Preferred Language
Articles
/
HxdiZ5IBVTCNdQwCIK8_
Sliding mode control based on high-order extended state observer for flexible joint robot under time-varying disturbance
...Show More Authors

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).

Scopus Crossref
View Publication
Publication Date
Sun Mar 06 2016
Journal Name
Baghdad Science Journal
Indirect Method for Optimal Control Problem Using Boubaker Polynomial
...Show More Authors

In this paper, a computational method for solving optimal problem is presented, using indirect method (spectral methodtechnique) which is based on Boubaker polynomial. By this method the state and the adjoint variables are approximated by Boubaker polynomial with unknown coefficients, thus an optimal control problem is transformed to algebraic equations which can be solved easily, and then the numerical value of the performance index is obtained. Also the operational matrices of differentiation and integration have been deduced for the same polynomial to help solving the problems easier. A numerical example was given to show the applicability and efficiency of the method. Some characteristics of this polynomial which can be used for solvin

... Show More
View Publication Preview PDF
Crossref (3)
Crossref
Publication Date
Tue Jun 01 2021
Journal Name
Caspian Journal Of Environmental Sciences
Numerical response of predator chrysoperla mutata maclachlan to varying densities of lipaphis erysimi (Kalt.)
...Show More Authors

Scopus (1)
Scopus
Publication Date
Fri Aug 01 2014
Journal Name
Journal Of Economics And Administrative Sciences
Comparison between the Local Polynomial Kernel and Penalized Spline to Estimating Varying Coefficient Model
...Show More Authors

Analysis the economic and financial phenomena and other requires to build the appropriate model, which represents the causal relations between factors. The operation building of the model depends on Imaging conditions and factors surrounding an in mathematical formula and the Researchers target to build that formula appropriately. Classical linear regression models are an important statistical tool, but used in a limited way, where is assumed that the relationship between the variables illustrations and response variables identifiable. To expand the representation of relationships between variables that represent the phenomenon under discussion we used Varying Coefficient Models

... Show More
View Publication Preview PDF
Crossref
Publication Date
Mon Apr 01 2013
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Effect of Recruitment Maneuvers on Oxygen Saturation, End Tidal Carbon Dioxide and Lung Mechanics in Pressure Control Ventilation Versus Volume Control Ventilation for Patient Undergoing Laparoscopic Sleeve Gastrectomy
...Show More Authors

Background: Atelectasis occurs regularly after induction of general anesthesia in bariatric surgery, persists postoperatively, and may contribute to significant postoperative morbidity. Intraoperative recruitment maneuver improve lung ventilation, oxygenation and lung mechanics.

Objectives: The aim of this study was to compare the effects of recruitment maneuver on oxygen saturation, end tidal carbon dioxide and lung mechanics in two Groups; the volume control group and pressure control group with fixed level of PEEP.

Patient and Method:  Forty patients, BMI >35 kg/ m2, who have no major obstructive or restrictive respiratory disorders where allocated in two group

... Show More
View Publication Preview PDF
Crossref
Publication Date
Tue Mar 31 2015
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Formation Evaluation for Nasiriyah Oil Field Based on The Non-Conventional Techniques
...Show More Authors

The unconventional techniques called “the quick look techniques”, have been developed to present well log data calculations, so that they may be scanned easily to identify the zones that warrant a more detailed analysis, these techniques have been generated by service companies at the well site which are among the useful, they provide the elements of information needed for making decisions quickly when time is of essence. The techniques used in this paper are:

  • Apparent resistivity Rwa
  • Rxo /Rt

   The above two methods had been used to evaluate Nasiriyah oil field formations (well-NS-3) to discover the hydrocarbon bearing formations. A compu

... Show More
View Publication Preview PDF
Publication Date
Wed Sep 30 2020
Journal Name
Association Of Arab Universities Journal Of Engineering Sciences
Estimation of Minimum Miscibility Pressure for Hydrocarbon Gas Injection Based on EOS
...Show More Authors

The important parameter used for determining the probable application of miscible displacement is the MMP (minimum miscibility pressure). In enhanced oil recovery, the injection of hydrocarbon gases can be a highly efficient method to improve the productivity of the well especially if miscibility developed through the displacement process. There are a lot of experiments for measuring the value of the miscibility pressure, but they are expensive and take a lot of time, so it's better to use the mathematical equations because of it inexpensive and fast. This study focused on calculating MMP required to inject hydrocarbon gases into two reservoirs namely Sadi and Tanomaa/ East Baghdad field. Modified Peng Robenson Equation of State was

... Show More
View Publication
Crossref
Publication Date
Tue Feb 28 2023
Journal Name
Iraqi Journal Of Science
A Secure Private Key Recovery Based on DNA Bio-Cryptography for Blockchain
...Show More Authors

     The existence of the Internet, networking, and cloud computing support a wide range of new technologies. Blockchain is one of these technologies; this increases the interest of researchers who are concerned with providing a safe environment for the circulation of important information via the Internet. Maintaining solidity and integrity of a blockchain’s transactions is an important issue, which must always be borne in mind. Transactions in blockchain are based on use of public and private keys asymmetric cryptography. This work proposes usage of users’ DNA as a supporting technology for storing and recovering their keys in case those keys are lost — as an effective bio-cryptographic recovery method. The RSA private key is

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Sat Mar 31 2018
Journal Name
Journal Of Engineering
Estimation of Minimum Miscibility Pressure for 〖CO〗_2 Flood Based on EOS
...Show More Authors

CO2 Gas is considered one of the unfavorable gases and it causes great air pollution. It’s possible to decrease this pollution by injecting  gas in the oil reservoirs to provide a good miscibility and to increase the oil recovery factor. MMP was estimated by Peng Robinson equation of state (PR-EOS). South Rumila-63 (SULIAY) is involved for which the miscible displacement by  is achievable based on the standard criteria for success EOR processes. A PVT report was available for the reservoir under study. It contains deferential liberation (DL) and constant composition expansion (CCE) tests.  PVTi software is one of the (Eclipse V.2010) software’s packages, it has been used to achieve the goal.  Many trials have been done to ma

... Show More
Crossref
Publication Date
Sat Mar 31 2018
Journal Name
Journal Of Engineering
Estimation of Minimum Miscibility Pressure for 〖CO〗_2 Flood Based on EOS
...Show More Authors

CO2 Gas is considered one of the unfavorable gases and it causes great air pollution. It’s possible to decrease this pollution by injecting  gas in the oil reservoirs to provide a good miscibility and to increase the oil recovery factor. MMP was estimated by Peng Robinson equation of state (PR-EOS). South Rumila-63 (SULIAY) is involved for which the miscible displacement by  is achievable based on the standard criteria for success EOR processes. A PVT report was available for the reservoir under study. It contains deferential liberation (DL) and constant composition expansion (CCE) tests.  PVTi software is one of the (Eclipse V.2010) software’s packages, it has been used to achieve the goal.

... Show More
View Publication Preview PDF
Crossref
Publication Date
Thu Nov 17 2022
Journal Name
Journal Of Information And Optimization Sciences
Hybrid deep learning model for Arabic text classification based on mutual information
...Show More Authors

View Publication
Crossref (1)
Clarivate Crossref