The modern steer-by-wire (SBW) systems represent a revolutionary departure from traditional automotive designs, replacing mechanical linkages with electronic control mechanisms. However, the integration of such cutting-edge technologies is not without its challenges, and one critical aspect that demands thorough consideration is the presence of nonlinear dynamics and communication network time delays. Therefore, to handle the tracking error caused by the challenge of time delays and to overcome the parameter uncertainties and external perturbations, a robust fast finite-time composite controller (FFTCC) is proposed for improving the performance and safety of the SBW systems in the present article. By lumping the uncertainties, parameter variations, and exterior disturbance with input and output time delays as the generalized state, a scaling finite-time extended state observer (SFTESO) is constructed with a scaling gain for quickly estimating the unmeasured velocity and the generalized disturbances within a finite time. With the aid of the SFTESO, the robust FFTCC with the scaling gain is designed not only for ensuring finite-time convergence and strong robustness against time delays and disturbances but also for improving the speed of the convergence as a main novelty. Based on the Lyapunov theorem, the closed-loop stability of the overall SBW system is proven as a global uniform finite-time. Through examination across three specific scenarios, a comprehensive evaluation is aimed to assess the efficiency of the suggested controller strategy, compared with active disturbance rejection control (ADRC) and scaling ADRC (SADRC) methods across these three distinct driving scenarios. The simulated results have confirmed the merits of the proposed control in terms of a fast-tracking rate, small tracking error, and strong system robustness.
The research aims to develop physical exercises with auxiliary training tools that work to develop the explosive power of the arms and legs, and then find out their effect on the accuracy of shooting from free throw and correction from jumping of advanced basketball players, as the researchers found a problem that these players have weakness in the skill of throwing Free throwing and shooting by jumping calculated with two points as a result of adopting unhealthy physical and technical positions, which led to a lack of focus and accuracy, and thus negatively affected the performance technique of free throw and jump shot, as most teams use traditional exercises without the use of auxiliary training tools, and this topic gave researchers the
... Show MoreThe importance of the research in the preparation of special exercises to develop some types of basketball scoring as a contribution to help the physical education teacher to find successful educational alternatives. The purpose of the study was to prepare special exercises for the cognitive (cognitive) survey in the development of motor satisfaction and learning some types of Scoring for basketball for students. Learn about the effect of cognitive exercises in cognitive development in students. The survey included students from the first stage of the Faculty of Physical Education and Sports Science \ University of Diyala (159) divided into 6 people. The sample was randomized by (b) and (b) D) and after dispersion by the standard method In
... Show MoreIn this paper we present an operational computer vision system for real-time motion detection and recording that can be used in surveillance system. The system captures a video of a scene and identifies the frames that contains motion and record them in such a way that only the frames that is important to us is recorded and a report is made in the form of a movie is made and can be displayed. All parts that are captured by the camera are recorded to compare both movies. This serves as both a proof-of- concept and a verification of other existing algorithms for motion detection. Motion frames are detected using frame differencing. The results of the experiments with the system indicate the ability to minimize some of the problems false detec
... Show MoreBiosorption of lead, chromium, and cadmium ions from aqueous solution by dead anaerobic biomass (DAB) was studied in single, binary, and ternary systems with initial concentration of 50 mg/l. The metal-DAB affinity was the same for all systems. The main biosorption mechanisms were complexation and physical adsorption of metallic cations onto natural active functional groups on the cell wall matrix of the DAB. It was found that biosorption of the metallic cations onto DAB cell wall component was a surface process. The main functional groups involved in the metallic cation biosorption were apparently carboxyl, amino, hydroxyle, sulfhydryl, and sulfonate. These groups were part of the DAB cell wall structural polymers. Hydroxyle groups (–O
... Show More Despite the availability of information technology banking features and benefits of the banking sector, they involve many risks and challenges and put in the face of the administrative authorities and regulatory institutions in the banking system, organizational matters and control sensitive and bear direct responsibility for conducting independent assessments of their regulatory and information and determine the degree of its durability and its ability to confront problems imposed by the technical challenges and technological .
And the success of the administrative authorities and regulatory institutions in achieving its objectives in the management of risks and threats oversight resulting from the act
This study aims to investigate the academic leaders’ perceptions towards the degree of availability of the dimensions of organizational immunity systems at the University of Tabuk, as well as to reveal the statistically significant differences between the average responses of the study sample members about the degree of availability of these dimensions at their university due to the variables of (gender, leadership position, and college specialization). To achieve the objectives of the study, a descriptive survey method was used. The study population consisted of (200) male and female leaders who were academic leaders at the University of Tabuk. A questionnaire was used as a tool for collecting data, which its validity and reliability
... Show MoreA new ligand (H4L) and its complexes with ( ZnII, CdII and HgII) were prepared. This ligand was prepared in two steps. In the first step a solution of terephthaldehyde in methanol was reacted under reflux with 1,2-phenylenediamine to give an precursor compound which reacted in the second step with 2,4-dihydroxybenzaldehyde to give the ligand. The complexes were then synthesized by direct reaction of the corresponding metal chloride with the ligand. The ligand and complexes were characterized by spectroscopic methods FT-IR, UV-Vis, 1 HNMR, and atomic absorption, chloride content, HPLC, mole-ratio determination. in addition to conductivity measurement. The data of these measurements suggest a distorted tetrahedral geometry for ZnII, C
... Show MoreThe Asymmetrical Castellated concavely – curved soffit Steel Beams with RPC and Lacing Reinforcement improves compactness and local buckling (web and flange local buckling), vertical shear strength at gross section (web crippling and web yielding at the fillet), and net section ( net vertical shear strength proportioned between the top and bottom tees relative to their areas (Yielding)), horizontal shear strength in web post (Yielding), web post-buckling strength, overall beam flexure strength, tee Vierendeel bending moment and lateral-torsional buckling, as a result of steel section encasement. This study presents two concentrated loads test results for seven specimens Asymmetrical Castellated concavely – curved soffit Steel Be
... Show MorePlatinum (Pt) supported on sulfated zirconia (SZ) and HY-zeolite as a solid acid catalyst was synthesized successfully for isomerization reaction using precipitation and impregnation method. The physicochemical properties of the catalyst were characterized using various techniques including X-ray diffraction (XRD), Fourier transformation infra-red spectroscopy (FTIR), BET Surface area and pore volume, and Field Emission Scanning Electron Microscopy (FESEM). The prepared composite catalyst Pt/SZ-HY consisted of high Bronsted acidic sites and Lewis acidic sites. The addition of multi-walled carbon nanotubes (MWCNTs) to SZ increased the surface area and pore volume, resulting in smaller crystal sizes and a narrower particle size dist
... Show More