Position control of servo motor systems is a challenging task because of inevitable factors such as uncertainties, nonlinearities, parametric variations, and external perturbations. In this article, to alleviate the above issues, a practical adaptive fast terminal sliding mode control (PAFTSMC) is proposed for better tracking performance of the servo motor system by using a state observer and bidirectional adaptive law. First, a smooth-tangent-hyperbolic-function-based practical fast terminal sliding mode control (PFTSM) surface is designed to ensure not only fast finite time tracking error convergence but also chattering reduction. Second, the PAFTSMC is proposed for the servo motor, in which a two-way adaptive law is designed to further suppress the chattering and overestimation problems. More importantly, the proposed adaptive technique can update the switching gain according to the system uncertainties, which can provide high gain in the reaching phase and then decrease to the smallest value in the sliding phase to avoid the monotonically increasing gain that exists in most adaptation methods. Third, the finite-time stability of the closed-loop system is proved based on the Lyapunov theorem. Finally, the simulation studies and experimental tests verify the effectiveness of the proposed control in terms of better tracking, strong robustness, and reduced chattering, compared to existing algorithms.
The design of future will still be the most confusing and puzzling issue and misgivings that arouse worry and leading to the spirit of adventures to make progress and arrive at the ways of reviving, creativity and modernism. The idea of prevailing of a certain culture or certain product in design depends on the given and available techniques, due to the fact that the computer and their artistic techniques become very important and vital to reinforce the image in the design. Thus, it is very necessary to link between these techniques and suitable way to reform the mentality by which the design will be reformed, from what has been said, (there has no utilization for the whole modern and available graphic techniques in the design proce
... Show MoreThis paper presents a combination of enhancement techniques for fingerprint images affected by different type of noise. These techniques were applied to improve image quality and come up with an acceptable image contrast. The proposed method included five different enhancement techniques: Normalization, Histogram Equalization, Binarization, Skeletonization and Fusion. The Normalization process standardized the pixel intensity which facilitated the processing of subsequent image enhancement stages. Subsequently, the Histogram Equalization technique increased the contrast of the images. Furthermore, the Binarization and Skeletonization techniques were implemented to differentiate between the ridge and valley structures and to obtain one
... Show MoreThe present study deals with successive stages of productive
operations happened to produce a production within each stage befo re it moves to the next one. ll cou ld be deduced that this study is an extension to what bas been mentioned in (1 ) .ln (I), the optimum distribution of di!Terent jobs of workers and machines in the productive operations has been st ud ied whi le the study invol ves the optimum schedule for the succession of these operations presuming that thay have already been distributed on machines and workers (2).A mathematical form has been put for this study to define the "Object.ive Function "
... Show MoreThis research deals with a very important subject as it tries to change the theoretical and scientific heritage and some professional rules adopted in the newsroom. Most media students have difficulties in writing news for press correctly. The researcher tries to identify the compatibility of what is published in local news agencies with professional and academic standards.
The research finds detailed editorial rules for a number of news formats which will play an important role in writing news for press easily, especially for the beginners and newcomers. Also, it discovers a new fact denying the beliefs of some researchers and writers in not having news conclusion in news edited according to the inverted pyramid pattern.
The re
Stemming is a pre-processing step in Text mining applications as well as it is very important in most of the Information Retrieval systems. The goal of stemming is to reduce different grammatical forms of a word and sometimes derivationally related forms of a word to a common base (root or stem) form like reducing noun, adjective, verb, adverb etc. to its base form. The stem needs not to be identical to the morphological root of the word; it is usually sufficient that related words map to the same stem, even if this stem is not in itself a valid root. As in other languages; there is a need for an effective stemming algorithm for the indexing and retrieval of Arabic documents while the Arabic stemming algorithms are not widely available.
... Show Morenumerical study is applied to the mercury-argon mixture by solving the boltzman transport equation for different mixture percentage.
This study includes determining the climatic conditions and the nature of the reservoirs in the region with the determination of the flow direction of the aquifer. The meteorological data for the Karbala station for the period 1976-2016 showed that the values of the monthly rates of temperature, precipitation, evaporation, relative humidity, wind speed and Sunshine duration are (24.19 C◦), (95.5 mm), (2828.6mm), (46.75%), (2.76 m/sec), and (8.61 h/day) respectively. Thorenthwait method was used to calculate the values of Potential Evapotranspiration (PE) then determine the annual value of WS and WD which equal 28.11mm and 941.94mm respectively. Mean monthly water surplus for the period (1976-2016) was recorded about (9.36mm) in Decembe
... Show MoreTo make iron oxide nanoparticles (IONPs), a simple chemical approach was used to combine iron chloride (FeCl2+FeCl3) salt with onion peel extract. According to the study, iron salts can be converted into IONPs by the biomolecules in onion peel extract. From FeCl2+FeCl3 to γ -Fe2O3, the approach changes iron oxide NPs' size, shape, purity and phases. In water treatment, γ -Fe2O3 NPs are critical for the removal of the color methylene blue (MB). X-ray diffraction (XRD), scanning electron microscopy (SEM), ultraviolet (UV-Vis) and photoluminescence (PL) spectroscopy were used to identify IONPs. Results from the XRD experiment showed crystals having a
... Show MoreBackground: Asthma is an allergic disease characterized by airway obstruction as a result of cellular accumulation due to the liberation of certain mediators. Among those mediators are the cytokines such as IL-5.
Patients & Methods: Interleukin-5 concentration has been estimated in 94 sera samples of Asthmatic patients in comparison with 41 non-asthmatic bronchitis as patient controls in addition to 30 apparent healthy control group using ELISA method.
Results & Conclusions: There is highly significant elevation of IL-5 in the asthmatic cases in comparison with healthy controls (P< 0.001). We conclude that this cytokine may play the major
role in asthmatic attack & it may be a good m
Advances in digital technology and the World Wide Web has led to the increase of digital documents that are used for various purposes such as publishing and digital library. This phenomenon raises awareness for the requirement of effective techniques that can help during the search and retrieval of text. One of the most needed tasks is clustering, which categorizes documents automatically into meaningful groups. Clustering is an important task in data mining and machine learning. The accuracy of clustering depends tightly on the selection of the text representation method. Traditional methods of text representation model documents as bags of words using term-frequency index document frequency (TFIDF). This method ignores the relationship an
... Show More