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Inverse Kinematics Solution for Redundant Robot Manipulator using Combination of GA and NN
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A demonstration of the inverse kinematics is a very complex problem for redundant robot manipulator. This paper presents the solution of inverse kinematics for one of redundant robots manipulator (three link robot) by combing of two intelligent algorithms GA (Genetic Algorithm) and NN (Neural Network). The inputs are position and orientation of three link robot. These inputs are entering to Back Propagation Neural Network (BPNN). The weights of BPNN are optimized using continuous GA. The (Mean Square Error) MSE is also computed between the estimated and desired outputs of joint angles. In this paper, the fitness function in GA is proposed. The sinwave and circular for three link robot end effecter and desired trajectories are simulated by MATLAB program. Joint angles and end effecter positions of robot results values of circular trajectory are better than joint angles end effecter positions of robot results values of NN work in another paper. Three link redundant robot workspace is also simulated. The outputs results of best three joint angles are evaluated for two trajectories sinwave and circular, with 50 generations the algorithm is fast. This paper presents the simulations results that are obtained based on MATLAB R2010b program.  

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Publication Date
Tue Feb 28 2023
Journal Name
Iraqi Journal Of Science
Properties of Ground-State of 17,19,20,24,26F using the Wave Functions of Harmonic-Oscillator and Spherical Hankel Functions
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     The nuclear size radii, density distributions and elastic electron scattering charge form factors for Fluorine isotopes (17,19,20,24,26F) were studied using the radial wave functions (WF) of harmonic-oscillator (HO) potential and free mean field described by spherical Hankel functions (SHF) for the core and the valence parts, respectively for all aforementioned isotopes. The parameters for HO potential (size parameter ) and SHF were chosen to regenerate the available experimental size radii. It was found that using spherical Hankel functions in our work improved the calculated results quantities in comparison with empirical data.   

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Publication Date
Sun May 01 2016
Journal Name
Istanbul Bridge Conference.- Turkey
Strengthening and Load Testing for Short Span Steel Bridge for Abnormal Loads
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The steel jetty selected for strengthening is in Baghdad city, over Tigris River, consists of 55 short spans, each of approximately 4 meters and one naviga-tional opening of 12 m. The bridge is 224 meters length and 8 meters in width. The strengthening system was designed to remove overstresses that occurred when the bridge was subjected to abnormal loads of 380 tons. A strengthening system which installed in spring 2008 was used where the main concept is to depend on added side supporting elements which impose reversal forces on the bridge to counteract most of the loads expected from the abnormal heavy loads. The bridge was load tested before and after the strengthening system was activated. The load test results indicate that the strengt

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Publication Date
Mon Feb 15 2021
Journal Name
Drug Delivery And Translational Research
Breast intraductal nanoformulations for treating ductal carcinoma in situ II: Dose de-escalation using a slow releasing/slow bioconverting prodrug strategy
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Publication Date
Mon Oct 20 2025
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
<b>Enhanced Multi-Objective Evolutionary Algorithm for Community Detection Using a Community Strength-Based Mutation Strategy</b>
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Community structures are fundamental in understanding the structure and functionality of complex networks. Different optimization algorithms, including both single-objective and multi-objective approaches, have been employed to address the challenge of community detection. Recently, multi-objective evolutionary algorithms (MOEAs) have attracted many researchers to identify communities in static networks. Many algorithms have been proposed to find a solution that achieves a trade-off between exploring new areas of the solution space and improving the quality of existing solutions. In this trade-off is crucial; whereas exploitation improves existing solutions, it may fail to find better solutions from insufficiently explored regions o

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Publication Date
Sun Aug 28 2022
Journal Name
Geodesy And Cartography
OBJECT-BASED APPROACHES FOR LAND USE-LAND COVER CLASSIFICATION USING HIGH RESOLUTION QUICK BIRD SATELLITE IMAGERY (A CASE STUDY: KERBELA, IRAQ)
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Land Use / Land Cover (LULC) classification is considered one of the basic tasks that decision makers and map makers rely on to evaluate the infrastructure, using different types of satellite data, despite the large spectral difference or overlap in the spectra in the same land cover in addition to the problem of aberration and the degree of inclination of the images that may be negatively affect rating performance. The main objective of this study is to develop a working method for classifying the land cover using high-resolution satellite images using object based method. Maximum likelihood pixel based supervised as well as object approaches were examined on QuickBird satellite image in Karbala, Iraq. This study illustrated that

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Publication Date
Wed Nov 01 2023
Journal Name
Heliyon
A new approach for cobalt (II) removal from simulated wastewater using electro membrane extraction with a flat sheet supported liquid membrane
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Publication Date
Thu Nov 17 2022
Journal Name
Aip Conference Proceedings
Principles of using project management tools and techniques of mitigate components causing delays and disruption in public and private construction projects in Iraq
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Delays and disruption are a common issue in both community and personal building programs The problem exists all throughout the world, but it is particularly prevalent in Iraq, where millions of dollars are squandered each time as a outcome. Delays and interruptions may have serious consequences not just for Iraq's construction plans, but also for the country's economic and social status. While numerous studies have been conducted to investigate the factors driving delays and disruption in Iraqi construction projects, slight consideration has been given to by what means project management implements and approaches have affected the occurrence of project delays and disruption. After analyzing the crucial reasons for delays and instability in

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Publication Date
Fri Apr 22 2022
Journal Name
Neuroquantology
Effect of Using Avocado and Chia Oil and their Mixture in Meat Broiler Diets on Some Physiological and Microbial Characteristics of Blood Plasma
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This study was conducted in the field of the Poultry Research Station of the Department of Animal Production / Department of Agricultural Research / Ministry of Agriculture for the period 4/4/2021 to 16/5/2021, in which 300 one-day-old Ross308 chicks that fed on diets used avocado oil and Chia with percentages 0, 0.2, 0.4, 0.6% respectively, and their mixture consisting of 0.0, 0.1, 0.2, 0.3 each of avocado and Chia oil (50% avocado + 50% Chia oil). The experiment included 4 treatments with 3 replicates for each treatment (10 birds/replicates), in order to study the effect of using avocado and chia oil and their mixture in meat broiler diets on some physiological and microbial characteristics of blood plasma. The results indicate a

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Publication Date
Sun Jun 30 2024
Journal Name
Sports Culture
Designing and rationing of test to measure the motor compatibility for the eye and the leg for students of the Faculty of Physical Education and Sports Sciences, Samarra University
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The research aims to identify: 1-Designing a test to measure the movement compatibility of the eye and the leg for the students of the Faculty of Physical Education and Sports Sciences, Samarra University. 2-Codification (setting scores and standard levels) for the results of the motor compatibility test for the eye and the leg for students of the Faculty of Physical Education and Sports Sciences, Samarra University. The researchers reached the some following conclusions: 1-A test to measure the movement compatibility of the eye and the leg for the students of the Faculty of Physical Education and Sports Sciences. 2-There is a discrepancy in the standard levels of the research sample.

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Publication Date
Thu Oct 01 2020
Journal Name
Journal Of Engineering Science And Technology
Water quality assessment and sodium adsorption ratio prediction of Tigris River using artificial neural network
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