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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
Sat Dec 28 2019
Journal Name
Journal Of Mechanics Of Continua And Mathematical Sciences
NEW ROBUST ESTIMATOR OF CHANGE POINT IN SEGMENTED REGRESSION MODEL FOR BED-LOAD OF RIVERS
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Publication Date
Thu Feb 01 2018
Journal Name
Journal Of Economics And Administrative Sciences
Comparison Some Robust Estimators for Estimate parameters logistic regression model to Binary Response – using simulation)).
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 The logistic regression model of the most important regression models a non-linear which aim getting estimators have a high of efficiency, taking character more advanced in the process of statistical analysis for being a models appropriate form of Binary Data.                                                          

Among the problems that appear as a result of the use of some statistical methods I

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Publication Date
Tue Oct 13 2020
Journal Name
2020 Ieee International Conference On Mechatronics And Automation (icma)
A Robust Multi-Channel EEG Signals Preprocessing Method for Enhanced Upper Extremity Motor Imagery Decoding
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Publication Date
Sun Sep 25 2022
Journal Name
American Scientific Research Journal For Engineering, Technology, And Sciences
Design and Fabrication of an Electromechanical Tester to Perform Two-dimensional Tensile Testing for Flexible Materials
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There are many diseases that affect the arteries, especially those related to their elasticity and stiffness, and they can be guessed by estimating and calculating the modulus of elasticity. Hence, the accurate calculation of the elastic modulus leads to an accurate assessment of these diseases, especially in their early stages, which can contribute to the treatment of these diseases early. Most of the calculations used the one-dimensional (1D) modulus of elasticity. From a mechanical point of view, the stresses to which the artery is subjected are not one-dimensional, but three-dimensional. Therefore, estimating at least a two-dimensional (2D) modulus of elasticity will necessarily be more accurate. To the knowledge of researchers, there i

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Publication Date
Sat Apr 01 2023
Journal Name
International Journal Of Electrical And Computer Engineering (ijece)
Flexible handover solution for vehicular ad-hoc networks based on software defined networking and fog computing
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<p>Vehicular ad-hoc networks (VANET) suffer from dynamic network environment and topological instability that caused by high mobility feature and varying vehicles density. Emerging 5G mobile technologies offer new opportunities to design improved VANET architecture for future intelligent transportation system. However, current software defined networking (SDN) based handover schemes face poor handover performance in VANET environment with notable issues in connection establishment and ongoing communication sessions. These poor connectivity and inflexibility challenges appear at high vehicles speed and high data rate services. Therefore, this paper proposes a flexible handover solution for VANET networks by integrating SDN and

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Publication Date
Mon Apr 30 2018
Journal Name
Journal Of Theoretical And Applied Information Technology
An efficient artificial fish swarm algorithm with harmony search for scheduling in flexible job-shop problem
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Flexible job-shop scheduling problem (FJSP) is one of the instances in flexible manufacturing systems. It is considered as a very complex to control. Hence generating a control system for this problem domain is difficult. FJSP inherits the job-shop scheduling problem characteristics. It has an additional decision level to the sequencing one which allows the operations to be processed on any machine among a set of available machines at a facility. In this article, we present Artificial Fish Swarm Algorithm with Harmony Search for solving the flexible job shop scheduling problem. It is based on the new harmony improvised from results obtained by artificial fish swarm algorithm. This improvised solution is sent to comparison to an overall best

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Scopus
Publication Date
Mon Oct 01 2018
Journal Name
International Journal Of Modern Trends In Engineering And Research
Quadtree Partitioning Scheme using Fixed Predictor Base
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Publication Date
Wed Aug 01 2018
Journal Name
Journal Of Economics And Administrative Sciences
Compare to the conditional logistic regression models with fixed and mixed effects for longitudinal data
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Mixed-effects conditional logistic regression is evidently more effective in the study of qualitative differences in longitudinal pollution data as well as their implications on heterogeneous subgroups. This study seeks that conditional logistic regression is a robust evaluation method for environmental studies, thru the analysis of environment pollution as a function of oil production and environmental factors. Consequently, it has been established theoretically that the primary objective of model selection in this research is to identify the candidate model that is optimal for the conditional design. The candidate model should achieve generalizability, goodness-of-fit, parsimony and establish equilibrium between bias and variab

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Publication Date
Wed Jun 30 2004
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
The Analysis of a Fixed Bed Absorber Used for the Removal of Pollutants from Water
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Publication Date
Sun Sep 04 2011
Journal Name
Baghdad Science Journal
Combined DWT and DCT Image Compression Using Sliding RLE Technique
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A number of compression schemes were put forward to achieve high compression factors with high image quality at a low computational time. In this paper, a combined transform coding scheme is proposed which is based on discrete wavelet (DWT) and discrete cosine (DCT) transforms with an added new enhancement method, which is the sliding run length encoding (SRLE) technique, to further improve compression. The advantages of the wavelet and the discrete cosine transforms were utilized to encode the image. This first step involves transforming the color components of the image from RGB to YUV planes to acquire the advantage of the existing spectral correlation and consequently gaining more compression. DWT is then applied to the Y, U and V col

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