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Adaptive Approximation Control of Robotic Manipulators: Centralized and Decentralized Control Algorithms
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The regressor-based adaptive control is useful for controlling robotic systems with uncertain parameters but with known structure of robot dynamics. Unmodeled dynamics could lead to instability problems unless modification of control law is used. In addition, exact calculation of regressor for robots with more than 6 degrees of freedom is hard to be calculated, and the task could be more complex for robots. Whereas the adaptive approximation control is a powerful tool for controlling robotic systems with unmodeled dynamics. The local (partitioned) approximation-based adaptive control includes representation of the uncertain matrices and vectors in the robot model as finite combinations of basis functions. Update laws for the weighting matrices are obtained by the Lyapunov-like design. Therefore, this work is focused function approximation-based control algorithms considering centralized and decentralized approaches. In this work, the following control algorithms are designed: (1) Adaptive hybrid regressor-approximation control. This work attempts to combine the features of both the regressor and the approximation techniques in adaptive control. The regressor technique is a powerful tool for adaptive control of the known structure of modeling while the approximation is useful for estimation of time-varying uncertainty. Therefore, this work proposes adaptive hybrid regressor and approximation control for robots in both free and constrained spaces. The control law consists of three terms: (i) regressor term for initial estimation of the known structure of the robot dynamics, e.g. inertia matrix, Coriolis and centripetal matrix and gravity vector, and (ii) approximation term for estimation of internal and external disturbances resulted from the inexact calculation of regressor matrix and unknown modeling of friction, etc, and (iii) robust term consists of switching sgn(.) function. The control law is designed based on updating the uncertain parameters and the weighting coefficients corresponding to regressor and approximation respectively with position/force tracking purposes. The proposed controller is stable in the sense of Lyapunov stability. (2) Decentralized adaptive partitioned approximation control. Partitioned approximation control is avoided in most decentralized control algorithms; however, it is essential to design feedforward control with improved tracking accuracy. As a result, this work is focused on decentralized adaptive partitioned approximation control for complex robotic systems using the orthogonal basis functions as strong approximators. In essence, the partitioned approximation technique is intrinsically decentralized with some modifications. The proposed decentralized control law consists of three terms: the partitioned approximation-based feedforward term that is necessary for precise tracking, the high gain-based feedback term, and the adaptive sliding gain-based term for compensation of modeling error. The passivity property is essential to prove the stability of local stability of the individual subsystem with guaranteed global stability. Simulation experiments on 2-link robot and 6-link biped robot are performed to prove the effectiveness of the proposed algorithms.

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Publication Date
Mon Feb 01 2021
Journal Name
Journal Of Engineering Science And Technology
Water quality modelling and management of diyala river and its impact on tigris river
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Scopus (22)
Scopus
Publication Date
Mon Dec 21 2020
Journal Name
Journal Of Petroleum Research And Studies
Alteration wettability of carbonate rocks by Nano fluids and comparison with PEG and SDS
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This work was conducted to study limestone rock wettability alteration to enhance oil recovery by flooding using different Nano silica (NS) sizes suspended in saline water and compared with flooding solution of polyethylene glycol (PEG) polymer and sodium dodecyl sulfate (SDS) surfactant, the stability of nanofluids measured by zeta potential. In the flooding system, the secondary recovery by silica nanofluids (0.01 wt. % NS concentration) achieved an oil recovery of 35vol. % and 26.08 vol. % for 10, 52 nm after primary recovery respectively, while PEG polymer and SDS surfactant achieved oil recovery of 5 vol. % and 10 vol. % only respectively. The stability of pressure difference approved that silica nanoparticle never causes any p

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Crossref (2)
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Publication Date
Mon Oct 01 2018
Journal Name
Plant Archives
FORTIFYING KIDS’ FOOD WITH LABORATORY GROWN-LEGUMES AND STUDYING OF MICROBIAL AND NUTRITIONAL PROPERTIES
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This study was conducted on the possibility of manufacturing kids’ foods fortified by legumes. Three raw materials of boiled vegetables (carrots, potatoes and zucchini) were used, one of the pre-boiled legumes was added to the mixture, which included chickpeas, lentils, mung, soybean, fenugreek, by the percentage of 5% and 10%. The results of the chemical analysis showed no statistically significant differences (P <0.05) between the coefficients of moisture, ash and fiber. However, the ash ratio increased from 0.76 to 0.88% and fiber from 0.43 to 0.87%. As for protein and fat, A8 coefficient (add 10% soybean bean) recorded highest ratio of 2.54 and 0.71% respectively, the results of the analysis of mineral elements showed that the A8 coef

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Publication Date
Mon Jun 01 2020
Journal Name
Comparative Immunology, Microbiology And Infectious Diseases
Drug resistance and virulence traits of Acinetobacter baumannii from Turkey and chicken raw meat
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Publication Date
Wed Jan 01 2020
Journal Name
Iraqi Journal Of Applied Physics
Preparation and Characterization of Anatase Titanium Dioxide Nanostructures as Smart and Self-Cleaned Surfaces
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Scopus (14)
Scopus
Publication Date
Mon Jan 07 2019
Journal Name
International Journal Of Drug Delivery Technology
Synthesis and characterization of some new esters containing heterocyclic and derived from azo dyes
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Scopus (8)
Scopus
Publication Date
Fri Jul 11 2025
Journal Name
Scientific Reports
Molecular docking study and pharmacokinetic insights of rifampicin in pure and capsule dosage forms
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To detect the amount of Rifampicin in bulk and medicinal dosage formulations, an accurate, and cost-effective UV spectrophotometric technique has been developed using the area under the peak to estimate the presence of Rifampicin. This range of wavelengths (300–356) nm was chosen. The method showed linearity in the 2-22 μg/mL range, with R2 being 0.9996. The developed method' linearity, detection limit, quantification limit, precision, repeatability, and accuracy were all statistically and experimentally validated. The suggested methodology can be used for routine quality control analysis of Rifampicin in pure form and in capsule dosage form, as demonstrated by the satisfactory recovery percentage results. This study explores the struct

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Publication Date
Thu Jan 01 2015
Journal Name
Chemical And Process Engineering Research
Synthesis and Characterization of Gelatin-G-Poly (Acryloyl Amide) Proflavine and Controlled Release Study
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Gelatin-grafted N- proflavine acryl amide was synthesized through two steps; firstly the Gelatin was grafted with acrylic acid free radically using Ammonium per-sulfate at 60℃, Then it was modified to its corresponding acyl chloride derivation, second step included the substitution with amino group of proflavine, in this research Gelatin was used as a natural nontoxic, water soluble polymer as a drug carrier. The prepared pro drug polymer was characterized by FTIR and 1H-NMR spectroscopies, Controlled drug release was studied in different pH values at 37℃. Many advantages were obtained comparing with other known methods.

Publication Date
Wed Jan 01 2014
Journal Name
Infection And Drug Resistance
Virulence and antimicrobial resistance of Escherichia coli isolated from Tigris River and children diarrhea
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Scopus (16)
Scopus
Publication Date
Sat Jun 06 2020
Journal Name
Journal Of The College Of Education For Women
Conformity and nonconformity and their relation to the emotional balance of high school students
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 Complex and complex psychological processes are complexand are the result of convergence, convergence and interaction between variables, including the subject of mediation or group or individual and psychological processes involved in the variance, including - personal knowledge and emotional tone (Osman, 1987, p. 8 ). An emotionally balanced individual has the ability to endure and delay meeting needs and has the ability to endure as much as possible. Of the emotional balance of the individual is characterized by emotional stability, show some signs of emotional agitation toward any kind of opposition, anger and realism in self-life and discipline (Swift, 1996, p. 44) Van, et al. , Indicates that people with low emotional balance,

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