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Practical Adaptive Fast Terminal Sliding Mode Control for Servo Motors
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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.

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Publication Date
Mon Sep 28 2026
Journal Name
Iraqi Journal Of Pharmaceutical Sciences
Targeted Intranasal Delivery of Antiretrovirals for NeuroAIDS: Opportunities, Barriers, and Formulation Strategies
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NeuroAIDS refers to the spectrum of neuropsychiatric complications observed in approximately 30–50% of HIV/AIDS patients. Although the advent of antiretroviral therapy has reduced the severity of AIDS, mild cognitive deficits persist in nearly half of treated patients, highlighting limitations in central nervous system (CNS) drug delivery. These limitations are attributed to poor blood-brain barrier (BBB) permeability, P-glycoprotein efflux, low solubility, first-pass metabolism, and short half-lives of many ART drugs. Nose-to-brain drug delivery has emerged as a promising alternative, bypassing the BBB via olfactory and trigeminal pathways. This route offers direct CNS access while minimizing systemic exposure. Factors such as dr

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Publication Date
Mon Sep 21 2026
Journal Name
Journal Of Petroleum Research And Studies
Preparation and Characterization of MoO3/TiO2 Catalysts for Hydroisomerization of n-Hexane
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This research investigated the isomerization of n-hexane using molybdenum trioxide supported on titanium dioxide as a catalyst. The study explored the effect of liquid hourly space velocity (LHSV) and reaction temperature on n-hexane isomerization. The synthesized catalyst contained 20.46 wt.% molybdenum trioxide, with LHSV values ranging from 0.5 to 2 hr-1 and temperatures between 200oC and 275oC. The research aimed to identify the best reaction conditions, specifically temperature and LHSV, for maximizing the conversion of n-hexane to isomers. The results indicated that the highest conversion, 53.21%, occurred at an LHSV of 0.5 hr⁻¹ and a temperature of 275°C. The reaction followed first-order kinetics with an activation energ

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Publication Date
Sun Sep 01 2024
Journal Name
Green Analytical Chemistry
Green methods for determination of paracetamol in drug samples: A comparative study
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Publication Date
Fri Jan 17 2025
Journal Name
Iraqi Journal For Electrical And Electronic Engineering
Optimal Hybrid Fuzzy PID for Pitch Angle Controller in Horizontal AxisWind Turbines
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Wind turbine (WT) is now a major renewable energy resource used in the modern world. One of the most significant technologies that use the wind speed (WS) to generate electric power is the horizontal-axis wind turbine. In order to enhance the output power over the rated WS, the blade pitch angle (BPA) is controlled and adjusted in WT. This paper proposes and compares three different controllers of BPA for a 500-kw WT. A PID controller (PIDC), a fuzzy logic controller (FLC) based on Mamdani and Sugeno fuzzy inference systems (FIS), and a hybrid fuzzy-PID controller (HFPIDC) have been applied and compared. Furthermore, Genetic Algorithm (GA) and Particle swarm optimization (PSO) have been applied and compared in order to identify the

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Publication Date
Tue Feb 28 2023
Journal Name
International Journal Of Safety And Security Engineering
The Safer City: A New Planning Perspective for the Traditional City Development
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Publication Date
Sun Apr 01 2018
Journal Name
Journal Of Construction Engineering And Management
Developing a Decision-Making Framework to Select Safety Technologies for Highway Construction
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Publication Date
Tue Jun 30 2020
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Investigation of Ozone Microbubbles for the Degradation of Methylene Orange Contaminated Wastewater
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   In the present study, semi – batch experiments were conducted to investigate the efficiency of ozone microbubbles (OMBs) in the treatment of aqueous dye solutions methylene orange under different reaction conditions such as  effect of initial solution pH , ozone generation rate and initial MO-concentration. The results showed that the removal of MO by OMBs were very high at the acidic and alkaline media and upon increasing the generation rate of ozone from 0.498 to 0.83 mg/s, the removal efficiency dramatically increased from 75to 100% within 15 min. The rate of oxidation reaction followed a pseudo first- order kinetic model. The results demonstrated that OMBs is efficient in terms of the decline of methylene orange c

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Publication Date
Thu Apr 20 2023
Journal Name
Fire
An Efficient Wildfire Detection System for AI-Embedded Applications Using Satellite Imagery
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Wildfire risk has globally increased during the past few years due to several factors. An efficient and fast response to wildfires is extremely important to reduce the damaging effect on humans and wildlife. This work introduces a methodology for designing an efficient machine learning system to detect wildfires using satellite imagery. A convolutional neural network (CNN) model is optimized to reduce the required computational resources. Due to the limitations of images containing fire and seasonal variations, an image augmentation process is used to develop adequate training samples for the change in the forest’s visual features and the seasonal wind direction at the study area during the fire season. The selected CNN model (Mob

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Publication Date
Sun Oct 20 2024
Journal Name
Chemical Papers
Response surface methodology for optimizing crude oil desalting unit performance in iraq
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Publication Date
Sat Apr 01 2023
Journal Name
Science Of The Total Environment
Recent advances and applicable flexibility potential of electrochemical processes for wastewater treatment
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This study examined >140 relevant publications from the last few years (2018–2021). In this study, classification was reviewed depending on the operation's progress. Electrocoagulation (EC), electrooxidation (EO), electroflotation (EF), electrodialysis (ED), and electro-Fenton (EFN) processes have received considerable attention. The type of action (individual or hybrid) for each electrochemical procedure was evaluated, and statistical analysis was performed to compare them as a new manner of reviewing cited papers providing a massive amount of information efficiently to the readers. Individual or hybrid operation progress of the electrochemical techniques is critical issues. Their design, operation, and maintenance costs vary depending o

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