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Sliding mode control based on high-order extended state observer for flexible joint robot under time-varying disturbance
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Abstract. In this paper, a high order extended state observer (HOESO) based a sliding mode control (SMC) is proposed for a flexible joint robot (FJR) system in the presence of time varying external disturbance. A composite controller is integrated the merits of both HOESO and SMC to enhance the tracking performance of FJR system under the time varying and fast lumped disturbance. First, the HOESO estimator is constructed based on only one measured state to precisely estimate unknown system states and lumped disturbance with its high order derivatives in the FJR system. Second, the SMC scheme is designed based on such accurate estimations to govern the nominal FJR system by well compensating the estimation errors in the states and the lumped disturbance. To verify the tracking trajectory performance, several simulations have been conducted on the simulated FJR plant model. In addition, a comparative study is carried out between the proposed method and the full state feedback linearization control (FLC) with first order ESO (ESO1).

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Publication Date
Tue Mar 12 2019
Journal Name
Al-khwarizmi Engineering Journal
Die Design of Flexible Multi-Point Forming Process
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Multi-point forming (MPF) is an advanced flexible manufacture technology, and the technology results from the idea that the whole die is separated into small punches that can be adjusted height. This idea is applied to the traditional rigid blank-holder, so flexible blank-holder (FBH) idea can be obtained. In this work, the performance of a multi-point die is investigated with pins in square matrix and suitable blank holder. Each pin in the punch holder can be a significant moved according to the die high and at different load that applied with spring with respect to spring stiffness. The results shows the reduction in setting time with respect to traditional single point incremental forming process that lead to (90%). and also show duri

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Publication Date
Wed Jan 01 2025
Journal Name
Journal Of Interdisciplinary Mathematics
Double INEM-transform integral for solving second order partial differential equation
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In this study, a brand-new double transform known as the double INEM transform is introduced. Combined with the definition and essential features of the proposed double transform, new findings on partial derivatives, Heaviside function, are also presented. Additionally, we solve several symmetric applications to show how effective the provided transform is at resolving partial differential equation.

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Publication Date
Thu Oct 20 2022
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Iterative Method for Solving a Nonlinear Fourth Order Integro-Differential Equation
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This study presents the execution of an iterative technique suggested by Temimi and Ansari (TA) method to approximate solutions to a boundary value problem of a 4th-order nonlinear integro-differential equation (4th-ONIDE) of the type Kirchhoff which appears in the study of transverse vibration of hinged shafts. This problem is difficult to solve because there is a non-linear term under the integral sign, however, a number of authors have suggested iterative methods for solving this type of equation. The solution is obtained as a series that merges with the exact solution. Two examples are solved by TA method, the results showed that the proposed technique was effective, accurate, and reliable. Also, for greater reliability, the approxim

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Publication Date
Mon May 20 2019
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Application of Iterative Method for Solving Higher Order Integro-Differential Equations
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The main aim of this paper is to apply a new technique suggested by Temimi and Ansari namely (TAM) for solving higher order Integro-Differential Equations. These equations are commonly hard to handle analytically so it is request numerical methods to get an efficient approximate solution. Series solutions of the problem under consideration are presented by means of the Iterative Method (IM). The numerical results show that the method is effective, accurate and easy to implement rapidly convergent series to the exact solution with minimum amount of computation. The MATLAB is used as a software for the calculations.           

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Publication Date
Sun Sep 01 2024
Journal Name
Partial Differential Equations In Applied Mathematics
Perturbation iteration transform method for solving fractional order integro-differential equation
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Publication Date
Sat Aug 01 2015
Journal Name
International Journal Of Advanced Research In Computer Science And Software Engineering
Partial Encryption for Colored Images Based on Face Detection
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Publication Date
Tue Nov 01 2016
Journal Name
2016 International Conference On Advances In Electrical, Electronic And Systems Engineering (icaees)
Efficient routing algorithm for VANETs based on distance factor
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There has been a great deal of research into the considerable challenge of managing of traffic at road junctions; its application to vehicular ad hoc network (VANET) has proved to be of great interest in the developed world. Dynamic topology is one of the vital challenges facing VANET; as a result, routing of packets to their destination successfully and efficiently is a non-simplistic undertaking. This paper presents a MDORA, an efficient and uncomplicated algorithm enabling intelligent wireless vehicular communications. MDORA is a robust routing algorithm that facilitates reliable routing through communication between vehicles. As a position-based routing technique, the MDORA algorithm, vehicles' precise locations are used to establish th

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Publication Date
Fri Mar 31 2023
Journal Name
Journal Of Al-qadisiyah For Computer Science And Mathematics
A Cryptosystem for Database Security Based on RC4 Algorithm
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Because of vulnerable threats and attacks against database during transmission from sender to receiver, which is one of the most global security concerns of network users, a lightweight cryptosystem using Rivest Cipher 4 (RC4) algorithm is proposed. This cryptosystem maintains data privacy by performing encryption of data in cipher form and transfers it over the network and again performing decryption to original data. Hens, ciphers represent encapsulating system for database tables

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Publication Date
Mon May 11 2020
Journal Name
Baghdad Science Journal
A Cryptosystem for Database Security Based on TSFS Algorithm
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Implementation of TSFS (Transposition, Substitution, Folding, and Shifting) algorithm as an encryption algorithm in database security had limitations in character set and the number of keys used. The proposed cryptosystem is based on making some enhancements on the phases of TSFS encryption algorithm by computing the determinant of the keys matrices which affects the implementation of the algorithm phases. These changes showed high security to the database against different types of security attacks by achieving both goals of confusion and diffusion.

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Publication Date
Sat Jan 01 2022
Journal Name
Journal Of The Mechanical Behavior Of Materials
Analysis of concrete beams reinforced by GFRP bars with varying parameters
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Abstract<p>Structural buildings consist of concrete and steel, and these buildings have confronted many challenges from various aggressive environments against the materials manufactured from them. It contains high water levels and buildings whose concrete cover may be damaged and thus lead to the deterioration and corrosion of steel. It was important to have an alternative to steel, such as the glass fiber reinforced polymer (GFRP), which is distinguished by its great effectiveness in resisting corrosion, as well as its strong tensile resistance. Still, one of its drawbacks is that it has a low modulus of elasticity. This research article aims to conduct a numerical study using the nonlinear fi</p> ... Show More
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