Preferred Language
Articles
/
rRbfGIoBVTCNdQwCg5De
Quantitative analysis and control of the torque profile of the upper limb using a kinetic model and motion measurements
...Show More Authors

This paper investigates a new approach to the rapid control of an upper limb exoskeleton actuator. We used a mathematical model and motion measurements of a human arm to estimate joint torque as a means to control the exoskeleton’s actuator. The proposed arm model is based on a two-pendulum configuration and is used to obtain instantaneous joint torques which are then passed into control law to regulate the actuator torque. Nine subjects volunteered to take part in the experimental protocol, in which inertial measurement units (IMUs) and a digital goniometer were used to measure and estimate the torque profiles. To validate the control law, a Simscape model was developed to simulate the arm model and control law in which measurement data from IMUs and a goniometer were fed into the suggested Simscape model. The arm torque profiles are key to the control approach and should be traced by torques produced by the exoskeleton actuators to provide comfort and flexibility for the subjects. A DC motor was used as an actuator for the exoskeleton, and its model was used in the physical Simscape model. To reduce the error in the driving torque compared with the reference arm torque, a PID controller was implemented. The results show the potential of our methodology for tracking and controlling the actuator’s torque, in which the mean square error was reduced to less than 0.2 - a significantly low value.

Scopus Clarivate Crossref
View Publication
Publication Date
Fri Nov 29 2019
Journal Name
Iraqi Journal Of Physics
Band Gap Characterization of Thermally Treated Hybrid Blend ZnPc/CdS Thin Films
...Show More Authors

Spin coating technique used to prepare ZnPc, CdS and ZnPc/CdS blend thin films, these films annealed at 423K for 1h, 2h and 3h. Optical behavior of these films were examined using UV-Vis. and PL. The absorption spectrum of ZnPc shows a decreasing in absorption with the increase of annealing time while CdS spectrum give a clearly absorption peak at~510 nm. Energy gap of ZnPc increases from 1.41 to 1.52 eV by increasing the annealing time. Eg of CdS decrease by increasing annealing time, from 2.3 eV to 2.2 eV. The intensities of the peaks obtained from PL spectra were strongly dependent on annealing time and confirmed the results obtained from UV-Vis. D.C. conductivity measurement showed that all the thin films have two differen

... Show More
View Publication Preview PDF
Crossref
Publication Date
Thu Jul 20 2023
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Detection of Bacteria Causing Burn Infection Isolated from Several Hospitals in Baghdad
...Show More Authors

The results of the present study showed that twenty-five samples were collected for the age group 35–40 years and four samples for the age group 65–70 years for both genders. The results showed that 48 (48%) of the samples were obtained from the hands, 16 (16%) from the legs, 12 (12%) from the abdominal area, and 10 (10%) from the chest area. The four (4%) samples were obtained from burns in the back and thighs area. The samples taken according to the cause of burns were 40 (40%) due to hot water, hot liquids, or hot steam, followed by 18 (18%) due to the use of hot tools, 15 (15%) due to fires, 12 (12%) due to electric currents, 10 (10%) due to chemicals such as strong acids, alkaline lye, paint thinner, or gasoline, and 5 (5%) due

... Show More
View Publication Preview PDF
Crossref (2)
Crossref
Publication Date
Wed Feb 20 2019
Journal Name
Iraqi Journal Of Physics
Measurement of radon concentrations for some houses in Al-Najaf city /Iraq
...Show More Authors

    Measurement of radon concentration level was carried out in 40 houses in Al – Najaf city during summer season of 2012. Long term measurement of indoor of old building radon concentrations have been taken, using a previously calibrated passive diffusion dosimeters containing CR – 39 solid state nuclear track detectors which are very sensitive for alpha particles. The measurement of the indoor radon concentration obtained in summer in these regions ranged from 11.654±4.216 Bq.m-3 to 53.610±8.777 Bq.m-3. The results were within universally permitted levels.     

View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Fri Mar 30 2007
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Electrolytic preparation of Iron powder with particle Size Less than 106 pm
...Show More Authors

Avery large numbers of articles are made by powder metallurgical methods using electrolytically reduced metal powders. Iron powder is one of these powders which play an important role in this field. Its preparation by electrolytic method is economic in comparison with the traditional methods (Atomization and carbonyl processes).

An electrochemical cell consisting of two electrodes (stainless steel cathode and iron anode, 99.9%) was used to study the electrolytic preparation of iron powder with particle size less than 106µm directly as powde1y form. Ferrous sulphate electrolyte was used containing sodium chloride as a stabilizing agent. The produced powder was thoroughly washed with an acidified distilled water and absolute ethan

... Show More
View Publication Preview PDF
Publication Date
Thu Jul 28 2016
Journal Name
Computer And Information Science
Refinement for Ocular Ultrasound Images Quality by Utilizing Combination of Enhancement Techniques
...Show More Authors

Ultrasound has been used as a diagnostic modality for many intraocular diseases, due its safety, low cost, real time and wide availability. Unfortunately, ultrasound images suffer from speckle artifact that are tissue dependent. In this work, we will offer a method to reduce speckle noise and improve ultrasound image to raise the human diagnostic performance. This method combined undecimated wavelet transform with a wavelet coefficient mapping function: where UDWT used to eliminate the noise and a wavelet coefficient mapping function used to enhance the contrast of denoised images obtained from the first component. This methods can be used not only as a means for improving visual quality of medical images but also as a preprocessing

... Show More
View Publication Preview PDF
Crossref
Publication Date
Wed Dec 13 2017
Journal Name
Al-khwarizmi Engineering Journal
Shot Peening Time Effect on Corrosion Behaviors of Al Alloy 2024-T3
...Show More Authors

In this study many specimen s were prepared from 2024-T3 Aluminum alloy for corrosion test by the dimensions of (15*15*3) mm according to ASTM G71-31 and then subjected to shot peening process at different time (15, 30, 45) minutes using steel ball having a diameter of 2.75 mm and Rockwell Hardness of 55RC to induce compressive residual stress which were measured using X-Ray diffraction method, surface roughness and   hardness were tested before and after peening. Electrochemical corrosion test by Tafel extrapolation method was carried out in an environment of 3 .5% NaCl solutions (sea water) where Corrosion rate calculated using Tafle equation.

The obtained results show a favorable influence of SP treatment

... Show More
View Publication Preview PDF
Publication Date
Sat Apr 01 2023
Journal Name
Iop Conference Series: Earth And Environmental Science
Effect of Ginger Powder Addition in Broiler Chicken Diets on Productive Performance
...Show More Authors

The purpose of this research was to examine the impact of varying doses of ginger powder on broiler productivity. There were 180 commercial strain Ross 308 day old chicks utilized in the experiment, and each chick was weighed and allocated randomly among four treatments. Three different treatments were tested, each with a replication of 15 chicks. The diet was supplemented with 0.5, 1.0 and 2.0g/kg of ginger powder, respectively, as a control. As compared to the other treatments, the control group had considerably higher body weights, weight growth, feed intake, and feed conversion ratio. Ginger powder use was shown to have a detrimental impact on growth in this investigation.

View Publication Preview PDF
Scopus (1)
Crossref (1)
Scopus Crossref
Publication Date
Fri Jun 16 2023
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Optimization of Bis-anthraquinones Production from Endophytic Fungi Diaporthe sp. GNBP-10
...Show More Authors

Bis-anthraquinones with a unique molecular backbone, (+)-2,2’-epicytoskyrin A (epi) and (+)-1,1′-bislunatin (bis), was produced by endophytic fungi Diaporthe sp GNBP-10 associated with Gambir plant (Uncaria gambier). Epi and bis possess robust antimicrobial activity toward various pathogens. This study focus on knowing the optimum condition of epi and bis production from Diaporthe sp GNBP-10. A series of culture media with various nutrient compositions was investigated in epi and bis production. The content of epi and bis was determined by measuring the area under the curve from TLC-densitometric (scanner) experiment. The linear regression analysis was then applied to obtain the results. The optimi

... Show More
View Publication Preview PDF
Scopus (1)
Crossref (1)
Scopus Crossref
Publication Date
Mon Jun 19 2023
Journal Name
Journal Of Engineering
Structural Behavior of Reinforced Concrete Hollow Beams under Partial Uniformly Distributed Load
...Show More Authors

A Longitudinal opening is used to construct hollow core beam is a cast in site or precast or pre stressed concrete member with continuous voids provided to reduce weight, cost and, as a side benefit, to use for concealed electrical or mechanical runs. Primarily is used as floor beams or roof deck systems. This study investigate the behavior of six beams (solid or with opening) of dimension (length 1000 x height 180 x width120mm) simply support under partial uniformly distributed load, four of these beam contain long opening of varied section (40x40mm) or (80x40mm). The effect of vertical steel reinforcing, opening size and orientations are investigated to evaluate the response of beams. The experimental behavior based on load-deflection

... Show More
View Publication Preview PDF
Crossref (15)
Crossref
Publication Date
Mon Dec 30 2024
Journal Name
Scientific Reports
Exploring dihydropyrimidone derivatives as modulators of carbohydrate catabolic enzyme to mitigate diabetes
...Show More Authors

View Publication
Scopus (2)
Crossref (2)
Scopus Clarivate Crossref