An Opto-Electronic Stand-Off Sensor for Robotics

This thesis presents an optoelectronic stand-off sensor and actuation system developed for robotic applications. The measuring principle is based on an on-axis method of detecting variation in a beam reflected from a surface. The sensor utilizes two photodiodes to measure the difference in beam power falling through two pinholes, to estimate the distance between the workpiece surface and incident focused beam waist. The output voltage from the differential stage is normalized to negate the effects of surface reflectivity, colour, and texture. Two mathematical models are presented which simulate the device. The first depends only on the theory of propagation of gaussian beams, whilst the second relies upon simulating the reflected beam using geometrical optics to calculate the radiometric distribution at the detecting pinholes. A set of experiments were performed to analyze and optimize the performance of a number of sensor configurations. The experimental results are bounded between gaussian and radiometric model results. A comparison of the results of the three models, conclusions regarding sensor performance and principles for optimally designing such systems are given. A proportional control circuit for one sensor servo combination was designed and tested using a solenoid as an actuator. The predicted performance of the complete servo system was modelled utilizing the ACSL language. While an experimental rig was built and experiments designed to analyze the output of the system in response to a step input. The results of this show that the stand-off system gives varying response to different materials indicating that the electronic method of normalizing the sensor output is insufficient. The results also show that the device is sensitive to controller gain and behaves in a non-linear fashion as predicted. The actual response is generally faster than the predicted response. Conclusions and recommendations for further work and development are given

The Study of Carbon Nano-particles (CNPs) & Film Thickness & Temperature Effect on the Electrical Properties of Poly (3-hexylthiophene-2,5-diyl)

A thin films of a neat and a doped of P3HT in (1%, 2%, 3%, 4%, 5%) CNPs concentrations were fabricated by a spin coating method in multi revolution speeds (1000, 1500, 2000, 2500, 3000)rpm on glass substrate for thin film thickness measurement, and other films were fabricated on aluminum interdigitated finger electrodes of ceramic substrates for I-V characteristics measurement. The film thickness of the fabricated thin films of neat and doped P3HT was found in direct proportional to CNPs concentration in every revolution speed, and in reciprocal proportional to the revolution speed for every CNPs concentration. I-V characteristics were measured at (303, 313, 323, 333, 343)ᴼK temperature for all thin films in the voltage range to equal or less than (10 V), which presents an ohmic behavior of all samples. The surface electrical conductivity (σs) of samples was calculated from a slope of ohmic lines, the results shows an electrical semiconductor behavior for all neat and doped P3HT deposited films. On the other hand, an increasing of a surface conductivity of samples with an increase of CNPs doping concentration from (0%) to (5%) in every temperature and revolution speed. Its observed from the results that the electrical conductivity was decreased with film thickness increasing for neat and doped P3HT films in any one of temperature range. An activation energy (Ea) of the fabricated thin films was calculated from the slope of linear relation between conductivity an inverse of temperature, its observed that the activation energy decreasing for doped case P3HT in comparison with neat polymer, and its decreasing with an increase of the CNPs doping ratio. Also its clear that activation energy, increasing with increasing film thickness of the neat and doped P3HT

An Efficient Model for Data Classification Based on SVM Grid Parameter Optimization and PSO Feature Weight Selection

The support vector machine (SVM) is a classifier with different applications due to its perfect experimental performance compared to other machine learning algorithms. It has been used mostly in pattern recognition, fault diagnosis, and text categorization. The performance of SVM is extremely dependent on the sufficient setting of its parameters such as SVM max-iteration and SVM kernel-type. Therefore, the choice of suitable initial parameters of SVM will result in a good performance and classification result. This paper introduces a new schema for optimizing SVM parameters using grid search and particle swarm optimization PSO feature weighting. The experimental results demonstrate that the new method obtained a high accuracy compared to the traditional SVM and other SVM-optimization methods

A Blackbox Model Is All You Need to Breach Privacy: Smart Grid Forecasting Models as a Use Case

This paper investigates the potential privacy risks associated with forecasting models, with specific emphasis on their application in the context of smart grids. While machine learning and deep learning algorithms offer valuable utility, concerns arise regarding their exposure of sensitive information. Previous studies have focused on classification models, overlooking risks associated with forecasting models. Deep learning based forecasting models, such as Long Short Term Memory (LSTM), play a crucial role in several applications including optimizing smart grid systems but also introduce privacy risks. Our study analyzes the ability of forecasting models to leak global properties and privacy threats in smart grid systems. We demonstrate that a black box access to an LSTM model can reveal a significant amount of information equivalent to having access to the data itself (with the difference being as low as 1% in Area Under the ROC Curve). This highlights the importance of protecting forecasting models at the same level as the data

English Cultural Expressions Translation: Strategies Used in Rendering Narnia Chronicles into Arabic

This study explores the intercultural transfer that takes place during the process of translating children's literature from English into Arabic. It's main purpose is to investigate how culture-specific items or expressions are dealt with when they are rendered into Arabic and find out the most preferable translation strategies that can be applied in an attempt to make the translated versions acceptable and accessible to the target audience. This study draws its data from three English novels that belong to the famous series of Narnia Chronicles which are translated into Arabic. It also states the effects of following domestication or foreignization translation strategies. It is found that there is no consistency in the used translation strategies despite the fact that the three books are translated by the same translator. The study also shows that a compromise which includes the use of domestication and foreignization translation strategies seems to be the ideal solution

Asifya School And its Role In Fallujah, “Matn Al-Ghaya Wel-Taqreeb” Model

Praise be to Allah, the Lord of the Worlds, and peace and blessings be upon Muhammad and his family and companions. In this study, we describe the origins of Asifya school and consider the implications and importance of its name. We also consider the impact of the Asifya school and its ideology on the city of Fallujah. Keywords: Asifya, Fallujah, Matn Al-Ghaya Wel-Taqreeb

Factors influencing cloud computing adoption in Yemen higher education institutions

Cloud-based technology, which is now well established, helps reducing costs and providing accessibility, reliability and flexibility. However, the Yemen Higher educational system has not yet embraced cloud computing due to security and privacy concerns, lack of trust, negative cultural attitudes (i.e. tribalism), and most importantly, little digital devices experience in educational settings as well as lack of knowledge and technical know-how. Thus, this study proposes a conceptual model of cloud computing (CC) adoption in Yemen HEIs by investigating the influence of Technology, Organization and Environment (TOE) factors. In addition, this study investigates the moderating effect of tribalism culture in the relationships between the identified factors and CC adoption. The study employed both qualitative and quantitative approaches. A preliminary study through semi-structured interviews with ten (10) participants from top management of HEIs to refine and confirm the proposed model. The quantitative approach was used to determine the factors that influence CC adoption in Yemen HEIs through a questionnaire survey. Data were collected from 328 respondents in 38 HEIs and analyzed using Partial Least Square (PLS) Structural Equation Modelling (SEM). The results showed that relative advantage, reliability, compatibility, security, technology readiness, top management support, regulatory policy and competitive pressure have a positive significant impact on CC adoption. However, tribalism culture has a negative significant impact towards CC adoption. The study also found that tribalism culture moderates the relationship between compatibility, reliability, security, relative advantage, regulatory policy and CC adoption. This study contributes to TOE model adoption by including the cultural factor as a moderator towards CC adoption in Yemen HEIs. The study also provides a model and insights for HEIs, technology consultants, vendors and policy makers in better understanding of the factors that influence CC adoption in least developed countries (LDCs), specifically, Yemen

The total quality management practices in Yemeni Public Universities

There is a mutual relationship between the prosperity of a nation and the quality of education it provides to its people. Quality education improves standard of living of people by enhancing the performance of engines of economic development. This study focuses on the practice and application of Total Quality Management (TQM) in Yemeni universities. A questionnaire was developed after a careful and thorough review of the related literature and consultations with experts. The questionnaire was administered to universities academy staff. The study was performed based on a survey method for collecting data. A total of 262 questionnaires usable surveys were received. Correlation Pearson, t-test, One-way ANOVA were applied to analysis the gathered data from the questionnaire. The data were analyzed using computer- mediated (Statistical Package for Social Sciences) (SPSS). According to the analysis of TQM made in Yemen universities using statistical methods; Cronbach Alpha was high enough to a value of 0.96. Unfortunately, the Yemeni public universities have low turnout of TQM practice

Evaluating The Performance of People in the Central Bank of Iraq (Cbi) According to the European Excellence Model

Purpose: This research seeks to measure the possibility of applying People Standards (enabling factors) and people results in Standard (results) in the Central Bank of Iraq (CBI), by the EFQM Excellence Model.   Theoretical framework: The purpose of applying the EFQM Excellence Model standard in this investigation is to present a self-evaluation framework, allowing strength determination for each organization and establishing those areas where additional enhancements need to be made. Many recommendations are found in the literature concerning the application of the EFQM Excellence Model standard to identify and resolve issues and problem areas within organizational management.   Design/methodology/approach: We analysed the data for the year (2021) checklist that is collected through visits and meetings with the Total Quality Management Department in the bank, where the bank is working to implement standards for evaluating institutional performance in the bank’s departments, in accordance with international standards and experiences, including the (EFQM) model, and is also working to develop standards for evaluating individual performance.   Findings: The volume of research has been increasing over the past nineteen years, although there are only a few authors, institutions and reference journals contributing to the topic’s consolidation and the countries conducting the most joint research in co-authoring EFQM for the largest volume of publications, authors and impact journals.   Research, Practical & Social implications:  We used the suggested model to evaluate people's performance and to investigate the existing gaps between the desired and current situation of human resources within the Central Bank of Iraq. Within the People axis, two of the derived scores met EFQM standards as very excellent. Researchers found that the People Results axis had the lowest score, which indicates that the distance between these regions and the ideal condition is considerable.   Originality/value:  The results confirm the People Standard who got (86%) to be superior to that of the People results Standard who got (36%). The People Standard will contribute in the same way to improving people results; therefore, a balanced approach to developing the people results criterion will allow for the CBI to achieve the best competitive advantage from the EFQM Excellence Model

Multiplex polymerase chain reaction identification of Candida species colonized sputum of patients suffering from various respiratory tract disorders in Duhok, Iraq

Background: Candida species are part of the body normal flora. Under certain conditions, these opportunistic microorganisms may lead to infection. The purpose of this study was to identify Candida species isolated from sputum from patients suffering from respiratory tract disorders.Methods: A total of 59 sputum samples taken from patients attending Azadi hospital at Duhok province, Kurdistan Region/Iraq. For primary isolation, sputum samples were cultured on sabouraud dextrose agar (SDA). Suspected colonies of Candida isolates were then sub cultured on chromogenic Candida agar for presumptive identification. Genomic DNA extraction was performed using a genomic DNA extraction kit. For rapid identification of Candida spp, specific primers based on the genomic sequence of DNA topoisomerase 11 of C. albicans, C. parapsilosis I, C. parapsilosis II, C. guilliermondi, C. dubliniensis, C. krusei, C. kefyr and C. glabrata, C. tropicalis I, C. tropicalis II, C. lusitaniae were used. The Multiplex PCR products were separated by electrophoresis in 1.5% agarose gel, visualized by staining with ethidium bromide, and photographed.Results: Three Candida species namely C. albicans, C. glabrata and C. tropicalis were differentiated by their colour produced on Chromogenic Candida agar. PCR with the primer mixes yielded 4 different sized of PCR products corresponding to C. albicans, C. glabrata, C. Keyfer and C. tropicalis II, C. glabrata was the most common species (33.33%), followed by C. albicans (16.66%). The highest rate of isolation of Candida species was between the ages of 36 to 45.Conclusion: This study concluded that phenotypic characteristics on selective agar medium such as chromogenic Candida agar are useful for presumptive identification of Candiada spp with the support of molecular method such as multiplex PCR.