Preferred Language
Articles
/
oheWpZIBVTCNdQwCRbwd
A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242)
...Show More Authors

This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot’s joint angles.

Scopus Clarivate Crossref
View Publication
Publication Date
Mon Jun 01 2020
Journal Name
Iop Conference Series: Materials Science And Engineering
The possibility of Using the Low-Cost External Antenna with Smartphone for Accurate Surveying Applications by RTX Technology
...Show More Authors
Abstract<p>Real Time Extended (RTX) technology works to take advantage of real-time data comes from the global network of tracking stations together with inventor locating and compression algorithms to calculate and relaying the orbit of satellite, satellite atomic clock, and any other systems corrections to the receivers, which lead to real-time correction with high accuracy. These corrections will be transferred to the receiver antenna by satellite (where coverage is available) and by IP (Internet Protocol) for the rest of world to provide the accurate location on the screen of smartphone or tablet by using specific software. The purpose of this study was to assess the accuracy of Global Navig</p> ... Show More
View Publication Preview PDF
Scopus (2)
Crossref (1)
Scopus Crossref
Publication Date
Sun Jul 31 2022
Journal Name
Iraqi Journal Of Science
Reservoir Characterization of Lower Qamchuqa (Shu'aiba) Formation from the Well BH-86, Bai- Hassan Oil field, Northern Iraq
...Show More Authors

      The reservoir characterization of Lower Qamchuqa (Shu'aiba) Formation (Aptian) is studied at the well BH-86 of Bai- Hassan Oilfield in Kirkuk area, Northern Iraq. The lithological study (of 91 thin sections) revealed that the formation consists of shaly limestone, a thin bed of marl within the limestone, and dolomitic limestone. Four petrographic microfacies were noticed Lime mudstone microfacies, Dolomudstone microfacies, Lime wackestone microfacies, subdivided into benthonic foraminifera lime wackestone submicrofacies and bioclasts lime wackestone submicrofacies, and the last microfacies is the Lime packstone microfacies, which is subdivided into pelloidal lime packstone submicrofacies and Orbitolina lime packstone microfaci

... Show More
View Publication Preview PDF
Scopus (2)
Scopus Crossref
Publication Date
Thu Dec 01 2022
Journal Name
Chemical Data Collections
Removal of an anionic Eosin dye from aqueous solution using modified activated carbon prepared from date palm fronds
...Show More Authors

View Publication
Scopus (19)
Crossref (12)
Scopus Clarivate Crossref
Publication Date
Fri Apr 01 2022
Journal Name
Chemical Methodologies
Design, Synthesis of Imidazolone and Oxazepine Derivatives Bearing Imidazo (2, 1-b) Thiazole along with its Antimicrobial Activity
...Show More Authors

A new methodology was applied to the synthesis of new imidazolones and oxyazepine derivatives containing imidazo thiazole fused rings. Starting with 5-(4-bromo phenyl) imidazo (2, 1-b) thiazole, which was synthesized using the standard procedure, the Carbaldehyed group was introduced at position 6 of 5-(4-bromo phenyl) imidazo (2, 1-b) thiazole. Then, this 6-carbaldehyed derivative was condensed with different substituted aromatic amines to afford new Schiff bases. The latter were cyclized into new oxazepine and imidazolone derivatives by using phthalic anhydride and glycine, respectively. These new derivatives were characterized by using FT-IR, 1HHNMR, and 13CNMR spectra, as well as examined (evaluated) for anti-bacterial and anti-fungal a

... Show More
View Publication Preview PDF
Scopus (11)
Scopus Clarivate
Publication Date
Wed Feb 05 2025
Journal Name
Modern Sport
Precision tracking and visual animation and its relationship to the results of the competition with the Sabre Players.
...Show More Authors

In order to get advanced results, we must stand at the pointsthat have been observed by the trainers that are of significance inthe sport of fencing and concern for capacity optical (traceoptical and precision visual animation), so we must learn some ofthese types of capacity, whichever is more influential in the gamefencing so that they add a new axis to the player to pick andchoose in order to achieve the desired goal and raise the level ofthe game.The study aimed to identify the relationship between the visualtracking and accuracy of visual animated face and the results ofcompetitions Sabre of the other.Used a much more descriptive approach to study relational on asample of players clubs Sabre and the way intentional, whoqualified to the

... Show More
View Publication
Publication Date
Sun Jan 01 2023
Journal Name
Aip Conference Proceedings
Study of (Zn0.7 Mn0.3-x Ag0.3 Fe2O4) ferrite nanoparticles synthesized by auto combustion method for NO2 gas sensing
...Show More Authors

View Publication
Scopus (1)
Scopus Crossref
Publication Date
Wed May 25 2022
Journal Name
Iraqi Journal Of Science
Metal Complexes of Bis (2,6-diamine pyridine 2,5-hexanedione) Macrocyclic Schiff-Base Ligand: Preparation, Characterization and thermal study
...Show More Authors

     New series of Schiff base macrocyclic complexes have been prepared through a new chemical approach. Firstly, ligand Bis (2,6-diamine pyridine 2,5-hexanedione (DP-HD)  prepared via reacting of 2,6-diamine pyridine (DP) with 2,5-hexanedione(HD) in molar ration (1DP:1HD). The complexes of this ligand include Mn (II), Fe (II), Co (II), Ni (II) and Cu (II) as central metal ions also prepared with a molar ratio of (1 ligand:1 metal ion). Metals chloride was used as raw materials for this preparation. A variety of spectral and physical techniques were applied to characterize the macrocyclic complexes such as 1H-NMR, FT-IR, UV-Vis, CHN analysis, conductivity, Atomic absorption and magnetic susceptibility. Depending on spectral and magn

... Show More
View Publication Preview PDF
Scopus (3)
Crossref (3)
Scopus Crossref
Publication Date
Sat Oct 01 2011
Journal Name
Journal Of Engineering
THE EFFECT OF SPACE VOLUME ON FREE CONVECTION HEAT TRANSFER FOR ONGITUDINAL FINNED CYLINDER WITH DIFFERENT SLOPE NGLES
...Show More Authors

This study deals with free convection heat transfer for the outer surface of two
cylinders of the shape of (Triangular & Rectangular fined cylinders with 8-fins),
putted into two different spaces; small one with dimension of (Length=1.2m,
height=1m, width=0.9m) and large one with dimension of (Length=3.6m, height =3m,
width=2.7m). The experimental work was conducted with air as a heat transport
medium. These cylinders were fixed at different slope angles (0o, 30o, 60o and 90o)
.The heat fluxes were (279, 1012, 1958, 3005, 4419) W/m2, where heat transferred by
convection and radiation. In large space, the results show that the heat transfer from
the triangular finned cylinder is maximum at a slope angle equals

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sun Mar 05 2017
Journal Name
Baghdad Science Journal
Detection of wheat damping off and root rot disease pathogenic fungi and it bio control by pseudomonas fluorescens
...Show More Authors

This study was conducted to determine the fungal cause and bio control of damping off and root rot of wheat plants by using pseudomonas fluorescens under greenhouse and field conditions. Results showed isolation of eight species from the soil and roots to deferent region of Baghdad government. Rhizoctonia solani (Rs) and Fusarium solani (Fs) were the predominant damping off fungus with frequency 60 and 52% respectively. Led the using of bacteria formulations such as crud suspension , pure bacteria filtration and pure living cells in culture medium inhibit all type fungi with rates ranging from 84-96% , 80- 93% and 75-88% respectively. Rs and Fs were more pathogenesis under greenhouse conditions, with incidence of 80 and 68% and disease s

... Show More
View Publication Preview PDF
Scopus (1)
Scopus Crossref
Publication Date
Sun Jul 25 2021
Journal Name
Natural Resources Research
Effect of Water Flooding on Oil Reservoir Permeability: Saturation Index Prediction Model for Giant Oil Reservoirs, Southern Iraq
...Show More Authors

View Publication
Crossref (1)
Crossref