Preferred Language
Articles
/
iRfoe5IBVTCNdQwCArEL
Hierarchical sliding mode control applied to a single-link flexible joint robot manipulator
...Show More Authors

Trajectory tracking and vibration suppression are essential objectives in a flexible joint manipulator control. The flexible joint manipulator is an under-actuated system, in which the number of control actions is less than the degree of freedom to be controlled. It is very challenging to control the underactuated nonlinear system with two degree of freedom. This paper presents a hierarchical sliding mode control (HSMC) for a rotary flexible joint manipulator (RFJM). Firstly, the rotary flexible joint manipulator is modeled by two subsystems. Secondly, the sliding surfaces for both subsystems are constructed. Finally, the control action is designed based on the Lyapunov function. Computer simulation results demonstrate the effectiveness of the proposed control. The comparative study shows the proposed method has superior performance than the conventional sliding mode control by achieving the controlled objectives such as a satisfactory tracking performance and an acceptable vibration reduction for the single link flexible joint robot manipulator.

Scopus Crossref
View Publication
Publication Date
Thu Jan 20 2022
Journal Name
Webology
Red Monkey Optimization and Genetic Algorithm to Solving Berth Allocation Problems
...Show More Authors

In the past two decades, maritime transport traffic has increased, especially in the case of container flow. The BAP (Berth Allocation Problem) (BAP) is a main problem to optimize the port terminals. The current manuscript explains the DBAP problems in a typical arrangement that varies from the conventional separate design station, where each berth can simultaneously accommodate several ships when their entire length is less or equal to length. Be a pier, serve. This problem was then solved by crossing the Red Colobuses Monkey Optimization (RCM) with the Genetic Algorithm (GA). In conclusion, the comparison and the computational experiments are approached to demonstrate the effectiveness of the proposed method contrasted with other

... Show More
View Publication Preview PDF
Crossref (3)
Crossref
Publication Date
Fri Jun 30 2023
Journal Name
Iraqi National Journal Of Nursing Specialties
Patients' Knowledge and adherence to Clopidogrel Therapy post Percutaneous Coronary Intervention
...Show More Authors

Abstract

Objectives: To assess patients’ knowledge and their adherence to Clopidogrel Therapy Post Percutaneous Coronary Intervention, and to find out the relationship between patients’ knowledge and their adherence to Clopidogrel Therapy Post Percutaneous Coronary Intervention

Methodology: A descriptive design was carried out at Al- Nasiriyah Heart Center in Thi-Qar Governorate for the period between May 19th, 2022 to October 25th, 2022. A non-probability sampling was used among (50) patients after their Percutaneous Coronary Intervention. The study instrument that used to collect data was composed of three parts namely: sociodemographic charac

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Sun Dec 07 2014
Journal Name
Baghdad Science Journal
Seroepidemiological Study of Measles Virus among Young Adults: Response to Revaccination
...Show More Authors

The 2011 Iraqi Measles Control Campaign had as its aim to improve immunization coverage among young adults' 17-24years and, in the longer term, prevention of measles epidemics. The aim of the study is estimation measles vaccination and revaccination efficacy by evaluate the seroprevalence of antibody and response to reimmunization in young adults. A previously vaccinated 189 young adult medical students were tested for measles specific IgG &IgM pre and post catch-up revaccination by using commercially available ELISA. To assess the seroprevalence of antibody response pre measles reimmunization in previously vaccinated young adults; 45 were found to be seronegative. To differentiate between primary and secondary vaccine failure, anti- mea

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sun Aug 01 2021
Journal Name
The 4th International Virtual Conference In Educational And Human Sciences, Arts, And Languages
Measuring Situational Language Teaching to English Student's Speaking in Private Schools
...Show More Authors

English teachers in Iraq and other countries around the world up to this time use traditional methods to help students memorize new vocabularies. The sense of words or structure is not to be given in either the native tongue or the target language by definition, but is induced by the way the form is used in the situation. Situational Language Teaching (SLT) has recently become the needed method for improving speaking skills. It indicates the application of learning the language in actual and social exchange expressions so as to let learners do as required in classroom and non-classroom circumstances. This pilot study seeks to answer the following questions: Can SLT improve English speaking skills of target learners? How SLT contribute to th

... Show More
View Publication
Publication Date
Wed Aug 30 2023
Journal Name
Baghdad Science Journal
Adherence model to cervical cancer treatment in the Covid-19 era
...Show More Authors

Cervical Uterine Cancer is a disease that explains the vulnerability in which women are in terms of reproductive health with an impact on occupational health and public health, even when in Mexico the prevalence rate is lower than the other member countries of the OECD, its impact on Human Development and Local Development shows the importance that the disease have in communities more than in cities where prevention policies through check-ups and medical examinations seem to curb the trend, but show the lack of opportunities and capacities of health centers in rural areas.   To establish the reliability, validity, and correlations between the variables reported in the literature with respect to their weighting in a public hospital. A

... Show More
View Publication Preview PDF
Scopus (2)
Scopus Crossref
Publication Date
Sun Dec 01 2019
Journal Name
Journal Of Economics And Administrative Sciences
Using Markov chains to forecast the exports of Iraqi crude oil
...Show More Authors

       In this paper, the topic of forecasting the changes in the value of Iraqi crude oil exports for the period from 2019 to 2025, using the Markov transitional series based on the data of the time series for the period from January 2011 to November 2018, is real data obtained from the published data of the Central Agency Of the Iraqi statistics and the Iraqi Ministry of Oil that the results reached indicate stability in the value of crude oil exports according to the data analyzed and listed in the annex to the research.

Keywords: Using Markov chains

View Publication Preview PDF
Crossref
Publication Date
Wed Aug 31 2022
Journal Name
Al-kindy College Medical Journal
Cervical Pain Related to Position of the Neck during E-Learning
...Show More Authors

Background: During the pandemic, Corona virus forced many people, especially students, to spend more time than before on the computer and smartphone to study and communicate. The poor posture of the body may have worse effect on its body parts , most of which is the cervical spine (forward head posture).

Objective: To assess the incidence of neck pain and the associated factors among undergraduate medical students related to position during E learning

Subjects and Methods: Cross-sectional study was conducted among medical students in three Iraqi universities during 2021. The sample size w

... Show More
View Publication Preview PDF
Crossref
Publication Date
Fri Mar 01 2013
Journal Name
Journal Of Economics And Administrative Sciences
Role of Total Quality tools to reduce costs and improve quality
...Show More Authors

Abstract

The research aims to study the problem of high production costs and low quality and the use of total quality management tools to detect problems of the high cost of failure and low quality products, diagnosis, and developing appropriate solutions.

To achieve the goal, we studied the overall quality tools and its relationship with the costs and the possibility of improving quality through the use of these tools.

Was limited to these tools and study the relation to the reduction of costs and improving quality have been studied serially by the possibility of the reduction.
To achieve the goal, the study of the concept of total quality management

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Tue Dec 22 2020
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Cost Management of construction industries according to the fast-track method
...Show More Authors

Construction projects have become a changing dramatically in recent decades and that the goal of the beneficiaries of the implementation of structural project is to complete the work with less time and within the cost of the specific and the best possible quality may sometimes happen that highlights the importance of time on the rest of the items at the implementation of projects for various reasons, including the need to use the project as soon as possible possible change rapidly to customer's requests, but the high cost of the project represents the biggest obstacle for entrepreneurs with its effects on the quality and the time workers, and is a measure of those elements in monetary terms is the key to integration between them, so the

... Show More
View Publication Preview PDF
Publication Date
Thu Jun 30 2011
Journal Name
Al-kindy College Medical Journal
Tympanogenic Labyrinthitis (Cochlear Deafness) due to chronic suppurative otitis media (CSOM)
...Show More Authors

Background: It has been accepted that in patients with CSOM, conductive deafness results from mechanical break-down of sound conduction ,whilist the cochlea remains unaffected.
Objectives: Our study aims to prove a sensorineural component in hearing loss in patients suffering from CSOM , which necissates early detection as it increases in severity with time.
Methods: A prospective study was done on 64 patients, all were diagnosed as having unilateral CSOM, their ages ranged from 18-40 years to exclude presbyacusis as a cause of sensorineural deafness.
These patients were divided into 4 groups according to the duration of discharge and further divided into 3 groups according to the pathology (simple perforation, granulation tissu

... Show More
View Publication Preview PDF