The virtual decomposition control (VDC) is an efficient tool suitable to deal with the full-dynamics-based control problem of complex robots. However, the regressor-based adaptive control used by VDC to control every subsystem and to estimate the unknown parameters demands specific knowledge about the system physics. Therefore, in this paper, we focus on reorganizing the equation of the VDC for a serial chain manipulator using the adaptive function approximation technique (FAT) without needing specific system physics. The dynamic matrices of the dynamic equation of every subsystem (e.g. link and joint) are approximated by orthogonal functions due to the minimum approximation errors produced. The contr
The advancements in Information and Communication Technology (ICT), within the previous decades, has significantly changed people’s transmit or store their information over the Internet or networks. So, one of the main challenges is to keep these information safe against attacks. Many researchers and institutions realized the importance and benefits of cryptography in achieving the efficiency and effectiveness of various aspects of secure communication.This work adopts a novel technique for secure data cryptosystem based on chaos theory. The proposed algorithm generate 2-Dimensional key matrix having the same dimensions of the original image that includes random numbers obtained from the 1-Dimensional logistic chaotic map for given con
... Show MoreIn This paper generalized spline method and Caputo differential operator is applied to solve linear fractional integro-differential equations of the second kind. Comparison of the applied method with exact solutions reveals that the method is tremendously effective.
There are many different methods for analysis of two-way reinforced concrete slabs. The most efficient methods depend on using certain factors given in different codes of reinforced concrete design. The other ways of analysis of two-way slabs are the direct design method and the equivalent frame method. But these methods usually need a long time for analysis of the slabs.
In this paper, a new simple method has been developed to analyze the two-way slabs by using simple empirical formulae, and the results of final analysis of some examples have been compared with other different methods given in different codes of practice.
The comparison proof that this simple proposed method gives good results and it can be used in analy
... Show MoreA new blind restoration algorithm is presented and shows high quality restoration. This
is done by enforcing Wiener filtering approach in the Fourier domains of the image and the
psf environments
Digital image started to including in various fields like, physics science, computer science, engineering science, chemistry science, biology science and medication science, to get from it some important information. But any images acquired by optical or electronic means is likely to be degraded by the sensing environment. In this paper, we will study and derive Iterative Tikhonov-Miller filter and Wiener filter by using criterion function. Then use the filters to restore the degraded image and show the Iterative Tikhonov-Miller filter has better performance when increasing the number of iteration To a certain limit then, the performs will be decrease. The performance of Iterative Tikhonov-Miller filter has better performance for less de
... Show MoreThis research aims to numerically solve a nonlinear initial value problem presented as a system of ordinary differential equations. Our focus is on epidemiological systems in particular. The accurate numerical method that is the Runge-Kutta method of order four has been used to solve this problem that is represented in the epidemic model. The COVID-19 mathematical epidemic model in Iraq from 2020 to the next years is the application under study. Finally, the results obtained for the COVID-19 model have been discussed tabular and graphically. The spread of the COVID-19 pandemic can be observed via the behavior of the different stages of the model that approximates the behavior of actual the COVID-19 epidemic in Iraq. In our study, the COV
... Show MoreThis paper is concerned with a Coupled Reaction-diffusion system defined in a ball with homogeneous Dirichlet boundary conditions. Firstly, we studied the blow-up set showing that, under some conditions, the blow-up in this problem occurs only at a single point. Secondly, under some restricted assumptions on the reaction terms, we established the upper (lower) blow-up rate estimates. Finally, we considered the Ignition system in general dimensional space as an application to our results.