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Multi-Layer Feedforward Neural Network Modelling of a Kinematics Solution of A 3-DoF Manipulator Robot
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Modeling forward kinematics with neural networks allows for efficient handling of nonlinear relationships and realistic error correction in time-critical applications by relying on accurate training data. This paper presents a Multi-Layer Feed-Forward Neural Network (MLFFNN) to solve the forward kinematics of a 3-DOF robot. The proposed MLFFNN consists of 50 hidden neurons and was trained using 628319 samples to find only the position (x, y, z) of the end-effector. Data were generated by MATLAB, assuming an incremental motion of joints. The joint variables ( , , and ) are the inputs of the NN, which outputs the positions of the end effector (x, y, z) calculated using the Denavit-Hartenberg (DH) method. The results demonstrate that the proposed MLFFNN has high performance and is efficient for solving the forward kinematics, with a Mean Squared Error (MSE) between the desired and estimated position of 4.3881×10-11. This performance clearly demonstrates that, despite the large size of the dataset, it can be effectively mastered with only a small number of neurons. The simplicity of the network allows it to learn a compact and efficient representation of the data. This improves the reliability of using the proposed network for similar applications in other robotic systems.

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Publication Date
Mon Oct 01 2018
Journal Name
Iraqi Journal Of Physics
Preparation single layer of (MgO) as antireflection coating using PLD technique
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In this work preparation of antireflection coating with single layer of MgO using pulsed laser deposition (PLD) method which deposit on glass substrate with different thicknesses (90 and 100) nm annealed at temperature 500 K was done.
The optical and structural properties (X-ray diffraction) have been determined. The optical reflectance was computed with the aid of MATLAB over the visible and near infrared region. Results shows that the best result obtained for optical performance of AR'Cs at 700 shots with thickness 90 nm nanostructure single layer AR'Cs and low reflection at wavelength 550 nm.

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Publication Date
Sun Jan 01 2017
Journal Name
Lecture Notes In Computer Science
The Art of Using Cross-Layer Design in Cognitive Radio Networks
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Publication Date
Tue Oct 08 2024
Journal Name
Transportation Research Record: Journal Of The Transportation Research Board
Design of Two-Layer Roller Compacted Concrete with Joints by KENSLAB
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Roller compacted concrete (RCC) is a type of rigid pavement that is designed in a similar way to conventional concrete pavements reflecting its mode of failure. The thickness design of RCC pavements is based on keeping the flexural stresses and fatigue damage in the pavement caused by wheel loads within allowable limits. As in all jointed concrete pavements, there is a greater effect from loads placed along edges and less at interior locations in the pavement. Joints in RCC pavement are clearly critical areas and form weak points. RCC is typically constructed with saw-cut joints to prevent random cracking, improve the appearance of the pavement surface, and maintain the highest possible load transfer across the joints. This paper pr

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Publication Date
Fri Nov 15 2019
Journal Name
Journal Of Materials And Applications
Load Transfer Stiffness of Two-layer Roller Compacted Concrete for Pavements
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Roller compacted concrete (RCC) is a form of plain concrete pavement (JPCP). RCC is a zero-slump concrete consisting of well-graded aggregate, cement and water. RCC has many advantages over other pavement types, particularly cost and speed of construction. Recently, RCC has undergone many developments mostly directed towards improving quality, including smoothness and durability. RCC now has the potential to combine the performance of concrete with the low cost of asphalt installation. A two-layer system of RCC with different aggregate types and sizes was utilized in this study. This paper presents the determination of load transfer stiffness across induced joints in a two-layer RCC system based on a cyclic shear test. The test was

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Publication Date
Tue Nov 01 2016
Journal Name
Journal Of Economics And Administrative Sciences
Use Dynamic Bayesian network to estimate the reliability of Adamia Water Network
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Abstract\

In this research, estimated the reliability of water system network in Baghdad was done. to assess its performance during a specific period. a fault tree through static and dynamic gates was belt and these gates represent logical relationships between the main events in the network and analyzed using dynamic Bayesian networks . As it has been applied Dynamic Bayesian networks estimate reliability by translating dynamic fault tree to Dynamic Bayesian networks and reliability of the system appreciated. As was the potential for the expense of each phase of the network for each gate . Because there are two parts to the Dynamic Bayesian networks and two part of gate (AND), which includes the three basic units of the

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Publication Date
Thu Jan 01 2026
Journal Name
Chinese Journal Of Analytical Chemistry
Synthesis, characterization, and evaluation of the antioxidant and anticancer activities of metal ion complexes with a novel 7-(3-hydroxyphenylazo)-quinolin-8-ol ligand
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A novel azo dye was prepared by reacting the diazonium salt of 3-aminophenol with 8-hydroxyquinoline and subsequently used to prepare a series of Ni+2, Pd+2, Pt+4, and Cu+2 complexes. The ligand structure was characterized via1H-and 13C-nuclear magnetic resonance spectroscopy. The as-synthesized materials were characterized via Fourier-transform infrared, ultraviolet‒visible, and mass spectroscopy, as well as thermo gravimetry, differential scanning calorimetry, and elemental analysis. Conductivity, magnetic susceptibility, and the metal and chloride contents of the complexes were also determined. The ligand exhibited a trigonal geometry, whereas the Cu+2, Pd+2, Pt+4, and Ni+2 complexesexhibited tetrahedral, square planar, octahedral, and

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Publication Date
Fri Mar 31 2017
Journal Name
Journal Of Information And Communication Convergence Engineering
Survey on Physical Layer Security in Downlink Networks
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In this paper, we discuss physical layer security techniques in downlink networks, including eavesdroppers. The main objective of using physical layer security is delivering a perfectly secure message from a transmitter to an intended receiver in the presence of passive or active eavesdroppers who are trying to wiretap the information or disturb the network stability. In downlink networks, based on the random feature of channels to terminals, opportunistic user scheduling can be exploited as an additional tool for enhancing physical layer security. We introduce user scheduling strategies and discuss the corresponding performances according to different levels of channel state information (CSI) at the base station (BS). We show that the avai

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Publication Date
Fri Dec 31 2021
Journal Name
Iraqi Journal Of Market Research And Consumer Protection
AN EXPERIMENTAL STUDY OF THE EFFECT OF VORTEX GENERATOR ON THE FLAT-PLATE BOUNDARY LAYER: AN EXPERIMENTAL STUDY OF THE EFFECT OF VORTEX GENERATOR ON THE FLAT-PLATE BOUNDARY LAYER
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This paper is dealing with an experimental study to show the influence of the geometric characteristics of the vortex generators VG son the thickness of the boundary layer (∂) and drag coefficients (CD) of the flat plate. Vortex generators work effectively on medium and high angles of attack, since they are "hidden" under the boundary layer and practically ineffective at low angles.

            The height of VGs relative to the thickness of the boundary layer enables us to study the efficacy of VGs in delaying boundary layer separation. The distance between two VGs also has an effect on the boundary layer if we take into

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Publication Date
Wed May 01 2024
Journal Name
Diamond And Related Materials
A comparative study on the effects of multi-walled carbon nanotubes and graphene nanoplates incorporated for improved thermal conductivity and dielectric properties of polyvinyl chloride
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Publication Date
Wed Jan 01 2025
Journal Name
Rsc Advances
Development of a multi-source blue light irradiation platform for photometric quantification of ascorbic acid <i>via</i> continuous absorbance quenching of the ferric–thiocyanate complex
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Diagram of CFIA system: (A) Fe 3+ line; (B) SCN − line; (C) A.A carrier; (D) sample valve; (E) mixing/reaction coil quenched by A.A; (F) blue LED detector.

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