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SIMULATION OF IDENTIFICATION AND CONTROL OF SCARA ROBOT USING MODIFIED RECURRENT NEURAL NETWORKS
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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).

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Publication Date
Mon May 25 2026
Journal Name
Lettersinbiomathematics
Assessment of Neuromuscular Fatigue in Basketball Players Using Continuous Wavelet Transform Analysis
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The purpose of this paper is to evaluate neuromuscular fatigue among elite basketball players in the Iraqi Basketball League using surface electromyography (sEMG) with the Ultium EMG device and the MR3.18 program, and using the Wavelet analysis application with the Continuous Wavelet Transform (CWT) method. The research sample included six advanced players from the Iraqi Elite League, aged (21.50 ±3.67) years, with a body mass of (80.50 ±11.71) kg, and a height of (189.00 ±7.75) cm. The research sample underwent a physical skill-exertion protocol that simulated the actual playing requirements of basketball, during which the electrical activity of the six selected muscles involved in performing the ski

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Publication Date
Tue Aug 01 2023
Journal Name
Civil Engineering Journal
Structural Strengthening of Insufficiently Designed Reinforced Concrete T-Beams using CFRP Composites
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This study aims to compare the response of reinforced concrete (RC) T-beams strengthened with carbon fibre-reinforced polymer (CFRP) composite with that of non-strengthened control beams when subjected to monotonic two-point loading until failure for flexural once and shear again. The experimental programme tested eight RC T-beams, which included two reference beams without strengthening and six strengthened beams. The eight beams were divided into two main groups according to strengthening (flexural and shear). Experimental analysis was performed to study the effect of the CFRP laminate width in the flexural group and the spacing of CFRP U-wrap sheets in the shear group on the ultimate load capacity, load-strain relationship, and l

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Publication Date
Sun Jun 01 2025
Journal Name
Iop Conference Series: Earth And Environmental Science
Removal of Methylene Blue Dye from Synthetic Wastewater Using Iraqi Natural Plants
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Abstract<p>Water contamination by industrial dyes presents significant environmental and health concerns worldwide. In this research, the efficacy of utilising polypogon monspeliensis (locally known as Skekh EsmAllah (Sh.E)) as a natural adsorbent for the elimination of Methylene Blue (MB) dye from synthetic wastewater is explored. The X-ray diffraction test elucidate that the material is a multi-phase structure. Various operational factors, comprising pH, contact time, isoelectric point, adsorbent dose, dye concentration, and temperature, are used to analyse the adsorption process systematically. The results reveal that Sh.E. has exhibited remarkable removal efficiency and adsorption capacity c</p> ... Show More
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Publication Date
Fri Feb 21 2025
Journal Name
Chemical Papers
Viscosity reduction of heavy crude oil using ultrasonication assisted by SiFe nanoparticles
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Publication Date
Wed Dec 31 2014
Journal Name
Al-khwarizmi Engineering Journal
Energy Saving of Heat Gain by Using Buried Pipe Inside a Roof
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Abstract

    This work deals with a numerical investigation to evaluate the utilization of a water pipe buried inside a roof to reduce the heat gain and minimize the transmission of heat energy inside the conditioning space in summer season.     The numerical results of this paper showed that the reduction in heat gain and energy saving could be occurred with specific values of parameters, like the number of pipes per square meter, the ratio of pipe diameter to the roof thickness, and the pipe inlet water temperature. Comparing with a normal roof (without pipes), the results indicated a significant reduction in energy heat gain which is about 37.8% when the number of pipes per m

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Publication Date
Fri Apr 01 2016
Journal Name
Journal Of Engineering
Numerical Study of Heat Transfer Enhancement in Heat Exchanger Using AL2O3 Nanofluids
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In this study, the flow and heat transfer characteristics of Al2O3-water nanofluids for a range of the Reynolds number of 3000, 4500, 6000 and 7500 with a range of volume concentration of 1%, 2%, 3% and 4% are studied numerically. The test rig consists of cold liquid loop, hot liquid loop and the test section which is counter flow double pipe heat exchanger with 1m length. The inner tube is made of smooth copper with diameter of 15mm. The outer tube is made of smooth copper with diameter of 50mm. The hot liquid flows through the outer tube and the cold liquid (or nanofluid) flow through the inner tube. The boundary condition of this study is thermally insulated the outer wall with uniform velocity a

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Publication Date
Sat Aug 01 2020
Journal Name
Journal Of Engineering Science And Technology
Using sustainable material in improvement the geotechnical properties of soft clayey soil
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Publication Date
Wed Aug 01 2018
Journal Name
Journal Of Colloid And Interface Science
Removal of monoethylene glycol from wastewater by using Zr-metal organic frameworks
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Publication Date
Mon Jun 22 2020
Journal Name
Baghdad Science Journal
Preparation of Nanoparticles in an Eco- friendly Method using Thyme Leaf Extracts
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Colloidal silver nanoparticles were prepared by single step green synthesis using aqueous extracts of the leaves of thyme as a function of different molar concentration of AgNO3 (1,2,3,4 mM(. The Field Emission Scanning Electron Microscopy (FESEM), UV-Visible and X-ray diffraction (XRD) were used to characterize the resultant AgNPs. The surface Plasmon resonance was observed at wavelength of 444 nm. The four intensive peaks of XRD pattern indicate the crystalline nature and the face centered cubic structure of the AgNPs. The average crystallite size of the AgNPs ranged from 18 to 22 nm. The FESEM image illustrated the well dispersion of the AgNPs and the spherical shape of the nanoparticles with a particle size distribution be

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Publication Date
Tue Dec 01 2015
Journal Name
Solar Energy
A review of studies on using nanofluids in flat-plate solar collectors
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Continuous escalation of the cost of generating energy is preceded by the fact of scary depletion of the energy reserve of the fossil fuels and pollution of the environment as developed and developing countries burn these fuels. To meet the challenge of the impending energy crisis, renewable energy has been growing rapidly in the last decade. Among the renewable energy sources, solar energy is the most extensively available energy, has the least effect on the environment, and is very efficient in terms of energy conversion. Thus, solar energy has become one of the preferred sources of renewable energy. Flat-plate solar collectors are one of the extensively-used and well-known types of solar collectors. However, the effectiveness of the coll

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