This paper presents a modified training method for Recurrent Neural Networks. This method depends on the Non linear Auto Regressive (NARX) model with Modified Wavelet Function as activation function (MSLOG) in the hidden layer. The modified model is known as Modified Recurrent Neural (MRN). It is used for identification Forward dynamics of four Degrees of Freedom (4-DOF) Selective Compliance Assembly Robot Arm (SCARA) manipulator robot. This model is also used in the design of Direct Inverse Control (DIC). This method is compared with Recurrent Neural Networks that used Sigmoid activation function (RS) in the hidden layer and Recurrent Neural Networks with Wavelet activation function (RW). Simulation results shows that the MRN model is better than RS and RW in identification the forward dynamics and provides good results in the Direct Inverse Neuro- Controller (DINC).
The assessment of the environmental impact of the cement industry using the Leopold Matrix is to determine the negative and positive impacts on the environment resulting from this industry, and what are the long-term and short-term effects, direct and indirect, and the amount of these effects and potential risks, and that this evaluation process is done through a number of methods, including Matrix method, including (Leopold).
The importance of the research because the cement occupies is of great importance in the world, especially in our country, Iraq, in the sector of construction and modernity, and the toxic emissions and solid waste produced by the production of this material. <
... Show MoreThis project introduces a prospective material for photonic laser applications. The material is olive oil which is classified as organic compound, having a good nonlinear optical properties candidate to be used in photonic applications. A high purity sample of olive oil has been used. The theoretical calculation to generate third harmonic wave using olive oil has been determine using MATLAB program. THG (λ=355nm) intensity has been determined at two cases of sample thicknesses 1mm and 10mm. The minimum threshold incident intensity to obtain THG intensity are equal Iω=7530 mW/cm2 at L=1mm and Iω= 6220 mW/cm2 at L=10mm. The possibility of generation of third harmonic in olive oil inside
... Show MoreSpider veins are a common aesthetic problem mainly in females , the conventional method of treatment is by microsclerotherapy (injections) but laser therapy has become increasingly efficacious and a convenient method for treatment. The present study was performed to investigate the effectiveness and safety of pulsed diode laser (810nm) by doing thermal photocoagulation. Ten patients with lower limbs spider veins were included in this prospective study. They were treated with a repetitive pulsed diode laser in non contact technique using the following laser parameters (wave length 810nm,power 1 W ,pulse duration 0.1 s., pulse interval 0.5 s, spot diameter 4mm ,power density 7.9 W/cm2). Laser therapy was performed on day zero and day fourt
... Show MoreThe analysis and efficiency of phenol extraction from the industrial water using different solvents, were investigated. To our knowledge, the experimental information available in the literature for liquid-liquid equilibria of ternary mixtures containing the pair phenol-water is limited. Therefore the purpose of the present investigation is to generate the data for the water-phenol with different solvents to aid the correlation of liquid-liquid equilibria, including phase diagrams, distribution coefficients of phenol, tie-lines data and selectivity of the solvents for the aqueous phenol system.
The ternary equilibrium diagrams and tie-lines
... Show MoreSecured multimedia data has grown in importance over the last few decades to safeguard multimedia content from unwanted users. Generally speaking, a number of methods have been employed to hide important visual data from eavesdroppers, one of which is chaotic encryption. This review article will examine chaotic encryption methods currently in use, highlighting their benefits and drawbacks in terms of their applicability for picture security.
The biochar prepared from sawdust raw material was applied in this study for the treatment of wastewater polluted with methyl orange dye. The effect of pH (2-11), initial concertation (50-250 mg/L) and time were studied. The isotherm of Langmuir, Frendluch and temkin models studied. The Langmuir model was the best to explain the adsorption process, maximum uptake was 136.67 mg/g at 25Co of methyl orange dye. Equilibrium reached after four hours of contact for most adsorbents.The values of thermodynamic parameters ∆G were negative at various temperatures, so the process spontaneous, while ∆H values were 16683 j/mol and ∆S values was 60.82 j/mol.k.
Different injection material types were tried in the injection of soft clay, such as lime (L), silica fume (SF), and leycobond-h (LH). In this study, experiments were made to study the effect of injection on soft clay consolidation settlement. A sample of natural soft clayey soil was investigated in the laboratory and the sample was injected with each of the grout materials used, L, SF, L + SF, and L + SF + LH. A 20 cm3 of each slurry grout was conducted into the soil, which was compacted in California Bearing Ratio (CBR) mold and cured for 7 days, and then the sample was loaded to 80 N load by a circular steel footing 60 mm in diameter. The settlement was r
This study investigates the effects of Al-Doura oil refinery effluent, in Baghdad city, on the water quality of the Tigris River using the Canadian Water Quality Index (CCME WQI) and Rivers Maintaining System (1967). Water samples were collected monthly from Tigris River at three stations, which are Al-Muthanna Bridge (upstream), Al-Doura Refinery (point source), and Al–Zafaraniya city (downstream) from October 2020 to April 2021. Fourteen water quality parameters were studied, namely pH (6.50-8.10), Water Temperature (WT) (5.00-27.00 °C), Electrical Conductivity (EC) (877.00-1192.00 μs/cm), Dissolved Oxygen (DO) (5.03-7.57 mg/L), Biological Oxygen demand (BOD) (0.53-2.23 mg/L), Total Dissolved S