The control of an aerial flexible joint robot (FJR) manipulator system with underactuation is a difficult task due to unavoidable factors, including, coupling, underactuation, nonlinearities, unmodeled uncertainties, and unpredictable external disturbances. To mitigate those issues, a new robust fixed-time sliding mode control (FxTSMC) is proposed by using a fixed-time sliding mode observer (FxTSMO) for the trajectory tracking problem of the FJR attached to the drones system. First, the underactuated FJR is comprehensively modeled and converted to a canonical model by employing two state transformations for ease of the control design. Then, based on the availability of the measured states, a cascaded FxTSMO (CFxTSMO) is constructed to estimate the unmeasurable variables and lumped disturbances simultaneously in fixed-time, and to effectively reduce the estimation noise. Finally, the FxTSMC scheme for a high-order underactuated FJR system is designed to guarantee that the system tracking error approaches to zero within a fixed-time that is independent of the initial conditions. The fixed-time stability of the closed-loop system of the FJR dynamics is mathematically proven by the Lyapunov theorem. Simulation investigations and hardware tests are performed to demonstrate the efficiency of the proposed controller scheme. Furthermore, the control technique developed in this research could be implemented to the various underactuated mechanical systems (UMSs), like drones, in a promising way.
Construction of photographed bullying scale of kindergarteners was the aim of this study. The study conducted to answer the raised question, could the bullying among kindergarteners be measured?. A total of (200) boy and girl were selected from city of Baghdad to be the sample of the study. The scale composed of (27) item with colored pictures. It takes about (15) minuets to answer the whole scale items. SPSS tools were used to process the collected data. The result showed that the bullying among kindergarteners could be measured.
Different ANN architectures of MLP have been trained by BP and used to analyze Landsat TM images. Two different approaches have been applied for training: an ordinary approach (for one hidden layer M-H1-L & two hidden layers M-H1-H2-L) and one-against-all strategy (for one hidden layer (M-H1-1)xL, & two hidden layers (M-H1-H2-1)xL). Classification accuracy up to 90% has been achieved using one-against-all strategy with two hidden layers architecture. The performance of one-against-all approach is slightly better than the ordinary approach
Programs directed to children through the media in general and in television in particular are among the main factors that help in forming the cultural and educational values of this important segment of society, and in light of this the study problem was identified in answering a major question: What are the cultural and educational values that Ajyal channel seeks Space planted in children through my program, Iftah Ya Simsim (in its new season) and Friends of Ajyal? , While the objectives of the study were evident in identifying the most prominent cultural and educational values that the Ajyal satellite channel worked to instill in children, and identifying the nature of the techniques used by Ajyal channel in providing the value conten
... Show MoreThe significant shortage of usable water resources necessitated the creation of safe and non-polluting ways to sterilize water and rehabilitate it for use. The aim of the present study was to examine the ability of using a gliding arc discharge to inactivate bacteria in water. Three types of Bacteria satisfactory were used to pollute water which are Escherichia coli (Gram-negative), Staphylococcus aurous (Gram-positive) and salmonella (Gram-negative). A DC power supply 12V at 100 Hz frequency was employed to produce plasma. pH of water is measured gradually during the plasma treatment process. Contaminated water treated by gliding arc discharge at steadying the gas flow rate (1.5 l/mi
The development of a future mechanism for sustainable development in Iraq to meet the current and future challenges requires an analysis of the indicators of sustainable development. This research aims at presenting and analyzing the social care aspect and highlighting the important role of taxes with a focus on social sustainable development to determine the extent and direction of changes. Level of progress, the researcher concludes the weakness of the financial allocations to the Ministry of Labor and Social Affairs and in line with the large number of people who apply the conditions and controls, and recommends the researcher the necessity of participation of all segments of society between the public and private sector In terms of o
... Show MoreIn this paper, the homotopy perturbation method (HPM) is presented for treating a linear system of second-kind mixed Volterra-Fredholm integral equations. The method is based on constructing the series whose summation is the solution of the considered system. Convergence of constructed series is discussed and its proof is given; also, the error estimation is obtained. Algorithm is suggested and applied on several examples and the results are computed by using MATLAB (R2015a). To show the accuracy of the results and the effectiveness of the method, the approximate solutions of some examples are compared with the exact solution by computing the absolute errors.