Al-Khwarizmi Engineering Journal,
Vol.6, No. 4 (2010)
Control of Omni-Directional Mobile Robot Motion.
This paper presents the motion programming and control of omni-directional mobile robot through the process of building and programming a small robotic platform with secondary design criteria of modularity and simplified control. This is accomplished by combining the positive aspects of several different robotics platform ideas. The platform is shaped like an equilateral triangle with a servo motor, sensors, and omni-wheel, controlled by a PIC microcontroller. In this work the kinematics, inverse kinematics and dynamic module for the platform is derived. Two search algorithms (the wall-following search and the “most-open-area” search) is designed, tested, and analyzed experimentally.
Improvement of Surface Roughness Quality for Stainless Steel 420 plate Using Magnetic Abrasive Finishing Method.
An experimental study was carried out to improve the surface roughness quality of the stainless steel 420 using magnetic abrasive finishing method (MAF). Four independent operation parameters were studied (working gap, coil current, feed rate, and table stroke), and their effects on the MAF process were introduced. A rotating coil electromagnet was designed and implemented to use with plane surfaces. The magnetic abrasive powder used was formed from 33%Fe and 67% Quartz of (250µm mesh size). The lubricant type SAE 20W was used as a binder for the powder contents. Taguchi method was used for designing the experiments and the optimal values of the selected parameters were found. An empirical equation representing the relation between surface roughness with operation parameters have been achieved.
Abbas H. Sulaymon
Ammar S. Abbas
Prediction of Equilibrium Mixing Index and Optimum Mixing Time for Three solid materials in Fluidized Column.
Equilibrium and rate of mixing of free flowing solid materials are found using gas fluidized bed. The solid materials were sand (size 0.7 mm), sugar (size0.7 mm) and 15% cast iron used as a tracer. The fluidizing gas was air with velocity ranged from 0.45-0.65 m/s while the mixing time was up to 10 minutes. The mixing index for each experiment was calculated by averaging the results of 10 samples taken from different radial and axial positions in fluidized QVF column 150 mm ID and 900 mm height.The experimental results were used in solving a mathematical model of mixing rate and mixing index at an equilibrium proposed by Rose. The results show that mixing index increases with increasing air velocity and mixing time until it reaches an optimum value then decrease to an equilibrium value. The results also show the dependency of the mixing index on the particle size of the tracer component. The statistical analysis of the obtained theoretical mixing index versus the experimental mixing index shows that the standard error is 0.92 % (about 1 %) with the correlation coefficient of 0.9857 and the total residual of 0.002 for the ninth observation of the mixing index (theoretical versus experimental) over 95% confidence level.
Azhar M. Haleem
The Biosorption of Cr (VI) From Aqueous Solution Using Date Palm Fibers (Leef)
The ability of Cr (VI) removal from aqueous solution using date palm fibers (leef) was investigated .The effects of pH, contact time, sorbets concentration and initial metal ions concentration on the biosorption were investigated.The residual concentration of Cr (VI) in solution was determined colorimetrically using spectrophotometer at wave length 540 nm .The biosorption was pH-dependent, the optimum pH was 7 and adsorption isotherms obtained fitted well with Langmuir isotherms .The Langmuir equation obtained was Ce/Cs = 79.99 Ce-77.39, the correlation factor was 0.908.These results indicate that date palm fibers (leef) has a potential effect for the uptake of Cr (VI) from industrial waste water.
Finite Element Based Solution of Laplace’s Equation Applied to Electrical Activity of The Human Body.
Computer models are used in the study of electrocardiography to provide insight into physiological phenomena that are difficult to measure in the lab or in a clinical environment.
The electrocardiogram is an important tool for the clinician in that it changes characteristically in a number of pathological conditions. Many illnesses can be detected by this measurement. By simulating the electrical activity of the heart one obtains a quantitative relationship between the electrocardiogram and different anomalies. Because of the inhomogeneous fibrous structure of the heart and the irregular geometries of the body, finite element method is used for studying the electrical properties of the heart.
Bahaa I. Kazem
Mohammed Najm Abdulla
Jalal B. Raouf
Design and Implementation of Iraqi Virtual Library.
In developing countries, individual students and researchers are not able to afford the high price of the subscription to the international publishers, like JSTOR, ELSEVIER,…; therefore the governments and/or universities of those countries aim to purchase one global subscription to the international publishers to provide their educational resources at a cheaper price, or even freely, to all students and researchers of those institutions. For realizing this concept, we must build a system that sits between the publishers and the users (students or researchers) and act as a gatekeeper and a director of information: this system must register its users and must have an adequate security to ensure that only the affiliated students are able to access its services. It also needs to have security and trust mechanisms built-in for commercial partners to accept their connections. This paper describes the work done on the design and implementation of the IVL (Iraqi Virtual Library).
Faiz F. Mustafa
The problem in the design of a cam is the analyzing of the mechanisms and dynamic forces that effect on the family of parametric polynomials for describing the motion curve. In present method, two ways have been taken for optimization of the cam size, first the high dynamic loading (such that impact and elastic stress waves propagation) from marine machine tool which translate by the roller follower to the cam surface and varies with time causes large contact loads and second it must include the factors of kinematics features including the acceleration, velocity, boundary condition and the unsymmetrical curvature of the cam profile for the motion curve.
Nada Mahdi Fawzi
Luma Ahamed Adia
Properties of High Performance Concrete
The research deals with a new type of high-performance concrete with improved physical properties, which was prepared by using metal additives minutes (Metakaolin) and by studing their impact on the properties of mortar and concrete high-performance through destructive and non destructive tests. This type of concrete is used broadly in public buildings and in other structures . The research involved a number of experiments such as finding the activity index of burned at a temperature of 750 º C according to the standard ( ASTM C-311/03), as well as casting models for the cubic mortar mixtures and concrete containers at different rates of metakaolin ranging between (5% - 20%) as an added part to the cement mix to get a high- compressive strength concrete reaching more than (70) N/mm2 in addition to the decrease in porosity. The research includes standying engineering properties such as density and compressive strength and ultrasonic pulse velocity test and dynamic modulus of elasticity and porosity.
Muhsin J. Jweeg
Abdul Rahman Najim Abd
Nowfal A. Abdulrazzag