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Performance Analysis of Finite-Time Generalized Proportional Integral Observer for Uncertain Brunovsky Systems
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This paper proposes a novel finite-time generalized proportional integral observer (FTGPIO) based a sliding mode control (SMC) scheme for the tracking control problem of high order uncertain systems subject to fast time-varying disturbances. For this purpose, the construction of the controller consists of two consecutive steps. First, the novel FTGPIO is designed to observe unmeasurable plant dynamics states and disturbance with its higher time derivatives in finite time rather than infinite time as in the standard GPIO. In the FTGPO estimator, the finite time convergence rate of estimations is well achieved, whereas the convergence rate of estimations by classical GPIO is asymptotic and slow. Secondly, on the basis of the finite and fast estimations, the SMC scheme is constructed in order to compensate estimation errors in both states and disturbance. Finally, the tracking efficiency is verified by carrying out many simulations on the application example of flexible joint robot (FJR). Besides, comparing the proposed method with the standard GPIO based SMC method is performed.

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Publication Date
Tue Jun 01 2010
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Auditing Board of supreme audit for solid waste management
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Solid waste is considered to be one of the rescuers of pollution in case of     neglecting conditions and procedures relating to specific processes of laws, systems, and contracts requirements in addition to recommendations of organizations concerned with environment issue. The environments auditing groups of intosai have taking into account the environments control by various conference and recommended that the Board of supreme audit have and environments controlling taking into consideration auditing procedures on waste management ,and also offered on evidences for experiences of members of countries in order to exchange their knowledge's and experiments .the definition of solid waste and their resources ,risks ,man

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Publication Date
Thu Dec 01 2016
Journal Name
Bulletin Of The Iraq Natural History Museum (p-issn: 1017-8678 , E-issn: 2311-9799)
A NEW RECORD OF ZIZIPHORA SPECIES (LAMIACEAE) FOR IRAQ
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    Ziziphora persica Bunge is recorded as a new Study in Iraq. This species has been collected from Jabal Sinjar in Nineveh province in the north western part of Iraq. The morphological characters, habitat and geographical distribution of the species with a key to Ziziphora L. species in Iraq have been provided.

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Publication Date
Sat Mar 07 2026
Journal Name
Journal Of Engineering
Correction Procedure for the Determination of Soil Specific Surface
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Publication Date
Thu Jun 25 2020
Journal Name
Aip Conference Proceedings
Improving efficiency of solar cell for MnS through annealing
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Publication Date
Wed Feb 15 2023
Journal Name
International Journal Of Emerging Technologies In Learning (ijet)
Recruitment of Teachers for Cooperative Education in Educational Institutions
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The study of cooperative education is important not only for researchers but also for those interested in studying educational methods, such as university professors, teachers in schools, and all educational institutions. This is because of its effectiveness in teaching students, developing their skills, developing their ideas and employing them in the study and finding appropriate solutions to the questions posed by the teacher. It also helps in instilling a spirit of cooperation among the students by dividing them into groups to achieve the desired goals. The aim of the study is to clarify how important it is for teachers to use cooperative education in addressing the educational, social and psychological aspects when teaching stu

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Publication Date
Wed May 10 2023
Journal Name
Journal Of Engineering
Cross Dipole Antennas Solution for Angle of Arrival Estimation
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The Multiple Signal Classification (MUSIC) algorithm is the most popular algorithm to estimate the Angle of Arrival (AOA) of the received signals. The analysis of this algorithm (MUSIC) with typical array antenna element ( ) shows that there are two false direction indication in the plan
aligned with the axis of the array. In this paper a suggested modification on array system is proposed by using two perpendiculars crossed dipole array antenna in spite of one array antenna. The suggested modification does not affect the AOA estimation algorithm. The simulation and results shows that the proposed solution overcomes the MUSIC problem without any effect on the performance of the system.

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Publication Date
Sun Nov 04 2018
Journal Name
Iraqi National Journal Of Nursing Specialties
Assessment of Personal Hygiene for Adults with Diabetic Foot
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Objective: The aim of the study is to assess the personal hygiene of adult patients with
diabetic foot.
Methodology: A descriptive study was carried out in Baghdad teaching hospital, Al-Karama teaching hospital
and Al-Kindey teaching hospital for the period of 10/1/2006 to 1/9/2006. A purposive "non probability" sample
of (100) patient.
Questionnaire was constructed for achieving the purpose of the study. Data were collected through the
application of the questionnaire and interview technique. Data were analyzed through descriptive statistical
approach (frequency & percentage) and inferential statistical approach (chi-square & correlation) by using of
SPSS.
Results: The study results indicated that the

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Publication Date
Mon Sep 01 2014
Journal Name
Al-khwarizmi Engineering Journal
Heterogeneous Photocatalytic Degradation for Treatment of Oil from Wastewater
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In the present study, advanced oxidation process / heterogeneous photocatalytic process (UV/TiO2/Fenton) system was investigated to the treatment of oily wastewater. The present study was conducted to evaluate the effect of hydrogen peroxide concentration H2O2, initial amount of the iron catalyst Fe+2, pH, temperature, amount of TiO2 and the concentration of oil in the wastewater.  The removal efficiency for the system UV/TiO2/Fenton at optimal conditions and dosage (H2O2 = 400mg/L, Fe+2 = 40mg/L, pH=5, temperature =30oC, TiO2=75mg/L) for 1000mg/L load was found to be 77%.

Aluminum foil cover around the re

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Publication Date
Thu Nov 01 2018
Journal Name
Iraqi National Journal Of Nursing Specialties
Quality of Life Assessment for Patients with Colorectal Cancer
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Abstract A descriptive study to assess the quality of life (QOL) for patients with colorectal cancer. The study was conducted from Baghdad Teaching Hospital, Al-Yarmouk Teaching Hospital and Radiation Hospital and Nuclear medicine for the period from 1st July/2004 to 1st September/2004. The sample selected by purposive random of (50) patients diagnosed with colorectal cancer and all of them who were under chemotherapy treatment. A questionnaire was prepared for the purpose of the study and comprised of three parts including: 1- Socio-demographical characteristics. 2- Clinical characteristics. 3- and QOL

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Publication Date
Wed Jun 01 2011
Journal Name
Journal Of Economics And Administrative Sciences
"Comparison of Approximate Estimation Methods for Logistics Distribution Teachers"
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The goal beyond this Research is to review methods that used to estimate Logistic distribution parameters. An exact estimators method which is the Moment method, compared with other approximate estimators obtained essentially from White approach such as: OLS, Ridge, and Adjusted Ridge as a suggested one to be applied with this distribution. The Results of all those methods are based on Simulation experiment, with different models and variety of  sample sizes. The comparison had been made with respect to two criteria: Mean Square Error (MSE) and Mean Absolute Percentage Error (MAPE).  

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