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Integral Sliding Mode Control Design for Electronic Throttle Valve System
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Abstract

 One of the major components in an automobile engine is the throttle valve part. It is used to keep up with emissions and fuel efficiency low. Design a control system to the throttle valve is newly common requirement trend in automotive technology. The non-smoothness nonlinearity in throttle valve model are due to the friction model and the nonlinear spring, the uncertainty in system parameters and non-satisfying the matching condition are the main obstacles when designing a throttle plate controller.

In this work, the theory of the Integral Sliding Mode Control (ISMC) is utilized to design a robust controller for the Electronic Throttle Valve (ETV) system. From the first instant, the electronic throttle valve dynamics is represented by the nominal system model, this model is not affected by system parameters uncertainty and the non-smooth nonlinearities. This is a consequence of applying the integral sliding mode control. The ISMC consists of two part; the first is the nominal control which is used to control the nominal system, while the second is a discontinuous part which is used to eliminate the effects of the parameters uncertainty and the non-smooth nonlinearities from system model. These features for the ISMC are proved mathematically and demonstrated numerically via seven numerical simulations and for different desired trajectories.  The simulation results clarify that for different system parameters, the ETV behaves as a nominal system. This enables to freely and precisely select the system response characteristics and the time required for the throttle angle to reach the desired value. Moreover the ability to deal with the chattering problem is demonstrated through the worked  simulation tests, where the chattering is eliminated via approximating the signum function by arc tan function.

 Keywords: Electronic throttle valve, Nonlinear spring model, Integral sliding mode control, Non-smooth model.

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Publication Date
Fri Mar 30 2007
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Drop Interface Coalescence in Liquid-Liquid System
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This investigation is a study of the length of time where drops can exist at an oil-water interface before coalescence take place with a bulk of the same phase as the drops. Many factors affecting the time of coalescence were studied in is investigation which included: dispersed phase flow rate, continuous phase height, hole size in distributor, density difference between phases, and viscosity ratio of oil/water systems, employing three liquid/liquid systems; kerosene/water, gasoil/water, and hexane/water. Higher value of coalescence time was 8.26 s at 0.7ml/ s flow rate, 30cm height and 7mm diameter of hole for gas oil/water system, and lower value was 0.5s at 0.3ml/s flow rate, 10 cm height and 3mm diameter of hole for  hexane

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Publication Date
Sat Dec 30 2023
Journal Name
Al-kindy College Medical Journal
Health System in Iraq Post 2003 War
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Background: War represents a major human crisis; it destroys communities and results in ingrained consequences for public health and well-being

Objective: We set this study to shed light on the public health status in Iraq after the successive wars, sanctions, sectarian conflicts, and terrorism, in light of certain health indicators.

Design: The primary source of data for this analysis comes from the Iraqi Ministry of Health, and The World Health Organization disease surveillance.

Results: Most of the morbidity indicators are high, even those that are relatively declining recently, are still higher than those repor

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Publication Date
Tue Mar 10 2026
Journal Name
Al-academy
Hijab and Burqa in Islamic Fashion System
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Publication Date
Wed Dec 30 2009
Journal Name
Iraqi Journal Of Physics
Resonance Tunneling Through GaN/AlGaN Superlattice System
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The purpose of our work is to report a theoretical study of electrons tunneling through semiconductor superlattice (SSL). The (SSL) that we have considered is (GaN/AlGaN) system within the energy range of ε < Vo, ε = Vo and ε > Vo, where Vo is the potential barrier height. The transmission coefficient (TN) was determined using the transfer matrix method. The resonant energies are obtained from the T (E) relation. From such system, we obtained two allowed quasi-levels energy bands for ε < VO and one band for ε  VO.

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Publication Date
Sun Dec 30 2012
Journal Name
Al-kindy College Medical Journal
Modified alvarado scoring system. How much helpful?
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Background:-The Modified Alvarado Scoring System (MASS) has been reported to be a cheap and quick diagnostic tool in patients with acute appendicitis. However, differences in diagnostic accuracy have been observed if the scores were applied to various populations and clinical settings.
Objectives:- The purpose of this study was to evaluate the diagnostic value of Modified Alvarado Scoring System in patients with acute appendicitis in our setting.
Methods:-one hundre twenty eight patients ,were included in this study, admitted to Al-Kindy teaching hospital from June 2009 to June 2010. Patients’ age ranged from 8 to 56 years (21±10) they were divided into three groups; paediatrics, child bearing age females & adult males,. MAS

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Publication Date
Tue Mar 10 2026
Journal Name
Journal Of The Iraqi University
The legal system of Administrative BOT Contracts
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Publication Date
Mon Jun 19 2023
Journal Name
Journal Of Engineering
Organic Solid Waste in Vessel Composting System
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Low-level microbial activity due to the production of organic acids is a recognized problem during the initial phase of food waste composting. Increasing such activity levels by adjusting the pH values during the initial composting phase is the primary objective to be investigated. In this study, sodium acetate (NaoAc) was introduced as an amendment to an in-vessel composting system. NaoAc was added when the pH of the compost mixture reached a low level (pH < 5), the addition increased pH to 5.8. This had a positive effect on the degradation of organic materials i.e. the formation of methane gas compared to the results without NaoAc addition.

The results also proved that anaerobic-aerobic in-vessel composting could reduce the

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Publication Date
Thu Aug 01 2019
Journal Name
International Journal Of Machine Learning And Computing
Emotion Recognition System Based on Hybrid Techniques
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Emotion recognition has important applications in human-computer interaction. Various sources such as facial expressions and speech have been considered for interpreting human emotions. The aim of this paper is to develop an emotion recognition system from facial expressions and speech using a hybrid of machine-learning algorithms in order to enhance the overall performance of human computer communication. For facial emotion recognition, a deep convolutional neural network is used for feature extraction and classification, whereas for speech emotion recognition, the zero-crossing rate, mean, standard deviation and mel frequency cepstral coefficient features are extracted. The extracted features are then fed to a random forest classifier. In

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Publication Date
Tue Sep 08 2020
Journal Name
Baghdad Science Journal
RMSRS: Rover Multi-purpose Surveillance Robotic System
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The development of the internet of things (IoT) and the internet of robotics (IoR) are becoming more and more involved with our daily lives. It serves a variety of tasks some of them are essential to us. The main objective of SRR is to develop a surveillance system for detecting suspicious and targeted places for users without any loss of human life. This paper shows the design and implementation of a robotic surveillance platform for real-time monitoring with the help of image processing, which can explorer places of difficult access or high risk. The robotic live streaming is via two cameras, the first one is fixed straight on the road and the second one is dynamic with tilt-pan ability. All cameras have image processing capabilities t

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Publication Date
Thu Sep 15 2022
Journal Name
Al-academy
Production mechanisms and their implications for Iraqi theater techniques
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Theatrical production mechanisms were determined according to the extents of the theatrical performance, the directing plan, and the ideas that the theatrical performance seeks to convey to the audience. Accordingly, theatrical production mechanisms differ between one theatrical performance and another according to the requirements of each of them and the surrounding circumstances that accompany the production of theatrical performance, and in order to search for production mechanisms and their repercussions on the show. Theatrical The current research was divided into four chapters, namely (Chapter One - Methodology), which identified the research problem in the following question: What are the production mechanisms and their implicatio

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