Preferred Language
Articles
/
LBdoZ5IBVTCNdQwCLK_5
Practically Robust Fixed-Time Convergent Sliding Mode Control for Underactuated Aerial Flexible JointRobots Manipulators
...Show More Authors

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.

Scopus Clarivate Crossref
View Publication
Publication Date
Sun Jan 01 2017
Journal Name
Journal Of Telecommunication, Electronic And Computer Engineering
The critical success factors (CSFs) for IT projects
...Show More Authors

Huge yearly investments were made by organizations for the development and maintenance. However, it has been reported that most of the IT projects fails as it is delayed, over budget and discontinued quality. A systematic literature review (SLR) was conducted to identify the critical success factors (CSFs) for the IT projects. Nine (9) CSFs was identified from the SLR. An online survey was conducted among 103 respondents from developers and IT managers. The data was analyzed using the Statistical Package for Social Science (SPSS 22). The findings showed that the highest CSFs of IT projects is commitment and motivation. Project monitoring was found the lowest score ranked by respondents.

Scopus (19)
Scopus
Publication Date
Mon Mar 08 2021
Journal Name
Baghdad Science Journal
Developing of bacterial mutagenic assay system for detection
...Show More Authors

Been Antkhav three isolates of soil classified as follows: Bacillus G3 consists of spores, G12, G27 led Pal NTG treatment to kill part of the cells of the three isolates varying degrees treatment also led to mutations urged resistance to streptomycin and rifampicin and double mutations

View Publication Preview PDF
Publication Date
Fri Dec 01 2023
Journal Name
Iop Conference Series: Earth And Environmental Science
Study of Mouth Depth for Some Local Cyprinidae
...Show More Authors
Abstract<p>The aim of this study was to identify the depth of the mouth and its shape in some local fish belonging to the Cyprinidae family, and the extent to which the depth of the mouth is related to the way of feeding and the nature of food as well as the feeding habits of those species collected specifically from the Tigris River, the results showed a relationship of depth oral cavity with head length was highly significant at (P < 0.01) for all studied species. Also, there was a highly significant relationship between the height of the pharyngeal tooth-bearing bone and the depth of the oral cavity for fish of this local family.</p>
View Publication
Scopus Crossref
Publication Date
Fri Jul 01 2016
Journal Name
International Journal Of Computer Science And Mobile Computing
. Interpolative Absolute Block Truncation Coding for Image Compression
...Show More Authors

Publication Date
Wed Dec 31 2025
Journal Name
Journal Of University Of Babylon For Pure And Applied Sciences
Green Chemistry for Removing Alizarin Red S Dye
...Show More Authors

 The current work utilizes the peel and pulp of the Iraqi eggplant to remove Alizarin Red S dye (ARS) from an aqueous solution. The isotherms of adsorption were studied and the factors that the effect them: temperature, the effect of surface nature and effect of ionic strength. The isotherms of adsorption of ARS on the peel were found obey the Freundlich, equation, but the isotherms of adsorption on the pulp were found to obey the Langmuir equation. At different temperatures, the adsorption process was studied, and it was found that when the temperature decreased, the adsorption increased. Based on the data we obtained in practice, the thermodynamic functions (∆H, ∆G, ∆S) were calculated as the process was exothermic, spontan

... Show More
View Publication
Crossref
Publication Date
Sat Aug 15 2015
Journal Name
Iraqi Dental Journal
Standardized Protocol for Endodontic Treatment (Iraqi Endodontic Society)
...Show More Authors

The establishment of a high quality service in oral health care achieved by a member of dental professional is an important feature of any system of peer review in dentistry. This protocol attempts to discuss two crucial elements (I) suitability and feasibility of treatment modality and (II) quality of treatment performed to Iraqi patients. The Iraq endodontic society is designing a standardized protocol for endodontic treatment following the quality guidelines of European society of Endodontology (2006) to meet the highest standard of care generally given by competent practitioners. The Iraqi endodontic society has the expertise and professional responsibility clinically relevant to empower the dental profession through creating significan

... Show More
View Publication Preview PDF
Crossref (3)
Crossref
Publication Date
Thu Nov 18 2021
Journal Name
Iraqi Journal Of Physics
The study of nuclear structure for some nuclei
...Show More Authors

An analytical form of the ground state charge density distributions
for the low mass fp shell nuclei ( 40  A  56 ) is derived from a
simple method based on the use of the single particle wave functions
of the harmonic oscillator potential and the occupation numbers of
the states, which are determined from the comparison between theory
and experiment.
For investigating the inelastic longitudinal electron scattering form
factors, an expression for the transition charge density is studied
where the deformation in nuclear collective modes is taken into
consideration besides the shell model space transition density. The
core polarization transition density is evaluated by adopting the
shape of Tassie mod

... Show More
View Publication Preview PDF
Publication Date
Sat Mar 01 2008
Journal Name
Iraqi Journal Of Physics
Adaptive Smoothing Technique for Remotely Sensed Images Enhancement
...Show More Authors

Spatial and frequency domain techniques have been adopted in this search. mean
value filter, median filter, gaussian filter. And adaptive technique consists of
duplicated two filters (median and gaussian) to enhance the noisy image. Different
block size of the filter as well as the sholding value have been tried to perform the
enhancement process.

View Publication Preview PDF
Publication Date
Sat Dec 01 2012
Journal Name
Journal Of Engineering
Different Resolution Merging Methods For Environmental Areas Extraction
...Show More Authors

The usage of remote sensing techniques in managing and monitoring the environmental areas is increasing due to the improvement of the sensors used in the observation satellites around the earth. Resolution merge process is used to combine high resolution one band image with another one that have low resolution multi bands image to produce one image that is high in both spatial and spectral resolution. In this work different merging methods were tested to evaluate their enhancement capabilities to extract different environmental areas; Principle component analysis (PCA), Brovey, modified (Intensity, Hue ,Saturation) method and High Pass Filter methods were tested and subjected to visual and statistical comparison for evaluation. Both visu

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Wed Aug 01 2018
Journal Name
Engineering And Technology Journal
A Proposed Method for the Sound Recognition Process
...Show More Authors

View Publication
Crossref