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.
This research aims to numerically solve a nonlinear initial value problem presented as a system of ordinary differential equations. Our focus is on epidemiological systems in particular. The accurate numerical method that is the Runge-Kutta method of order four has been used to solve this problem that is represented in the epidemic model. The COVID-19 mathematical epidemic model in Iraq from 2020 to the next years is the application under study. Finally, the results obtained for the COVID-19 model have been discussed tabular and graphically. The spread of the COVID-19 pandemic can be observed via the behavior of the different stages of the model that approximates the behavior of actual the COVID-19 epidemic in Iraq. In our study, the COV
... Show MoreThe organizational integration forms a necessity according to McKinsey model, especially for service organizations. In the context of various service sector developments, importance adoption of compact mechanisms by these organizations to upgrade their services has increased and senior management must be more aware of environmental, competitive and developmental requirements. It gets more important when it shows in an organization seeking at excellence of making services within its policies and strategies. Subject organizational integration dimensions (strategy, structure, systems, style, staff, shared values, and skills) are effective components in directing behaviors of employees and organization. This motivated both researcher
... Show MoreUnderstanding sedimentation behavior and its transport capacity in the Tigris River is of significant importance owing to the detrimental consequences caused by it. This study investigates the sediment amounts transported along the reach of the Tigris River in Baghdad. The CCHE2D model which is a common tool developed by the National Center for Computational Hydrological Science and Engineering (NCCHE) was applied to investigate the flow pattern and sediment amounts within 7 km reach. The model was initially calibrated and validated under steady-state conditions at the Sarai gauging station (upstream) and its performance was evaluated around the Abu Nawas water treatment plant (downstream). The result shows that the water surfac
... Show MoreWhen writing a text, such as a newspaper article, various types of discourse markers are frequently used to group sentences into paragraphs and parts in order to establish a discourse with certain functions, such as coordination, orientation, emphasizing the concepts presented, etc. It should also be noted that this type of mark exists in both written and spoken language. Therefore, it is convenient to dedicate a chapter to these linguistic elements to clarify their use and their classification, which is mainly based on Jose Portolés (2001), as well as the main features, specifically their features (prosodic, morphological, semantic and pragmatic).
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Seismic inversion technique is applied to 3D seismic data to predict porosity property for carbonate Yamama Formation (Early Cretaceous) in an area located in southern Iraq. A workflow is designed to guide the manual procedure of inversion process. The inversion use a Model Based Inversion technique to convert 3D seismic data into 3D acoustic impedance depending on low frequency model and well data is the first step in the inversion with statistical control for each inversion stage. Then, training the 3D acoustic impedance volume, seismic data and porosity wells data with multi attribute transforms to find the best statistical attribute that is suitable to invert the point direct measurement of porosity from well to 3D porosity distribut
... Show MoreWater supply and distribution networks play an important role in our daily activities. They make a substantial contribution to public health by providing potable water for public consumption and non-potable applications such as firefighters and other purposes such as irrigation. This study used ArcMap 10.8 and WaterGEMS CONNECT Edition update 1 version to create a hydraulic network model to simulate the pipes’ network. Detailed network information, including pipe lengths, layouts, and diameters, was given by the Baghdad Water Department. The TUF-2000H Handheld digital ultrasonic flow meter has been used to measure the water flows in the network’s source nodes. In eight junctions,
Fifty five surface and subsurface soil samples were taken from the area between Tigris and Euphrates Rivers along the Main Drain course from north Baghdad to Basrah to evaluate the geochemical, physical characteristics and the probability contamination of these samples. The study area is covered by Quaternary sediments of complex alternation of sand, silt and clay. Significant variation in the textural content of the present soils is observed, where the northern and southern parts are characterized by silt predominance, while sand is prevailing in the central parts as a result of the extensive spreading of aeolian deposits represented mostly by sand dunes. Mineralogical analysis explains wide variations in the heavy minerals distribution
... Show MoreWater harvesting techniques developed globally during the last decades with highly increasing water crisis and climate changes. The Yeoman keyline method was spread widely with increased use for sustainable permaculture development. The main aim of the current study is to analyze and solve the siltation problem in Dwerige weir and to develop water resources in the basin area. The remote sensing data, field surveying, and hydrology are used together to build a new geotechnical approach. The results show that a huge siltation quantity was not considered in the weir design studies, which were represented by sand sheet materials and eroded soils washed by flooding and entering the weir reservoir through four main channels. The t
... Show MoreThis study focuses on improving the safety of embankment dams by considering the effects of vibration due to powerhouse operation on the dam body. The study contains two main parts. In the first part, ANSYS-CFX is used to create the three-dimensional (3D) Finite Volume (FV) model of one vertical Francis turbine unit. The 3D model is run by considering various reservoir conditions and the dimensions of units. The Re-Normalization Group (RNG) k-ε turbulence model is employed, and the physical properties of water and the flow characteristics are defined in the turbine model. In the second phases, a 3D finite element (FE) numerical model for a rock-fill dam is created by using ANSYS®, considering the dam connection with its powerhouse
... Show MoreWar as a human phenomenon, has its own literature. Poetry is a major genre in this literature. This paper is an attempt to investigate and analyse some stylistic features in two selected, English and Arabic, war poems. These poems share the same theme.Both promote the principle of sacrificing one’s own life for the sake of homeland. This paper limits itself to analyse, thecontent words, tenses, semantic grouping of vocabulary and foregrounding in the two poems. The areas of analysis show great similarities in distributing the general content words (nouns, verbs, adjectives, and adverbs). In the analysis of the semantic areas of each content word, these poems reveal some similarities and some differences in their frequency rates.
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