T-SFM) technique is applied to linearize the FJRM system. The Luenberger observer is designed to estimate the unmeasured states using error correction. The developed Luenberger observer showed its ability to control the FJRM by utilizing only the measured signal of the velocity of the motor. Stability analysis is implemented to improve the ability of the designed observer to stabilize the FJRM system. The developed observer is tested by simulation to evaluate the ability of the observer to estimate the unknown states. The results showed that the proposed control algorithm estimated the motor angle, gear angle, link angle, angular velocity of gear, and angular velocity of link with zero steady errors.

Scopus Clarivate Crossref
View Publication
Publication Date
Mon Feb 13 2023
Journal Name
Journal Of Educational And Psychological Researches
Measurement of Classroom Flexibility for Kindergarten Childre
...Show More Authors

The current research aims to identify measure classroom flexibility for kindergartens children, identify the correlation between the classroom flexibility of kindergartens children and the gender of the child, and identify the correlation between the classroom flexibility of kindergartens children and their classroom. The current research sample consisted of (200) boys and girls selected randomly from the governmental Riyadh affiliated with the six directorates of education of Baghdad on both sides (al-karkh - al-rasafa). in order to achieve the objectives of the current research, this required including two tools, one is the scale of classroom flexibility for the kindergartens' children, which was constructed by the researcher based on

... Show More
View Publication Preview PDF
Publication Date
Mon Jun 01 2009
Journal Name
Al-khwarizmi Engineering Journal
Modeling and Filtering for Tracking Maneuvering Targets
...Show More Authors

     A new mathematical model describing the motion of manned maneuvering targets is presented. This model is simple to be implemented and closely represents the motion of maneuvering targets. The target maneuver or acceleration is correlated in time. Optimal Kalman filter is used as a tracking filter which results in effective tracker that prevents the loss of track or filter divergency that often occurs with conventional tracking filter when the target performs a moderate or heavy maneuver. Computer simulation studies show that the proposed tracker provides sufficient accuracy.

 

View Publication Preview PDF
Publication Date
Sat Dec 01 2012
Journal Name
Journal Of Economics And Administrative Sciences
Emotional Intelligence and Leadership Personality for Managers
...Show More Authors

The purpose of this research is to analyze the relationship between the emotional intelligence and the leadership personality of the managers . the research was tested at the college of administration and economics – university of Baghdad through applying it on a sample of (67) members and units of the college. a questionnaire was used as a major tool for collecting data and information . for the purpose of researching to conclusion, the research aimed to test two main hypotheses related to the correlation coefficient and the effect correlation between the two main variable of the research, some statistical techniques such as (the mean, student deviation, percentages, correlation coefficient spearman, simple regression) were us

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sun Nov 01 2015
Journal Name
Our Dermatology Online/nasza Dermatologia Online
Microwave Thermotherapy: New treatment for cutaneous leishmaniasis.
...Show More Authors

KE Sharquie, SA Al-Mashhadani, AA Noaimi, WB Al-Zoubaidi, Our Dermatology Online/Nasza Dermatologia Online, 2015 - Cited by 10

View Publication
Publication Date
Mon Apr 01 2019
Journal Name
Journal Of Educational And Psychological Researches
Requirements for Implementing School Performance Indicators System
...Show More Authors

The aim of the research is to find out the availability of the requirements of applying the indicators of school performance system in the public schools in  Mahayel Asir educational directorate through the school planning indicator, the safety and security indicator, the active learning indicator, the student guidance indicator and determining the existence of statistically significant differences between the responses of the research community according to the variable of (scientific qualification - years of work as a principal - training courses). The questionnaire was used as a tool for data collection from the research community, which consists of all the public schools’ principals (n=180) Mahayel Asir educational directorate

... Show More
View Publication Preview PDF
Publication Date
Thu Jun 30 2016
Journal Name
Al-kindy College Medical Journal
Risk factors for autism in Baghdad city
...Show More Authors

Background: Autism is a complex developmental disability that typically appears during the first three years of life. Autism affects the normal development of the brain in the areas of social interaction and communication skills.Objectives: To identify risk factors for Autism among a sample of autistic children in Baghdad city. Type of the study: this is a case – control, study. Methods: This study was conducted during the period of data collection extended from first of November 2010 until the first of April 2011,The total number of children involved was 100children with diagnosis of autism. Handred children who are free from autism were taken as the control sample. Results: there was a significant association between paternal age and

... Show More
View Publication Preview PDF
Publication Date
Tue Oct 31 2023
Journal Name
College Of Islamic Sciences
Asking for permission and its legal ruling
...Show More Authors

Praise be to God, Lord of the Worlds, and the best blessings and peace be upon our master Muhammad and all his family and companions, and those who follow them with goodness until the Day of Judgment. . And after:

God created man in the best manner, and subjugated the universe to him and favored him over the rest of creation when he gave him a mind to contemplate and know how to distinguish between the harmful and the beneficial, the bad and the good, in order to exploit him in achieving the meaning of worship, because it is the highest goal of his creation. God Almighty said (And I did not create the jinn and mankind. Except that they worship them.” [Al-Dhariyat: 56]

If knowing what is harmful from what is beneficial a

... Show More
View Publication Preview PDF
Publication Date
Fri Apr 01 2011
Journal Name
Journal Of Engineering
Membranes separation process for oily wastewater treatment
...Show More Authors

Pilot-scale dead end microfiltration membranes were carried out to determine the feasibility of the process for treating the oily wastewater which discharge from some Iraqi factories such as power station of south of Baghdad and the general company of petrochemical industries. Polypropylene membranes (cylindrical shape) with different pore diameters (1 and 5 micron) were used to conduct the study on micromembrane process. The variables studied are oil concentration (100 – 1000 ppm), feed flow rate (20 – 40 l/h), operating temperature (31 – 50°C) and time (0 – 3 h). It was found that the flux increases with increasing feed flow rate, temperature and pore size of membrane, and decreases with increasing oil concentration and operating

... Show More
Preview PDF
Publication Date
Wed Dec 05 2012
Journal Name
Al-kindy College Medical Journal
Isosorbide mononitrate versus mesoprostol for cervical ripening
...Show More Authors

Publication Date
Wed May 01 2019
Journal Name
Journal Of Engineering
Reduced Complexity SLM Method for PAPR Reduction
...Show More Authors

In this paper, the computational complexity will be reduced using a revised version of the selected mapping (SLM) algorithm. Where a partial SLM is achieved to reduce the mathematical operations around 50%. Although the peak to average power ratio (PAPR) reduction gain has been slightly degraded, the dramatic reduction in the computational complexity is an outshining achievement. Matlab simulation is used to evaluate the results, where the PAPR result shows the capability of the proposed method.  

 

View Publication Preview PDF
Crossref