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Tendon Type Robotic Gripper with Frictional Self-Locking Mechanism
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This research considers a proposed mechanism relying on frictional interactions between the grasped object and the gripper, thus attaining a case of self-locking condition for a tendon type robotic gripper. A mathematical model was derived for this proposed mechanism, upon which a special purpose apparatus was fabricated and tested. Both results, theoretically and experimentally, are in good agreement, showing that the weight of the grasped object played a major role in attaining the self-locking condition.

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Publication Date
Tue Mar 30 2021
Journal Name
Baghdad Science Journal
Fixed Point Theorems in General Metric Space with an Application
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   This paper aims to prove an existence theorem for Voltera-type equation in a generalized G- metric space, called the -metric space, where the fixed-point theorem in - metric space is discussed and its application.  First, a new contraction of Hardy-Rogess type is presented and also then fixed point theorem is established for these contractions in the setup of -metric spaces. As application, an existence result for Voltera integral equation is obtained.  

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Publication Date
Mon Mar 01 2021
Journal Name
Key Engineering Materials
Experimental Investigation of Reinforced Concrete Columns with Steel Embedded Tubes
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This study aimed to investigate the influence of longitudinal steel embedded tubes located at the center of the column cross-section on the behavior of reinforced concrete (RC) columns. The experimental program consisted of 8 testing pin-ended square sectional columns of 150×150 mm, having a total height of 1400 mm, subjected to eccentric load. The considered variables were the steel square tube sizes of 25, 51 and 68 mm side dimensions and the load eccentricity (50 and 150) mm. RC columns were concealed steel tubes with hollow ratios of 3%, 12% and 20% depending on tube sizes used. The experimental results indicated an improvement in the overall behavior of eccentric columns when steel embedded tubes are used. The maximum gain in

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Publication Date
Mon Aug 01 2011
Journal Name
Journal Of Engineering
PHOTO DYNAMIC THERAPY (PDT) WITH BIOLOGICAL TISSUES USING ND:GLASS LASER
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A Photo Dynamic Therapy (PDT) is a technique which is used with Laser to treat many of cancer
tissues. This paper deals with the relatively new therapeutic technique (PDT) with pulsed Nd:glass Laser
which was applied to human soft tissues (Ovary and Kidney tissues), and to the hard tissues (freshly
extracted human teeth), with power density of 280 watt/mm2 and exposure time 330 usec. Different
dyes (Blue, methylene, eosin, and orange) were applied to the area before irradiation to study the effect
of the pigments on the laser interaction with biological tissues. The zone of treatment (Z-necrosis) with
aid of MATLAB was determined. The relationship of zone of treatment with exposure time,
accumulated damage and fracti

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Publication Date
Fri Apr 01 2022
Journal Name
Baghdad Science Journal
Improved Firefly Algorithm with Variable Neighborhood Search for Data Clustering
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Among the metaheuristic algorithms, population-based algorithms are an explorative search algorithm superior to the local search algorithm in terms of exploring the search space to find globally optimal solutions. However, the primary downside of such algorithms is their low exploitative capability, which prevents the expansion of the search space neighborhood for more optimal solutions. The firefly algorithm (FA) is a population-based algorithm that has been widely used in clustering problems. However, FA is limited in terms of its premature convergence when no neighborhood search strategies are employed to improve the quality of clustering solutions in the neighborhood region and exploring the global regions in the search space. On the

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Scopus (16)
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Publication Date
Mon Aug 01 2016
Journal Name
Journal Of Economics And Administrative Sciences
User (K-Means) for clustering in Data Mining with application
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  The great scientific progress has led to widespread Information as information accumulates in large databases is important in trying to revise and compile this vast amount of data and, where its purpose to extract hidden information or classified data under their relations with each other in order to take advantage of them for technical purposes.

      And work with data mining (DM) is appropriate in this area because of the importance of research in the (K-Means) algorithm for clustering data in fact applied with effect can be observed in variables by changing the sample size (n) and the number of clusters (K)

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Publication Date
Thu Oct 01 2020
Journal Name
Journal Of Engineering
Strengthening of RC Beam with Large Square Opening Using CFRP
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The use of essential services in modern constructions, such pipes, and ducts, became important, placing these pipes and ducts underneath the soffit of the beam. They made a ceiling sandwich, and that causes to reduce the height of the floor, so the presence of the opening in the beam saves the height of the floor.  In this paper, the investigation of the beam response of reinforced concrete simply supported rectangle beams with square web openings is presented, including a number of the web openings (two, four, and eight), in addition to its use in strengthening the member at the openings (when the beam is planned before casting, internal deformation steel bar is used, and in case of the opening is existing in the b

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Publication Date
Sun Jul 06 2014
Journal Name
Journal Of Educational And Psychological Researches
Ulma with feeling of freedom at student of secondary stage
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The ulma is one of the most spread social phenomenon.It occupies people in their different tendencies,the ulma imposes itself strongly in their social ,economic and politic sidies.

The   problem of freedom quarrel is the older problem in creation .The groups as well as the individuals look for their liberty and it is restricted, they isolate themselves from others for a achieving it. Isolation phenomenon is one of common humanity phenomenon among individuals for looking  of individuals psychological and social compatibility with other and society so they feel anxiety and tension and restriction of will and freedom. IT is known that college student from the major never in development and ren

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Publication Date
Sun Mar 04 2018
Journal Name
Baghdad Science Journal
Microalgae Chlorella Vulgaris Harvesting Via Co-Pelletization with Filamentous Fungus
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The objective of this study was to progress another method for coagulation/flocculation of the microalga Chlorella vulgaris via pellet-forming of the fungal species Aspergillus niger which was isolated from municipal wastewater mud and the facultative heterotrophic microalga "C.vulgaris was used. The main factors studies were spore inoculums, organic carbon concentration in medium as well as pH variation which had considerably positive effects on microalgae/fungi co-pelletization formation. The process parameters are an inoculum1×104 spores/ML, 15 g/l sucrose as carbon source and pH ranged from 5 - 7.0 were found optimal for efficient microalgae/fungi co-pelletization formation. For autotrophic growth, when pH of culture broth was adjusted

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Publication Date
Fri May 01 2015
Journal Name
Journal Of Engineering
Brackish Water Desalination Coupled With Wastewater Treatment and Electricity Generation
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A new bio-electrochemical system was proposed for simultaneous removal of organic matters and salinity from actual domestic wastewater and synthetically prepared saline water, respectively. The performance of a three-chambered microbial osmotic fuel cell (MOFC) provided with forward osmosis (FO) membrane and cation exchange membrane (CEM) was evaluated with respect to the chemical oxygen demand (COD) removal from wastewater, electricity generation, and desalination of saline water. The MOFC wasinoculated with activated sludge and fueled with actual domestic wastewater. Results revealed that maximum removal efficiency of COD from wastewater, TDS removal efficiency from saline water, power density, and current density were

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Publication Date
Wed Sep 01 2004
Journal Name
Hospital
Treatment of Pityriasis Versicolour with Topical 15% Zinc Sulfate Solution
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KE Sharquie, WS Al-Dori, IK Sharquie, AA Al–Nuaimy, Hospital, 2004 - Cited by 20

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