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
Mon Oct 30 2023
Journal Name
Iraqi Journal Of Science
Machine Learning Approach for Facial Image Detection System
...Show More Authors

HM Al-Dabbas, RA Azeez, AE Ali, Iraqi Journal of Science, 2023

View Publication
Scopus (5)
Scopus
Publication Date
Wed Dec 01 2021
Journal Name
Journal Of Physics: Conference Series
Disc damage likelihood scale recognition for Glaucoma detection
...Show More Authors
Abstract<p>Glaucoma is a visual disorder, which is one of the significant driving reason for visual impairment. Glaucoma leads to frustrate the visual information transmission to the brain. Dissimilar to other eye illness such as myopia and cataracts. The impact of glaucoma can’t be cured; The Disc Damage Likelihood Scale (DDLS) can be used to assess the Glaucoma. The proposed methodology suggested simple method to extract Neuroretinal rim (NRM) region then dividing the region into four sectors after that calculate the width for each sector and select the minimum value to use it in DDLS factor. The feature was fed to the SVM classification algorithm, the DDLS successfully classified Glaucoma d</p> ... Show More
View Publication
Scopus (5)
Crossref (2)
Scopus Crossref
Publication Date
Wed Oct 10 2018
Journal Name
Steel And Composite Structures
Removable shear connector for steel-concrete composite bridges
...Show More Authors

The conception and experimental assessment of a removable friction-based shear connector (FBSC) for precast steel-concrete composite bridges is presented. The FBSC uses pre-tensioned high-strength steel bolts that pass through countersunk holes drilled on the top flange of the steel beam. Pre-tensioning of the bolts provides the FBSC with significant frictional resistance that essentially prevents relative slip displacement of the concrete slab with respect to the steel beam under service loading. The countersunk holes are grouted to prevent sudden slip of the FBSC when friction resistance is exceeded. Moreover, the FBSC promotes accelerated bridge construction by fully exploiting prefabrication, does not raise issues relevant to precast co

... Show More
View Publication
Scopus (39)
Scopus Clarivate
Publication Date
Wed Jan 06 2021
Journal Name
Journal Of Planner And Development
The Ultimate Characters For Identity In Contemporary Architecture
...Show More Authors

          General propositions have dealt with various indicators and features that frame and describe basic architectural concepts, and from those concepts, the concept of identity will be presented here, which represents the nerve of intellectual vision of the state of architecture development, transformation and change. Due to its deep intellectual basis, it was necessary to study multiple features, especially the achievement feature that was considered a major stage describing the nature of change and shift related to the achievement of concept and its role in the development of the architectural field .              &nb

... Show More
View Publication Preview PDF
Publication Date
Fri Sep 01 2023
Journal Name
Iraqi Journal Of Physics
Investigation of Numerical Simulation for Adaptive Optics System
...Show More Authors

In this study, the performance of the adaptive optics (AO) system was analyzed through a numerical computer simulation implemented in MATLAB. Making a phase screen involved turning computer-generated random numbers into two-dimensional arrays of phase values on a sample point grid with matching statistics. Von Karman turbulence was created depending on the power spectral density. Several simulated point spread functions (PSFs) and modulation transfer functions (MTFs) for different values of the Fried coherent diameter (ro) were used to show how rough the atmosphere was. To evaluate the effectiveness of the optical system (telescope), the Strehl ratio (S) was computed. The compensation procedure for an AO syst

... Show More
View Publication Preview PDF
Crossref
Publication Date
Fri Jan 20 2023
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
On Antimagic Labeling for Some Families of Graphs
...Show More Authors

Antimagic labeling of a graph  with  vertices and  edges is assigned the labels for its edges by some integers from the set , such that no two edges received the same label, and the weights of vertices of a graph  are pairwise distinct. Where the vertex-weights of a vertex  under this labeling is the sum of labels of all edges incident to this vertex, in this paper, we deal with the problem of finding vertex antimagic edge labeling for some special families of graphs called strong face graphs. We prove that vertex antimagic, edge labeling for strong face ladder graph , strong face wheel graph ,  strong face fan graph , strong face prism graph  and finally strong face friendship graph .

View Publication Preview PDF
Crossref
Publication Date
Sun Nov 12 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Indirect lmunofluorescent Antibody Test for Detecting Chlamydial Infection
...Show More Authors

A total of 243 serum samples  were tested  for the presence of

Chlamydia antibodies by ind irect immunofluorescent antibody test.Ninety

nine females were suffering from abortions, 64 were infertile and other 80 were  none  aborted  women.  The  incidence of  Ch lamydia  were  (15%,

9.4%)   and   (3.8%)   in  abortion,   infertile   and   non   aborted   group,

respecti vely.  The  results  also  showed  a difference  in  prevalence rate between the age groups. The  highest  incidence was found  in the age group  20-39 &

... Show More
View Publication Preview PDF
Publication Date
Mon Apr 17 2023
Journal Name
Wireless Communications And Mobile Computing
A Double Clustering Approach for Color Image Segmentation
...Show More Authors

One of the significant stages in computer vision is image segmentation which is fundamental for different applications, for example, robot control and military target recognition, as well as image analysis of remote sensing applications. Studies have dealt with the process of improving the classification of all types of data, whether text or audio or images, one of the latest studies in which researchers have worked to build a simple, effective, and high-accuracy model capable of classifying emotions from speech data, while several studies dealt with improving textual grouping. In this study, we seek to improve the classification of image division using a novel approach depending on two methods used to segment the images. The first

... Show More
View Publication
Scopus (3)
Crossref (2)
Scopus Crossref
Publication Date
Thu Mar 18 2010
Journal Name
Spe Projects, Facilities & Construction
Correlating Optimum Stage Pressure for Sequential Separator Systems
...Show More Authors
Summary<p>A study to find the optimum separators pressures of separation stations has been performed. Stage separation of oil and gas is accomplished with a series of separators operating at sequentially reduced pressures. Liquid is discharged from a higher-pressure separator into the lower-pressure separator. The set of working separator pressures that yields maximum recovery of liquid hydrocarbon from the well fluid is the optimum set of pressures, which is the target of this work.</p><p>A computer model is used to find the optimum separator pressures. The model employs the Peng-Robinson equation of state (Peng and Robinson 1976) for volatile oil. The application of t</p> ... Show More
View Publication
Scopus (15)
Crossref (14)
Scopus Crossref
Publication Date
Sun Apr 30 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Fast Training Algorithms for Feed Forward Neural Networks
...Show More Authors

 The aim of this paper, is to discuss several high performance training algorithms fall into two main categories. The first category uses heuristic techniques, which were developed from an analysis of the performance of the standard gradient descent algorithm. The second category of fast algorithms uses standard numerical optimization techniques such as: quasi-Newton . Other aim is to solve the drawbacks related with these training algorithms and propose an efficient training algorithm for FFNN

View Publication Preview PDF