Preferred Language
Articles
/
alkej-693
Inverse Kinematics Analysis and Simulation of a 5 DOF Robotic Arm using MATLAB
...Show More Authors

Kinematics is the mechanics branch which dealswith the movement of the bodies without taking the force into account. In robots, the forward kinematics and inverse kinematics are important in determining the position and orientation of the end-effector to perform multi-tasks. This paper presented the inverse kinematics analysis for a 5 DOF robotic arm using the robotics toolbox of MATLAB and the Denavit-Hartenberg (D-H) parameters were used to represent the links and joints of the robotic arm. A geometric approach was used in the inverse kinematics solution to determine the joints angles of the robotic arm and the path of the robotic arm was divided into successive lines to accomplish the required tasks of the robotic arm.Therefore, this method can be adopted for engineering applications. MATLAB (Graphical User Interface) program was used to simulate the movement of the robotic arm in 3D. Also, MATLAB (GUI) has been used to view the position of each joint.The results showed thatthe maximum error in the x, y, and z coordinates of the end-effector were 0.0251 %, 0.0239 %, and 0.1085 % respectively.

View Publication Preview PDF
Quick Preview PDF
Publication Date
Mon May 25 2026
Journal Name
Journal Of Composites Science
Sectional and Stress Analysis of Hybrid Reinforced Concrete Beams with Embedded GFRP Profiles Under Monotonic Static Loading
...Show More Authors

Glass fiber–reinforced polymer (GFRP) reinforcement provides an effective alternative to conventional steel in concrete structures due to its corrosion resistance. Nevertheless, the lower elastic modulus of GFRP necessitates careful consideration of serviceability behavior in GFRP-reinforced concrete members. This study presents a numerical sectional analysis model for predicting the flexural response and ultimate capacity of hybrid reinforced concrete beams incorporating embedded GFRP profiles in combination with either mild steel or GFRP reinforcement bars under monotonic static loading. The proposed model employs realistic nonlinear stress–strain relationships for concrete and steel, together with secant moduli of elasticity

... Show More
View Publication
Scopus Crossref
Publication Date
Mon May 25 2026
Journal Name
Journal Of Composites Science
Sectional and Stress Analysis of Hybrid Reinforced Concrete Beams with Embedded GFRP Profiles Under Monotonic Static Loading
...Show More Authors

Glass fiber–reinforced polymer (GFRP) reinforcement provides an effective alternative to conventional steel in concrete structures due to its corrosion resistance. Nevertheless, the lower elastic modulus of GFRP necessitates careful consideration of serviceability behavior in GFRP-reinforced concrete members. This study presents a numerical sectional analysis model for predicting the flexural response and ultimate capacity of hybrid reinforced concrete beams incorporating embedded GFRP profiles in combination with either mild steel or GFRP reinforcement bars under monotonic static loading. The proposed model employs realistic nonlinear stress–strain relationships for concrete and steel, together with secant moduli of elasticity

... Show More
Preview PDF
Scopus Crossref
Publication Date
Tue Nov 25 2025
Journal Name
Inorganic Chemistry Communications
Synthesis, spectroscopic and single-crystal analysis, and DFT studies of N₂O₂ diamine coordination complexes: solvent-driven geometry switching and NLO properties
...Show More Authors

The design of coordination compounds with solvent-responsive optical properties remains a central challenge in molecular photonics. Here, we describe the synthesis and full characterisation of a symmetrical tetradentate diamine ligand, 3,3′-((1,2-phenylenebis(azanediyl))- bis(methanylylidene))bis(pentane-2,4-dione) (H₂L), and its neutral square-planar complexes [M(L)] (M(II) = Co, Ni, Cu). The Cu(II) complex crystallised as [Cu(L)]⋅0.5 (pyrazine), adopting a nearly square-planar geometry (τ₄ = 0.06) in the solid state, as confirmed by single-crystal X-ray diffraction. In DMSO solution, UV–Vis spectra revealed reversible axial coordination of two solvent molecules, driving a transformation to a distorted octahedral geometry. Struc

... Show More
Scopus (4)
Scopus
Publication Date
Fri Jan 01 2021
Journal Name
International Journal Of Agricultural And Statistical Sciences
CUSTOM ANALYSIS THROUGH Nth ORDER GAUSSIAN NOISE
...Show More Authors

Scopus
Publication Date
Wed Dec 31 2025
Journal Name
Enquiry The Arcc Journal For Architectural Research
Graph-Theoretic Analysis for Sustainable Urban Structure
...Show More Authors

A significant challenge arises in the characterization of urban systems, especially regarding the intricate structures of Central Business Districts (CBDs). Conventional models seem insufficient, failing to comprehend the non-linear, network-oriented structure of the city's economic and social dynamics. This creates a disparity between the city's physical, geographical structure and the unseen processes occurring within it. The fundamental inquiry is thus configurational: how can we systematically examine the inherent spatial logic of the CBD to develop a more efficient and predictive planning model? This paper presents a theoretical and methodological model to explore this inquiry, which focuses on Lower Manhattan as the primary su

... Show More
View Publication
Scopus Crossref
Publication Date
Sun Feb 10 2019
Journal Name
Journal Of The College Of Education For Women
Education Development in Local Community Analysis Study
...Show More Authors

Human resources are considered as strategic fortune for being the main driver of the development wheel in the society, and the field of education and learning is one of the main pillars of this fortune for its great effect in the process of economic and social progress of individuals. I was the subject of education to the concerns of many countries, as adopted national policies . And regional support and the reduction of constraints, so came our study (education hub for human development) to identify the role of education in human development and to identify the obstacles facing the education process and the extent of its impacts negatively on the process of human development also contribute to the knowledge of school enrollment and the

... Show More
View Publication Preview PDF
Publication Date
Sat Sep 01 2012
Journal Name
Journal Of Economics And Administrative Sciences
Multi-level analysis applications in business studies
...Show More Authors

The current research aims to provide a conceptual and applied frame  on the subject of multi- level analysis in the research of business administration. The research tries to address some of the problems that befall the preparation of research and studies at the Arab level and local level, where the unity of theory and measurement and analysis, as well as clarify  the various types of conceptual constructs and give researchers the ability to  distinguish different models related to the level of analysis. On the other hand, this research  provides an example of 

... Show More
View Publication Preview PDF
Crossref
Publication Date
Tue Jan 01 2019
Journal Name
Izvestiya Of Saratov University. New Series. Series: Philology. Journalism
To the Question of Internal Inflection of the Roots in Arabic and Russian (Inflected Analysis of the Root Structure)
...Show More Authors

View Publication Preview PDF
Crossref
Publication Date
Tue Dec 01 2015
Journal Name
Journal Of Economics And Administrative Sciences
Analysis of some of the success factors and product strategies Applied Research in the industrial sector of the Iraqi
...Show More Authors

This research deals with the study of the relationship between the success factors as the independent variable and product strategies as the dependent variable , has reacted to these variables to form the frame , which is the research which centered research problem about the extent to which industrial companies the vision and knowledge of Muslim women survive and develop in the business market , which can be expressed about the extent of awareness of corporate success factors and the use of product strategies and what the relationship between the factors and strategies , while expressing the importance of research to make the focus on the product occupies a paramount importance in the industrial sector companies in relation to t

... Show More
View Publication Preview PDF
Crossref
Publication Date
Mon Feb 18 2019
Journal Name
Iraqi Journal Of Physics
BVR CCD Photometric observation analysis of spiral galaxy Ic 467
...Show More Authors

The structure and composition of the stellar population in the surface brightness galaxy Ic 467 is studied using BVR CCD photometry. The observations were obtained on the 1.88m optical telescope of Kottamia Astronomical Observatory, KAO, Egypt. A two-dimensional decomposition of the galaxy bulge and disk components is carried out. A powerful star forming region is observed near the galactic center. Based on the positions of the various components of the galaxy in two color diagrams and the surface brightness of the eastern arms in V filter is brighter than the western arm. From the observations, the surface brightness profiles, Ellipticity profiles, position angle profiles and color indices profiles are described and studied.

View Publication Preview PDF
Crossref