تهدف هذه الدراسة إلى تصميم وتطويرمنصة ذاتية التوازن. تستخدم في العديد من التطبيقات الصناعية التي تحتاج الى استواء سطح المنصة لضمان عملها بكفاءة عالية. تم تصميم وتنفيذ منصة تتكون من اسطوانتين هيدروليكية يتم التحكم بهما بواسطة صمامين سيطرة هيدروليكية تناسبية. يتضمن تصميم النظام الهيدروليكي الافتراضي تحليل النظام واشتقاقه. وبعد ذلك، تم تقييم أداء النظام من خلال تحديد النهج الأمثل للحصول على البيانات kp وki و &n

The wear behavior of alumina particulate reinforced A332 aluminium alloy composites produced by a stir casting process technique were investigated. A pin-on-disc type apparatus was employed for determining the sliding wear rate in composite samples at different grain size (1 µm, 12µm, 50 nm) and different weight percentage (0.05-0.1-0.5-1) wt% of alumina respectively. Mechanical properties characterization which strongly depends on microstructure properties of reinforcement revealed that the presence of ( nano , micro) alumina particulates lead to simultaneous increase in hardness, ultimate tensile stress (UTS), wear resistances. The results revealed that UTS, Hardness, Wear resistances increases with the increase in the percentage of

The effect of solution heat treatment on the mechanical properties of Aluminum-Copper alloy. (2024-T3) by the rolling process is investigated. The solution heat treatment was implemented by heating the sheets to 480 C° and quenching them by water; then forming by rolling for many passes. And then natural aging is done for one month. Mechanical properties (tensile strength and hardness) are evaluated and the results are compared with the metal without treatment during the rolling process. ANSYS analysis is used to show the stresses distribution in the sheet during the rolling process.  It has been seen that good mechanical properties are evident in the alloy without heat treatment due to the strain hardening and also the mechanical

Abstract

The aim of the present work is to control of metal buried corrosion by alteration the media method. This method depended on the characteristics of each media. The corrosion rates in different media (soil, sand, porcelanite stone and gravel) for specimens of low carbon steel were measured by two methods weight loss method and polarization method, weight loss measured by buried specimens in these medias separately for 90 days. The polarization method includes preparing of specimen and salt solutions have electrical resistivity equivalent electrical resistivity of these media. The corrosion rate of two method results in (soil > sand> porcelainte stone> gravel). The lower corrosion rate happene

Rationing is a commonly used solution for shortages of resources and goods that are vital for the citizens of a country. This paper identifies some common approaches and policies used in rationing as well asrisks that associated to suggesta system for rationing fuelwhichcan work efficiently. Subsequently, addressing all possible security risks and their solutions. The system should theoretically be applicable in emergency situations, requiring less than three months to implement at a low cost and minimal changes to infrastructure.

The field of structural optimization (optimal design) has grown rapidly over the past decades with many different optimization methods that could be used to produce a structure of minimum weight. This research deals with two aspects, in the first, a general numerical technique based on the finite element analysis and it suggests to investigate the preliminary behavior of metal stiffened plate under action of static load environment. The technique was included a finite element model of the structures using high- order isoparimetric plate elements to be used to create a certain models to obtain their optimum design. The models are characterized such that, each model is builded using different types of stiffener configuration. The second as

This work is concerned with a two stages four beds adsorption chiller utilizing activated carbon-methanol adsorption pair that operates on six separated processes. The four beds that act as thermal compressors are powered by a low grade thermal energy in the form of hot water at a temperature range of 65 to 83 °C.  As well as, the water pumps and control cycle consume insignificant electrical power. This adsorption chiller consists of three water cycles. The first water cycle is the driven hot water cycle. The second cycle is the cold water cycle to cool the carbon, which adsorbs the methanol. Finally, the chilled water cycle that is used to overcome the building load. The theoretical results showed that average cycle cooling power

Binary mixtures of three, heavy oil-stocks was subjected to density measurements at temperatures of 30, 35 and 40 °C. and precise data was acquired on the volumetric behavior of these systems. The results are reported in terms of equations for excess specific volumes of mixtures. The heavy oil-stocks used were of good varity, namely 40 stock, 60 stock, and 150 stock. The lightest one is 40 stock with °API gravity 33.69 while 60 stock is a middle type and 150 stock is a heavy one, with °API gravity 27.74 and 23.79 respectively. Temperatures in the range of 30-40 °C have a minor effect on excess volume of heavy oil-stock binary mixture thus, insignificant expansion or shrinkage is observed by increasing the temperature this effect beco

This paper presents a meta-heuristic swarm based optimization technique for solving robot path planning. The natural activities of actual ants inspire which named Ant Colony Optimization. (ACO) has been proposed in this work to find the shortest and safest path for a mobile robot in different static environments with different complexities. A nonzero size for the mobile robot has been considered in the project by taking a tolerance around the obstacle to account for the actual size of the mobile robot. A new concept was added to standard Ant Colony Optimization (ACO) for further modifications. Simulations results, which carried out using MATLAB 2015(a) environment, prove that the suggested algorithm outperforms the standard version of AC

In this work the effect of choosing tri-circular tube section had been addressed to minimize the end effector’s error, a comparison had been made between the tri-tube section and the traditional square cross section for a robot arm, the study shows that for the same weight of square section and tri-tube section the error may be reduced by about 33%.

A program had been built up by the use of MathCAD software to calculate the minimum weight of a square section robot arm that could with stand a given pay load and gives a minimum deflection. The second part of the program makes an optimization process for the dimension of the cross section and gives the dimensions of the tri-circular tube cross section that have the same weight of

For a given loading, the stiffness of a plate or shell structure can be increased significantly by the addition of ribs or stiffeners. Hitherto, the optimization techniques are mainly on the sizing of the ribs. The more important issue of identifying the optimum location of the ribs has received little attention. In this investigation, finite element analysis has been achieved for the determination of the optimum locations of the ribs for a given set of design constraints. In the conclusion, the author underlines the optimum positions of the ribs or stiffeners which give the best results. 

Abstract 

This paper presents mechanical and electrical design, and implementation  process of industrial robot, 3-DoF type SCARA (selective compliment assembly robot arm),with two rotations and one translation used for welding applications.The design process also included the controller design which was based on PLC(programmable logic controller) as well as selection of mechanical and electrical components.The challenge was to use the available components in Iraq with reasonable costs. The robot mentioned is fully automated using programmable logic controller PLC(Zelio type SR3-B261BD),with 16inputs and 10 outputs. The PLC was implemented in FBD logic to obtain three different automatic motions with hi

يأتي الاستخدام العالمي لبولي ميثيل ميثاكريلات (PMMA) كمادة أساسية لأطقم الأسنان من سهولة المعالجة والإصلاح والتوافق الحيوي والمظهر الجمالي الممتاز. ومع ذلك ، فإن أوجه القصور في مواد البوليمر ، مثل الخواص الميكانيكية والفيزيائية غير كافية. كان الغرض من هذه الدراسة هو تقييم القوة المستعرضة وقابلية البلل PMMA بعد الاختلاط مع جزيئات الزركونيا و PMMA المبلمرة [ZP] كمواد مالئة بنسبة مختلفة. المواد والأساليب: تم اقتراح م

Raw water must meet specific physical, chemical, and biological requirements to be suitable for drinking. There are various techniques available for treating wastewater, and aside from conventional methods that involve chemicals, electrocoagulation is an efficient and advanced approach. Electrocoagulation has proven effective in treating many pollutants, including bacteria, viruses, iron, fluoride, sulfate, boron, hardness, and turbidity. Total suspended solids, organic and inorganic materials, chemical oxygen demand COD, biochemical oxygen demand BOD, and color. It finds extensive application in treating different types of water and wastewater due to its exceptional ability to remove diverse contaminants. Recently, electrocoagulation ha

تقدم هذه الدراسة وصفا للطريقة المستخدمة في تحضير الكربون المنشط  (AC)من بقايا الشاي. تم دراسة الخواص الفيزيائية والكيميائية وكفاءة الامتزاز للكربون المنشط المحضر. تم إنتاج الكربون المنشط (AC) على مرحلتين: الاولى التنشيط باستخدام حامض الفوسفوريك (H₃PO₄) والثانية الكربنة عند درجة حرارة 450 درجة مئوية. استخدم الكربون المنشط لغرض امتصاص العقار الدوائي السيبروفلوكساسين(CIP) . تمت  دراسة عدة عوامل تشغيلي

This research presents the possibility of using banana peel (arising from agricultural production waste) as biosorbent for removal of copper from simulated aqueous solution. Batch sorption experiments were performed as a function of pH, sorbent dose, and contact time. The optimal pH value of Copper (II) removal by banana peel was 6. The amount of sorbed metal ions was calculated as 52.632 mg/g. Sorption kinetic data were tested using pseudo-first order, and pseudo-second order models. Kinetic studies showed that the sorption followed a pseudo second order reaction due to the high correlation coefficient and the agreement between the experimental and calculated values of q_e. Thermodynamic parameters such as enthalpy change (ΔH

This work is focused on the design parameters and activity of artificial human finger for seven grips. At first, obtained the ideal kinematics of human fingers motion by analyzing the grips video which were recorded using a single digital camera recorder fitted on a tripod in sagital plane while the hand is moving. Special motion analysis software (Dartfish) the finger joint angles were studied using the video recording. Then the seven grips were modeled using static torque analysis, which calculates the amount of torque applied on the fingers joint grip depending on the results of the kinematic analysis. The last step of the work was to design the actuator (Muscle Wire) of artificial finger for the seven grips in a simple design approac

An indoor spraying robot is built in this research to solve numerous challenges associated with manual spraying. The mechanical, hardware and essential technologies used are all detailed and designed. The proposed spraying robot's conceptual design is split into two parts: hardware and software. The mechanical design, manufacturing, electrical, and electronics systems are described in the hardware part, while the control of the robot is described in the software section. This robot's kinematic and dynamic models were developed using three links that move in the x, y, and z directions. The robot was then designed using SolidWorks software to compute each connection's deflection and maximum stresses. The characteristics of the stepper moto

 Abstract

The study of oxygen mass transfer was conducted in a laboratory scale 5 liter stirred bioreactor equipped with one Rushton turbine impeller. The effects of superficial gas velocity, impeller speed, power input and liquid viscosity on the oxygen mass transfer were considered. Air/ water and air/CMC systems were used as a liquid media for this study. The concentration of CMC was ranging from 0.5 to 3 w/v. The experimental results show that volumetric oxygen mass transfer coefficient increases with the increase in the superficial gas velocity and impeller speed and decreases with increasing liquid viscosity. The experimental results of k_la were correlated with a mathematical correlation des

The objective of this study is to apply Artificial Neural Network for heat transfer analysis of shell-and-tube heat exchangers widely used in power plants and refineries. Practical data was obtained by using industrial heat exchanger operating in power generation department of Dura refinery. The commonly used Back Propagation (BP) algorithm was used to train and test networks by divided the data to three samples (training, validation and testing data) to give more approach data with actual case. Inputs of the neural network include inlet water temperature, inlet air temperature and mass flow rate of air. Two outputs (exit water temperature to cooling tower and exit air temperature to second stage of air compressor) were taken in ANN.

This article conclude a theoretical study for the possibility to produce additional electric power from Iraqi steam power plants by  cutting – off high-pressure feed water heaters .  Three separated steam power plants which Dura , south –Baghdad and Nasria were studied . The investigation showed the possibity of increasing the electric power from 10 to 15% for Dura and Nasria , whereas 6% for south – Baghdad . According to the nowadays of operation to Iraqi steam power plants , the results showed that by cutting–off high  pressure feed water heaters we can generate additional electric power about 250 MW during 3-4 hrs. daily. In addition, the fuel consumption can be reduced in comparison with diesel generat

This study investigates the use of agricultural waste, specifically the Al Haji plant, for wastewater treatment. The term 'Al Haji plant' refers to species from the Al Haji genus, particularly "Al Haji maurorum " and "Al Haji canescens ", which are drought-resistant plants of the Fabaceae family. Traditionally, these plants are known for their medicinal and antimicrobial properties. In this research, waste from the Al Haji plant was converted into activated carbon (AC) as a low-cost and techno-economically viable biosorbent for the removal of methylene blue (MB) dye from wastewater. The production of AC involved two key steps: chemical activation using sodium hydroxide (NaOH) and carbonisation at 300 °C. The properties and adsorption po

Drones play a vital role in the fundamental aspects of Industry 4.0 by converting conventional warehouses into intelligent ones, particularly in the realm of barcode scanning. Various potential issues frequently arise during barcode scanning by drones, specifically when the drone camera has difficulty obtaining distinct images due to certain factors, such as distance, capturing the image whilst flying, noise in the environment and different barcode dimensions. In addressing these challenges, this study proposes an approach that combines a proportional–integral–derivative (PID) controller with image processing techniques. The PID controller is responsible for continuously monitoring the camera’s input, detecting the difference betwe

Industrial automation has significantly enhanced productivity, efficiency, and product quality by integrating advanced technologies such as robotics, artificial intelligence, and IoT. This study focuses on rehabilitating and developing the DL-MS6000 automatic industrial production line training system at the Ministry of Higher Education and Scientific Research in Baghdad, Iraq. The system, comprising six stations controlled by six PLCs, had issues, including hardware failures, the need for periodic updates, and a lack of SCADA control. The development process replaced the six PLCs with a single CYMON PLC and eliminated the need for CC-Link network devices, reducing system complexity and cost. The system was optimized using a new control

This study aims to improve the performance of reconfigurable STAR-passive-OIRS in multiple input multiple output-based free-space optical (FSO) communication systems. The study focuses on analysing the influence of two main factors: the number of reflective elements and the location of the smart surface. STAR-RIS technology has shown great potential in improving spectrum efficiency and signal-to-noise and interference ratio (SINR) and in increasing channel gain by providing 360° coverage and reducing interference in environments with line-of-sight constraints. Results reveal that increasing the number of reflective elements enhances signal strength and improves SINR, whilst placing the smart surface closer to the source or receiver achi

Biodiesel is becoming one of the most attractive alternative biofuels for petroleum-based diesel fuels. The castor plant is one of the abundant non-edible oils found in many countries. This paper aims to study Libyan castor oil and its potential for diesel conversion. Experiments were carried out in the laboratories of the Specific Center for Training in the Oil Industries in Al-Zawiya. The oil was extracted using a Soxhlet extractor and n-hexane solvent at 60 °C. Transesterification reactions were conducted in a batch reactor (a three-neck flask was used, where the middle opening carries a reflux condensation unit) at 65 °C. The methanol-to-castor oil molar ratio was 6:1, with a catalyst concentration of 1 wt.% relative to the castor

Phishing detection is considered a critical problem in cybersecurity, and utilising machine learning with an efficient feature selection method for precisely identifying malicious websites is deemed the most critical challenge. This research presents a two-phase phishing detection system by employing unsupervised feature selection and supervised classification. In the first phase, the best set of features is identified by the Genetic algorithm and is utilised by the K-means clustering algorithm to divide the dataset into groups with similar traits. In the second phase, the best set of features in each group is identified through the Genetic algorithm to enhance the classification process. Finally, a voting ensemble technique is applied,

The aim of this study was to implement and compare obstacle avoidance for an autonomous wheeled mobile robot (WMR) via the grey wolf optimisation (GWO) algorithm and the artificial bee colony (ABC) algorithm. The study was conducted via three scenarios, each designed to test the performance of the algorithm under different conditions, considering fixed and moving circular obstacles in the surrounding environment. GWO was used to determine the most efficient, shortest and safest path for the WMR from the starting point to the target point. The results showed that the GWO outperformed the ABC. The GWO also enabled the WMR to avoid obstacles faster by 11.8%, 2.8% and 4.6% and with distances shorter by 1.42%, 2.2% and 1.97% for the three sce

Image segmentation has a significant role in the virtual planning, execution, and evaluation of craniomaxillofacial (CMF) surgical procedures. This systematic review aims to evaluate and compare the image segmentation programs frequently used in the field of CMF surgery. A precise search strategy was employed to recognise suitable studies across several databases, using specific inclusion criteria and keywords. Various image segmentation programs that use different techniques, including thresholding, edge-based methods, region-based methods and machine learning-based methods, were investigated. Results were screened through Preferred Reporting Items for Systematic Reviews and Meta-Analyses. A total of 94 reports on the use of virtual sur

أثبتت الشبكات المحددة بالبرمجيات (SDN) تفوقها في معالجة مشاكل الشبكة العادية مثل قابلية التوسع وخفة الحركة والأمن. تأتي هذه الميزة من SDN بسبب فصل مستوى التحكم عن مستوى البيانات. على الرغم من وجود العديد من الأوراق والدراسات التي تركز على إدارة SDN، والرصد، والتحكم، وتحسين QoS، إلا أن القليل منها يركز على تقديم ما يستخدمونه لتوليد حركة