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المسار الامثل للجراحة الروبوتية الطبية باستخدام الخوارزمية الجينية == Path Optimization For Medical Surgery Robotic Using Genetic Algorithm
Author name:
زهراء داود حسين
Supervisor name:
مهند زيدان خليفة | ايمان صالح كريم
General topic:
Electrical, Electronic and Communications Engineering
Specific topic:
Electromechanical engineering
Degree:
Master
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
Abstract:
تناولت هذه الرسالة دراسة تصميم امثل لموديل مختار للانسان الالي المستخدم في مجال الجراحة البشرية (جهاز التنظير البطني الجراحي ) المستخدم في مستشفى الصدر التعليمي في محافظة ميسان والمصنع من قبل شركة (KARL STORZ) من خلال زيادة عدد درجات الحرية لتصل سبعة درج | This thesis presents a study for optimal design of a robot to be used in human surgery (Laparoscope device). It was done in Al - Sader educational hospital in Maysan Governorate. The robot was manufactured by Karl Storz company. Connecting linkages were increased to get seven degrees of freedom. It is operated by the surgeon hand (complete rotation 360o , rotation in two opposite directions perpendicular to each other ,transformation along the major axes , triple joint (pitch ,roll, and yaw). Optimization has been done to these models after making analysis to the surgical robot (forward kinematic, inverse kinematic, dynamitic analysis). The optimal design was obtained by using genetic algorithm method to choose the optimal path planning in the working area. This was with the presence of obstacles to tip of end - effector motion that exists, in mechanical arm to the new model that used in this thesis. This was done by making an integrated computer program through MATLAB (R2013a). The results of best path planning would shorten length without hitting any obstacle, assuming the surrounding environment will be variable. The position and obstacle shapes would be random. We found that the best path planning in every environment depends on maximize objective function that presented by shortest length of the path. This is important from the medical point of view. This was applied successfully in practice on an industrial robot and the resulted optimal parameters to that robot with matching of the theoretical side with practical side in robot motion. The practical side was made in laboratory of the Research Unit of Automation and Robotics in the Control and Systems Engineering Department, University of Technology. The robot used was the Lab - Volt Servo Robot System Model 5250 (RoboCIM5250). This thesis includes studying the tools used in laparoscope and focuses on recent types of graspers with parallel jaws connected to the chosen design. It was noticed that the maximum entrance force for the abdominal tracar must not exceed 5N. The force on the last point of jaws is 0.42N. It was found that this force will not cause bleeding in the tissue during procedure. And that this type of small size grasper can be bent during operation in the allowed field of workspace while maintaining good strength.
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تقنيات ذكيـة لنمذجة, المـراقبة والسـيطرة على محطات تصفية المياه == An Intelligent Modeling, Monitoring and Controlling Techniques for Water Treatment Plants
Author name:
غادة عادل عزيز
Supervisor name:
كريكور سيـروب كريكور | اكرم فجر بطي
Specific topic:
Engineering Education Technologies - Electricity
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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تصميم برنامج تعليمي لدراسة التوزيع الاقتصادي في منظومة القدرة الكهربائية == Designing An Instructional Program For Economic Dispatch Of Operational Power System
Author name:
غسان عبد الحسين بلال السلطاني
Supervisor name:
ضاري يوسف السامرائي | سحر رضا الساكني
Specific topic:
Engineering Education Technologies - Electricity
Degree:
Master
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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دراسة متعددة الاوجه لاداء دافعة ضاغط الطرد المركزي == Multidisplanary Performance Methodology Of A Centrifugal Compressor Impeller
Author name:
زينب جواد محمد
Supervisor name:
عبد اللطيف احمد جادالله | ساهرة عباس السعدي
Specific topic:
Engineering Education Technologies - Mechanics
Degree:
Master
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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التحليل الديناميكي لانابيب مصنوعة من مواد مركبة تحت تاثير موجة ضغط - برنامج حاسوبي تعليمي == Dynamic Analysis Of Composite Tubes Subjected To Pressure Wave - An Instructional Computer Program
Author name:
احمد قاسم حسن
Supervisor name:
محسن جبر جويج | شوكت ذياب الهيازعي
Specific topic:
Engineering Education Technologies - Mechanics
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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السيطرة على سرعة محركات التيار المستمر ذو التغذية المنفصلة باستخدام مسيطر المنطق المضبب == Speed Control Of Separatelly Excited Dc Motor Using Fuzzy Logic Controller
Author name:
احمد ريسان حسين
Supervisor name:
خالد اسماعيل النعيمي | خماس لعيبي شويع
Specific topic:
Engineering Education Technologies - Electricity
Degree:
Master
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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تنبؤ عددي باداء مدخنة شمسية باستخدام تقنية حركة الموائع == Numerical Prediction of a Solar Chimney Performance Using CFD Technique
Author name:
رفاه عزيز نجم
Supervisor name:
جلال محمد جليل | سميرة عبد الله عبد الواحد
Specific topic:
Engineering Education Technologies - Mechanics
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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تحليل قوى دائرة القصر في لفات محول توزيع نوع قشري ذات القلب الملفوف باستخدام طريقة العنصر المحدد == Analysis Of Short - Circuit Forces In Windings Of Shell - Type "Wound Core" Distribution Transformer Using Finite Element Method
Author name:
قاسم رشيد حميد
Supervisor name:
كريكور سيروب كريكور | اكرم فجر بطي
Specific topic:
engineering education techniques
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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السيطرة المباشرة على العزم لمحرك حثي باستخدام تقنيات شبـكة دالـة الاساس الشعاعي العصبيـة والسيطرة الضبابيـة == Direct Torque Control Of Induction Motor By Using Radial Basis Function Neural Network And Fuzzy Control Techniques
Author name:
محمد خلف مسعود
Supervisor name:
عصام محمود عبد الباقي | عدنان السلطاني
Specific topic:
Engineering Education Technologies - Electricity
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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تحليل ارسال الصور المتحركة (الفديو) عبر شبكات الاتصالات اللاسلكية وتحسينها مع تصميم تعليمي == Analysis Of Video Transmission Over Wireless Networks With Instructional Design
Author name:
حسن فهد خزعل الخزعلي
Supervisor name:
نصر نافع خميس | شوكت ذياب الهيازعي
Specific topic:
Engineering Education Technologies - Electricity
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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التشويه الانحنائي للمواد المركبة تحت حمل الصدمة المحورية بدرجات حرارية عالية == Buckling Deformation Of Composite Material Under Impact Axial Loading At Elevated Temperatures
Author name:
محمد عبد الحسن وهيب
Supervisor name:
حسين جاسم محمد العلكاوي | سميرة عبد الله عبد الواحد
Specific topic:
engineering education techniques
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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تصميم تمهيدي ومحاكاة ضاغطة محورية الجريان مع تحقيق عملي == Preliminary Design And Simulation Of An Axial Flow Compressor With Experimental Verification
Author name:
انور ناظم محمد علي
Supervisor name:
اركان خلخال الطائي | سميرة عبد الله الموسوي
Specific topic:
engineering education techniques
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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التحقيق العملي والنظري بالخصائص الميكانيكية لمركب البولستر الزجاجي تحت الاحمال الساكنة والحركية == Experimental And Theoretical Investigation Into Some Mechanical Properties Of Glass Polyester Composite Under Static And Dynamic Loads
Author name:
حيدر موسى حسين الشكري
Supervisor name:
مهند زيدان خليفه | عدنان محمد السلطاني
Specific topic:
engineering education techniques
Degree:
Master
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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دراسة تحليلية , عملية, عددية للسلوك اللاخطي للمادة اللزجة المرنة تحت تاثير الحرارة لطبقة نحيفة مركبة مع بناء انموذج تعليمي == An Analytical, Experimental And Numerical Investigation Of Non - Linear Thermoviscoelasticity Behavior Of Laminated Composites And Construction An Instructional Mode
Author name:
رائد نعيم هوين الظالمي
Supervisor name:
محسن جبر جويج | عدنان محمد السلطاني
Specific topic:
engineering education techniques
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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نمذجة الخواص الميكانيكية للصلب == Mechanical Property Modelling Of Steels
Author name:
اسيل عبد الباقي عبد الرزاق
General topic:
Electrical, Electronic and Communications Engineering
Specific topic:
Electromechanical engineering
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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تقييم معامل انتقال الحرارة اثناء تقسية الصلب == Evaluation Of Heat Transfer Coefficient During Quenching Of Steel
Author name:
هالة سلمان حسن
General topic:
Electrical, Electronic and Communications Engineering
Specific topic:
Electromechanical engineering
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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تاثيرات الظروف البيئية المختلفة على خواص صفائح الفايبر المقوى == The Effects Of Different Environmental Conditions On The Characteristics Of Fiber Reinforced Plates
Author name:
غيداء كريم ياس
Supervisor name:
صفاء هاشم عبد الرحمن | شوكت ذياب الهيازعي
General topic:
Electrical, Electronic and Communications Engineering
Specific topic:
Electromechanical engineering
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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التحليل الاهتزازي الحر لخزان السوائل الاسطواني الدائري محكم-حر التثبيت == Free Vibration Analysis Of Free - Clamped Circular Cylindrical Liquid Storage Tank
Author name:
نصر الله عودة سعدي الارناووطي
Supervisor name:
طلال عبد الجبارعبد الوهاب
General topic:
Mechanical Engineering
Specific topic:
Mechanical Engineering
Degree:
Master
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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تحسين ادارة الشبكات المنشاة لغرض خاص == Enhancement Management Of AD HOC Networks
Author name:
منال كاظم عودة
Supervisor name:
محمد حسين علي | شوكت ذياب الهيازعي
General topic:
Electrical, Electronic and Communications Engineering
Specific topic:
Electromechanical engineering
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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التحكم الاتجاهي بدون متحسسات في سرعة وموضع محرك الخطوة الهجين باستخدام مرشح كالمان الموسع == Speed And Position Sensorless Vector Control Of Hybrid Stepper Motor Using Extended Kalman Filter
Author name:
علي حسين نعمان
Supervisor name:
كريكور سيروب كريكور
General topic:
Electrical, Electronic and Communications Engineering
Specific topic:
Electromechanical engineering
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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تصميم وتنفيذ برنامج تعليمي لدراسة محركات التيار المستمر == Design And Implementation Of An Instructional Program On Direct Current Motors
Author name:
سعود انور وديع ننيس
Supervisor name:
شيرين فائق عبد الكريم
General topic:
Electrical, Electronic and Communications Engineering
Specific topic:
Electromechanical engineering
Degree:
Master
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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محاكاة تعليمية لاتجاه الوصول باستخدام مصفوفة لاقطات متشابكة بواسطة الشبكات العصبية == Instructional Simulation Of Direction Of Arrival Using Nested Microphone Array By Neural Network
Author name:
داليا عصام نعيم الخوري
Supervisor name:
رفعت طالب حسين | انعام عبد موسى الصادق
General topic:
Electrical, Electronic and Communications Engineering
Specific topic:
Electromechanical engineering
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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تصميم وتنفيذ منظومة تشغيل سلس ذكية بدون تحسس للمحرك الحثي == Design And Implementation A Sensorless Intelligent Soft Starting System Of Induction Motor
Author name:
عبد الجبار عويد حنفيش الشمري
Supervisor name:
كريكور سيروب كريكور | شوكت ذياب الهيازعي
General topic:
Electrical, Electronic and Communications Engineering
Specific topic:
Electromechanical engineering
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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تكييف التشقير والتضمين المؤسس على الربط المتسلسل للمشفرات الالتفافي والريد - سلمون لنظام تضمين تقسيم التردد المتعامد == Adaptive Coding And Modulation Based On Concatenation Of R - S And Convolutional Codes For OFDM System
Author name:
محمود فرحان مصلح
Supervisor name:
احمد علي الاعرجي | نزهت سعيد عبد الرزاق
General topic:
Electrical, Electronic and Communications Engineering
Specific topic:
Electromechanical engineering
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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تطبيقات الانظمة الهجينة لتعويض القدرة المتفاعلة في انظمة التوزيع الكهربائية == Hybrid System Applications To Reactive Power Compensation In Distribution Systems
Author name:
باقر تركي عطية اللامي
Supervisor name:
محمد جوار كحامي الشعيراوي | ضاري يوسف السامرائي
General topic:
Electrical, Electronic and Communications Engineering
Specific topic:
Electromechanical engineering
Degree:
Doctorate
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
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