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Quantitative analysis and control of the torque profile of the upper limb using a kinetic model and motion measurements
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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.

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Publication Date
Fri Mar 31 2017
Journal Name
Journal Of Engineering
Experimental Measurements of Viscosity and Thermal Conductivity of Single Layer Graphene Based DI-water Nanofluid
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Experimental measurements of viscosity and thermal conductivity of single layer of graphene . based DI-water nanofluid are performed as a function of  concentrations (0.1-1wt%) and temperatures between (5 to 35ºC). The result reveals that the thermal conductivity of GNPs nanofluids was increased with increasing the nanoparticle weight fraction concentration and temperature, while the maximum enhancement was about 22% for concentration of 1 wt.% at
35ºC. These experimental results were compared with some theoretical models and a good agreement between Nan’s model and the experimental results was observed. The viscosity of the graphene nanofluid displays Newtonian and Non-Newtonian behaviors with respect to nanoparticles concen

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Publication Date
Fri Apr 21 2023
Journal Name
Technologies And Materials For Renewable Energy, Environment And Sustainability: Tmrees22fr
Effect of Ag doping on optical constant and hall effect measurements of SnS thin films
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In this report Silver doped Tin Sulfide (SnS) thin films with ratio of (0.03) were prepared using thermal evaporation with a vacuum of 4*10-6 mbar on glass with (400) nm thickness and the sample annealing with ( 573K ). The optical constants for the wavelengths in the range (300-900) nm and Hall effect for (SnS and SnS:3% Ag) films are investigated and calculated before and after annealing at 573 K. Transition metal doped SnS thin films the regular absorption 70% in the visible region, the doping level intensification the optical band gap values from 1.5- 2 eV. Silver doped tin sulfide (SnS) its direct optical band gap. Hall Effect results of (SnS and SnS:3% Ag) films show all films were (p-type) electrical conductivity with resistivity of

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Publication Date
Sat Apr 30 2022
Journal Name
Iraqi Journal Of Science
Measurements and Calculations of parametrs of Zinc Oxide Plasma Produced by Laser induced Breakdown Spectroscopy
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          In this work, the optical emission characteristics of the ZnO plasma were presented. The plasma parameters: electron temperature (Te), electron density( ne), plasma frequency (fp) and Debye length (λD) were  studied with  a spectrometer that collects the spectrum ZnO plasma in air produced by Nd:YAG laser,(λ=1064 nm) at ratio X=0.5 in the range of energy of (700-1000 mJ), duration (10 ns). The Boltzmann plot methodwas employed to calculate the electron temperature (Te), while the Stark broadening  was used to determine the electron density (ne), Debye duration (λD), and plasma frequency (fp).  Te, ne, and fp

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Publication Date
Sun Dec 02 2018
Journal Name
Journal Of The College Of Education For Women
Poverty and its Relations to Some Social Variables (Children in the Primary Stage as a Model)
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The phenomenon of poverty is one of the most important phenomena facing the world at large. Despite the tremendous technological progress witnessed by mankind and despite the unprecedented high levels of world economic production, poverty remains the greatest challenge facing the world. Statistics and studies have shown that poverty is caused by several problems: (health, social, economic, educational, etc.) These problems are obstacles to the ability to obtain employment opportunities, which leads in the beginning to the growth phenomenon of unemployment, and ultimately to the growth of poverty.

The results of a range of research in the field of psychology have confirmed that children from poor homes suffer from a high level of

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Publication Date
Tue Jan 18 2022
Journal Name
Iraqi Journal Of Science
Fast Text Analysis Using Symbol Enumeration and Hashing Methodology
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This paper is focusing on reducing the time for text processing operations by taking the advantage of enumerating each string using the multi hashing methodology. Text analysis is an important subject for any system that deals with strings (sequences of characters from an alphabet) and text processing (e.g., word-processor, text editor and other text manipulation systems). Many problems have been arisen when dealing with string operations which consist of an unfixed number of characters (e.g., the execution time); this due to the overhead embedded-operations (like, symbols matching and conversion operations). The execution time largely depends on the string characteristics; especially its length (i.e., the number of characters consisting

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Publication Date
Thu Dec 14 2023
Journal Name
Malaysian Journal Of Mathematical Sciences
The Effect of Alternative Resource and Refuge on the Dynamical Behavior of Food Chain Model
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This article examines and proposes a dietary chain model with a prey shelter and alternative food sources. It is anticipated that mid-predators' availability is positively correlated with the number of refuges. The solution's existence and exclusivity are examined. It is established that the solution is bounded. It is explored whether all potential equilibrium points exist and are locally stable. The Lyapunov approach is used to investigate the equilibrium points' worldwide stability. Utilizing a Sotomayor theorem application, local bifurcation is studied. Numerical simulation is used to better comprehend the dynamics of the model and define the control set of parameters.

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Publication Date
Fri Feb 12 2016
Journal Name
International Journal Of Applied Mathematical Research
The dynamics of nutrient, toxic phytoplankton, nontoxic phytoplankton and zooplankton model
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<p>The objective of this paper is to study the dynamical behavior of an aquatic food web system. A mathematical model that includes nutrients, phytoplankton and zooplankton is proposed and analyzed. It is assumed that, the phytoplankton divided into two compartments namely toxic phytoplankton which produces a toxic substance as a defensive strategy against predation by zooplankton, and a nontoxic phytoplankton. All the feeding processes in this food web are formulating according to the Lotka-Volterra functional response. This model is represented mathematically by the set of nonlinear differential equations. The existence, uniqueness and boundedness of the solution of this model are investigated. The local and global stability

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Publication Date
Fri Mar 27 2020
Journal Name
Iraqi Journal Of Science
On The Mathematical Model of Two- Prey and Two-Predator Species
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In this work, we study two species of predator with two species of prey model, where the two species of prey live in two diverse habitats and have the ability to group-defense. Only one of the two predators tends to switch between the habitats. The mathematical model has at most 13 possible equilibrium points, one of which is the point of origin, two are axial, tow are interior points and the others are boundary points. The model with , where n is the switching index, is discussed regarding the boundedness of its solutions and the local stability of its equilibrium points. In addition, a basin of attraction was created for the interior point. Finally, three numerical examples were given to support the theoretical results.

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Publication Date
Thu Jun 30 2022
Journal Name
Iraqi Journal Of Science
The Effect of Mutual Interaction and Harvesting on Food Chain Model
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       This paper treats the interactions among four population species. The system includes one mutuality prey, one harvested prey and two predators. The four species interaction can be described as a food chain, where the first prey helps the second harvested prey. The first and the second predator attack the first and the second prey, respectively, according to Lotka-Volterra type functional responses. The model is formulated using differential equations. One equilibrium point of the model is found and analysed to reveal a threshold that will allow the coexistence of all species. All other equilibrium points of the system are located, with their local and global stability being assessed. To back up the conclusions of the mathema

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Publication Date
Sun Dec 04 2011
Journal Name
Baghdad Science Journal
Quantitative and Qualitative detect for cheat beef with chicken meat by immunological methods
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beef and chicken meat were used to get Sarcoplasim, the chicken Sarcoplasim were used to prepare antibody for it after injected in rabbit, the antiserums activity were 1/32 by determined with Immune double diffusion test, the self test refer to abele for some antiserums to detected with beef sarcoplasim, which it mean found same proteins be between beef and chicken meat, which it refer to difficult depended on this immune method to detect for cheat of chicken meat with beef, so the antibody for beef sarcoplasim were removed from serum by immune absorption step to produce specific serum against chicken sarcoplasim that it used in Immune double diffusion test to qualitative detect for cheat beef with 5% chicken meat or more at least, and the

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