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Fast Finite-Time Composite Controller for Vehicle Steer-by-Wire Systems with Communication Delays
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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.

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Publication Date
Sun Sep 11 2022
Journal Name
Journal Of Petroleum Research And Studies
Non-Productive Time Reduction during Oil Wells Drilling Operations
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Often there is no well drilling without problems. The solution lies in managing and evaluating these problems and developing strategies to manage and scale them. Non-productive time (NPT) is one of the main causes of delayed drilling operations. Many events or possibilities can lead to a halt in drilling operations or a marginal decrease in the advancement of drilling, this is called (NPT). Reducing NPT has an important impact on the total expenditure, time and cost are considered one of the most important success factors in the oil industry. In other words, steps must be taken to investigate and eliminate loss of time, that is, unproductive time in the drilling rig in order to save time and cost and reduce wasted time. The data of

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Publication Date
Mon Jan 01 2018
Journal Name
Rehabend
Prediction of impact force-time history in sandy soils
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Publication Date
Fri Jun 30 2023
Journal Name
Iraqi Journal Of Science
Review on Vision Based Real Time Fingertip Detection Approaches
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    Computer vision is an emerging area with a huge number of applications. Identification of the fingertip is one of the major parts of those areas. Augmented reality and virtual reality are the most recent technological advancements that use fingertip identification. The interaction between computers and humans can be performed easily by this technique. Virtual reality, robotics, smart gaming are the main application domains of these fingertip detection techniques. Gesture recognition is one of the most fascinating fields of fingertip detection. Gestures are the easiest and productive methods of communication with regard to collaboration with the computer. This analysis examines the different studies done in the field of

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Publication Date
Fri Apr 30 2021
Journal Name
Al-kindy College Medical Journal
Al-Kindy College Medical Journal: Time to Move Forward
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It is well- known that the distinguished scholastic journal is a crucial cornerstone, which contributes to the scientific integrity of a particular academic institution. The establishment of the Al-Kindy College of Medicine (AKCM), University of Baghdad, in 1998 urged the need to issue Al-Kindy College Medical Journal (KCMJ).

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Publication Date
Fri Oct 14 2016
Journal Name
International Journal For Computational Methods In Engineering Science And Mechanics
Simultaneous determination of time-dependent coefficients and heat source
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Publication Date
Thu May 04 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Minimizing total Completion Time and Maximum late Work Simultaneously
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In this paper, the problem of scheduling jobs on one machine for a variety multicriteria
are considered to minimize total completion time and maximum late work. A set of n
independent jobs has to be scheduled on a single machine that is continuously available from
time zero onwards and that can handle no more than one job at a time. Job i,(i=1,…,n)
requires processing during a given positive uninterrupted time pi, and its due date d
i.
For the bicriteria problems, some algorithms are proposed to find efficient (Pareto)
solutions for simultaneous case. Also for the multicriteria problem we proposed general
algorithms which gives efficient solutions within the efficient range

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Publication Date
Fri Jan 31 2025
Journal Name
Journal Of Baghdad College Of Dentistry
A Comparison between the Horizontal Condylar and Bennett Angles of Iraqi Full Mouth Rehabilitation Patients by Using Two Different Articulator Systems (An In-Vivo Study)
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Background: Errors of horizontal condylar inclinations and Bennett angles had largely affected the articulation of teeth and the pathways of cusps. The aim of this study was to estimate and compare between the horizontal condylar (protrusive) angles and Bennett angles of full mouth rehabilitation patients using two different articulator systems. Materials and Methods: Protrusive angles and Bennett angles of 50 adult males and females Iraqi TMD-free full mouth rehabilitation patients were estimated by using two different articulator systems. Arbitrary hinge axis location followed by protrusive angles and Bennett angles, estimation was done by a semiadjustable articulator system. A fully adjustable articulator system was utilized to locate th

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Publication Date
Tue Mar 01 2022
Journal Name
Iraqi Journal Of Physics
Preparation, Characterization, and Antimicrobial Activity of Polyaniline and Fe2O3/Polyaniline Composite Nanoparticle
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An oxidative polymerization approach was used to create polyaniline (PANI) and Fe2O3 /PANI nanoparticle combination. Various characterization approaches were used to investigate the structural, morphological, and Fe2O3 /PANI nanoparticle structures. The findings support the synthesis of polycrystalline nanoparticle PANI and Fe2O3 /PANI spherical nanoparticle composites. Gram-positive bacteria are tested for antibacterial activity. Various quantities of Nanoparticles of PANI and Fe2O3 /PANI nanoparticle composites were used to test Staph-aureus and gram-negative bacteria, E-coli, and candida species. PANI has antibacterial properties against all microo

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Publication Date
Wed Aug 30 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
The Space-Charge Effect on Theoretical Design of the Electron Gun Operated under Finite Magnification Condition
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A computer theoretical s1udy has been carried out in field of opto - clcctroniccs, to design  an electron  gun using the space charge effect.

The   distribution  of   axial  potential    upon   the  two   -electrode

immersion  lens  of  (L=l4mm)  has been  carried   out   using   Poisons equation and the  tinite  clement  method;  knowing  the first 11nd second derivation  of  the    axial   potential   and  the  solution   of  paraxial   ray equation, the  optical   prop

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Publication Date
Sat Dec 01 2018
Journal Name
Al-khwarizmi Engineering Journal
Simulation of Temperature Distribution in TIG Spot Welds of (Al-Mg) Alloy Using Finite Element Method
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      This research concern to analyse and simulate the temperature distribution in the spot welding joints using tungsten arc welding shielded with inert gas (TIG Spot) for the aluminum-magnesium alloy type  (5052-O).

      The effect of and the quantity of the heat input that enter the weld zone has been investigated welding current, welding time and arc length on temperature distribution. The finite element method (by utilizing programme ANSYS 5.4) is presented  the temperature distribution in a circular weld pool and the weld pool penetration (depth of welding) through the top sheet ,across the interface into the lower sheet forming a weld spot.   &nbs

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