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Practically Robust Fixed-Time Convergent Sliding Mode Control for Underactuated Aerial Flexible JointRobots Manipulators
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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.

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Publication Date
Wed Sep 01 2021
Journal Name
Iop Conference Series: Earth And Environmental Science
Using Ultraviolet Technique for Well Water Disinfection
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Publication Date
Fri Feb 28 2020
Journal Name
Iraqi Journal Of Science
Numerical Solution for Two-Sided Stefan Problem
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     In this paper, we consider a two-phase Stefan problem in one-dimensional space for parabolic heat equation with non-homogenous Dirichlet boundary condition. This problem contains a free boundary depending on time. Therefore, the shape of the problem is changing with time. To overcome this issue, we use a simple transformation to convert the free-boundary problem to a fixed-boundary problem. However, this transformation yields a complex and nonlinear parabolic equation. The resulting equation is solved by the finite difference method with Crank-Nicolson scheme which is unconditionally stable and second-order of accuracy in space and time. The numerical results show an excellent accuracy and stable solutions for tw

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Publication Date
Wed Jul 29 2020
Journal Name
Iraqi Journal Of Science
Laser Distance Sensors Evaluation for Geomatics Researches
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In this study, an approach inspired by a standardized calibration method was used to test a laser distance meter (LDM). A laser distance sensor (LDS) was tested with respect to an LDM and then a statistical indicator explained that the former functions in a similar manner as the latter. Also, regression terms were used to estimate the additive error and scale the correction of the sensors. The specified distance was divided into several parts with percent of longest one and observed using two sensors, left and right. These sensors were evaluated by using the regression between the measured and the reference values. The results were computed using MINITAB 17 package software and excel office package. The accuracy of the results in this wo

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Publication Date
Wed Apr 01 2020
Journal Name
Journal Of Construction Engineering And Management
Development of Assessment Tool for Workforce Sustainability
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Publication Date
Mon Feb 01 2021
Journal Name
International Journal Of Electrical And Computer Engineering (ijece)
Differential evolution detection models for SMS spam
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With the growth of mobile phones, short message service (SMS) became an essential text communication service. However, the low cost and ease use of SMS led to an increase in SMS Spam. In this paper, the characteristics of SMS spam has studied and a set of features has introduced to get rid of SMS spam. In addition, the problem of SMS spam detection was addressed as a clustering analysis that requires a metaheuristic algorithm to find the clustering structures. Three differential evolution variants viz DE/rand/1, jDE/rand/1, jDE/best/1, are adopted for solving the SMS spam problem. Experimental results illustrate that the jDE/best/1 produces best results over other variants in terms of accuracy, false-positive rate and false-negative

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Publication Date
Fri Feb 01 2019
Journal Name
Ieee Transactions On Emerging Topics In Computational Intelligence
Neuromorphic Architecture for the Hierarchical Temporal Memory
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Publication Date
Thu Oct 18 2018
Journal Name
Proceedings Of The Future Technologies Conference (ftc) 2018
Using Mouse Dynamics for Continuous User Authentication
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Publication Date
Mon Nov 19 2018
Journal Name
Al–bahith Al–a'alami
A Proposed Vision for Editing News Forms
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This research deals with a very important subject as it tries to change the theoretical and scientific heritage and some professional rules adopted in the newsroom. Most media students have difficulties in writing news for press correctly. The researcher tries to identify the compatibility of what is published in local news agencies with professional and academic standards.
The research finds detailed editorial rules for a number of news formats which will play an important role in writing news for press easily, especially for the beginners and newcomers. Also, it discovers a new fact denying the beliefs of some researchers and writers in not having news conclusion in news edited according to the inverted pyramid pattern.
The re

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Publication Date
Wed Feb 08 2023
Journal Name
Iraqi Journal Of Science
Modified Light Stemming Algorithm for Arabic Language
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Stemming is a pre-processing step in Text mining applications as well as it is very important in most of the Information Retrieval systems. The goal of stemming is to reduce different grammatical forms of a word and sometimes derivationally related forms of a word to a common base (root or stem) form like reducing noun, adjective, verb, adverb etc. to its base form. The stem needs not to be identical to the morphological root of the word; it is usually sufficient that related words map to the same stem, even if this stem is not in itself a valid root. As in other languages; there is a need for an effective stemming algorithm for the indexing and retrieval of Arabic documents while the Arabic stemming algorithms are not widely available.

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Publication Date
Mon Mar 08 2021
Journal Name
Baghdad Science Journal
Calculation of the charcteristic electronenergy for mercury
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numerical study is applied to the mercury-argon mixture by solving the boltzman transport equation for different mixture percentage.

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