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Deflection Analysis of an Elastic Single Link Robotic Manipulator
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Abstract

Robotics manipulators with structural flexibility provide an attractive alternative to rigid robotics manipulators for many of the new and evolving applications in robotics. In certain applications their use is unavoidable. The increased complexity in modeling and control of such manipulators is offset by desirable performance enhancements in some respects. In this paperthe single- link flexible robotics manipulator was designed and implemented from Perspex and designed with 0.5 m length , 0.02 m width and with 0.004 m thickness with mass located at the tip. There are four subsystems; motion, control, accelerometer and gyro and a host computer subsystem. The work principle of single-link robotics manipulator is the base servomotor. It rotates a hub with the link on it and measure the  tip deflection. the deflection  was measured for three cases without load,  with 27.5 and with 59.4 gram at the end of the flexible link . During each of the above cases I rotated the base servo motor at an angular velocity equals to 90 deg./s using control card based on ATMEGA640 microcontroller. the deflection  was measured for the three cases and the deflection measured by MMA7631 Accelerometer and Gyro . This accelerometer  controlled by  using MEGA Arduino board . Then the dataI collected collected from accelerometer and plot it using MATLAB software and compared between theoretical results obtained from MATLAB program that based on Lagrange equation of motion and experimental results and we found the maximum deflection occurred when V=180 deg/sec and tip load=59.5 gram.

Keywords: Flexible Link Manipulator , Industrial robotics , Robotics Manipulator ,Beam Deflection.

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Publication Date
Wed Feb 01 2023
Journal Name
Baghdad Science Journal
Synthesis, Characterization, and Thermal Analysis of a New Acidicazo Ligand's Metal Complexes
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The researchers wanted to make a new azo imidazole as a follow-up to their previous work. The ligand 4-[(2-Amino-4-phenylazo)-methyl]-cyclohexane carboxylic acid as a derivative of trans-4-(aminomethyl) cyclohexane carboxylic acid diazonium salt, and synthesis a series of its chelate complexes with metalions, characterized these compounds using a variety technique, including elemental analysis, FTIR, LC-Mass, 1H-NMRand UV-Vis spectral process as well TGA, conductivity and magnetic quantifications. Analytical data showed that the Co (II) complex out to 1:1 metal-ligand ratio with square planner and tetrahedral geometry, respectively while 1:2 metal-ligand ratio in the Cu(II), Cr(III), Mn(II), Zn(II), Ru(III)and Rh(III)complexes

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Publication Date
Wed Jan 24 2024
Journal Name
Pharmacia
Novel anticoagulants in the management of atrial fibrillation: A comprehensive comparative analysis
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Background: Atrial fibrillation (AF) stands as the most prevalent cardiac arrhythmia, with associated risks of stroke and systemic thromboembolism. While vitamin K antagonists, specifically warfarin, have historically been the mainstay for stroke prevention in AF, they come with inherent limitations.

Aim: This review seeks to offer a comprehensive analysis of the efficacy, safety, and clinical advantages of novel oral anticoagulants (NOACs) compared to traditional warfarin in AF management.

Method: A meticulous examination of pivotal clinical trials, meta-analyses, and recent research publications was conducted.

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Publication Date
Mon Feb 16 2026
Journal Name
Agribusiness
Economic Analysis of AI‐Driven Resource Efficiency in Sustainable Agriculture in Iraq
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Abstract<p> Water scarcity, rising energy costs, and declining irrigation efficiency are significant barriers to wheat production in Iraq. This study evaluates the economic, environmental, and sustainability impacts of integrating artificial intelligence (AI) into irrigation management under semiarid conditions. Field experiments conducted at the Al‐Ra'id Research Station in Baghdad during the 2025 season compared conventional diesel‐based irrigation with AI‐assisted irrigation that used soil moisture sensors, Internet of Things (IoT) controllers, and predictive weather algorithms. The analysis employed Cobb–Douglas production modeling, cost–benefit analysis, net</p> ... Show More
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Publication Date
Thu Feb 26 2026
Journal Name
Buildings
Performance Analysis of Cement Mortar Modified with Nano-Silica and Nano-Alumina
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The limitations of conventional cement mortar as a widely used construction material include low tensile capacity, high permeability, and susceptibility to chemical degradation. The increasing demand for durable and sustainable construction materials has led to increased attention in modifying cementitious materials through nanotechnology. This study investigates the influence of nano-silica (NS) and nano-alumina (NA) on the physical, strength-related, and durability characteristics of cement mortar to determine the optimum nanomaterial type and dosage for performance enhancement. Six mortar mixes, in addition to a reference mix, were designed and prepared by adding 1%, 1.5%, and 2% of the cement weight with NS and NA separately, an

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Publication Date
Thu May 05 2022
Journal Name
Karbala International Journal Of Modern Science
An economical source for peroxidase: maize cobs
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According to the current situation of peroxidase (POD), the relevant studies on this enzyme indicated its importance as a tool in clinical biochemistry and different industrial fields. Most of these studies used the fruits and vegetables as source of this enzyme. So that in order to couple the growing requirements for POD with the recent demands for reduc-ing disposal volume by recycling the plant waste, the aim of the present study was to extract POD through management of municipal bio-waste of Iraqi maize species. A simple, green and economical method was used to extract this enzyme. Our results revealed that maize cobs are rich sources of POD, where the activity of this enzyme was found to be 7035.54 U/g of cobs. In pilot experiments thi

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Publication Date
Wed Jun 14 2023
Journal Name
Al-academy
Irony in conceptual art (An analytical study )
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In the 20th century, the concept of "sarcasm" has relatively prevailed, and in this sense, it is a method in the art of conversation that wants to keep the question about the intended meaning, that is, "saying something and suggesting its opposite."
There are other concepts that indicate that sarcasm is saying something in a way that provokes the recipient of the statement an infinite number of different interpretations, with multiple readers of different interpretations. While the philosophy of irony stands by the standards of things, exaggeration or minimization, this manipulation takes place within the enjoyment. However, it's a method to present sharp criticism in an atmosphere of criticism that differs from generation to gener

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Publication Date
Sun Mar 04 2018
Journal Name
Baghdad Science Journal
CVOTING: An Anonymous Ballot E-Voting System
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One of the concerns of adopting an e-voting systems in the pooling place of any critical elections is the possibility of compromising the voting machine by a malicious piece of code, which could change the votes cast systematically. To address this issue, different techniques have been proposed such as the use of vote verification techniques and the anonymous ballot techniques, e.g., Code Voting. Verifiability may help to detect such attack, while the Code Voting assists to reduce the possibility of attack occurrence. In this paper, a new code voting technique is proposed, implemented and tested, with the aid of an open source voting. The anonymous ballot improved accordingly the paper audit trail used in this machine. The developed system,

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Publication Date
Wed Mar 01 2017
Journal Name
2017 Annual Conference On New Trends In Information &amp; Communications Technology Applications (ntict)
An efficient color quantization using color histogram
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Publication Date
Sun Mar 01 2015
Journal Name
Craniomaxillofacial Trauma & Reconstruction
Mandibular Fractures in Iraq: An Epidemiological Study
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The purpose of this study was to evaluate the epidemiological characteristics of the mandibular fractures relating to gender, age, the etiology of injury, and the rendered treatment modalities and complications. The data of the patients who sustained mandibular fractures were retrieved and were analyzed retrospectively, and based on these data a descriptive analysis was conducted. A total of 112 patients were included in this study; the most common cause was road traffic accidents (RTAs) followed by assaults and missile injuries. The most frequently involved age group was 11 to 20 years, treatment modalities included conservative, closed reduction and indirect fixation, and open reduction and internal fixation (ORIF) in 11.6, 79.5, and 8.9%

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Publication Date
Sun Sep 01 2019
Journal Name
Diabetes &amp; Metabolic Syndrome: Clinical Research &amp; Reviews
Rhabdomyolysis; is it an overlooked DKA complication
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