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
Sat Aug 27 2022
Journal Name
Egyptian Journal Of Chemistry
Evaluation of Zinc Chelation Ability for Non-Hydroxamic Organic Moieties
...Show More Authors

View Publication
Scopus (8)
Scopus Clarivate Crossref
Publication Date
Fri Mar 31 2023
Journal Name
Iraqi Geological Journal
Glass Wastes Sorption Efficiency for Removing Cadmium from Aqueous Solutions
...Show More Authors

This research aims to test the ability of glass waste powder to adsorb cadmium from aqueous solutions. The glass wastes were collected from the Glass Manufacturing Factory in Ramadi. The effect of concentration and reaction time on sorption was tested through a series of laboratory experiments. Four Cd concentrations (20, 40, 60, and 80) as each concentration was tested ten times for 5, 10, 15, 20, 25, 30, 35, 40, 45, and 50 min. Solid (glass wastes) to liquid was 2g to 30ml was fixed in each experiment where the total volume of the solution was 30ml. The pH, total dissolved salts and electrical conductivity were measured at 30ºC. The equilibrium concentration was determined at 25 minutes, thereafter it was noted that the sorption

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sun Jul 13 2025
Journal Name
Journal Of Engineering
Construction of a General-Purpose Infrastructure for Rfid – Based Applications
...Show More Authors

View Publication
Publication Date
Sat Jan 03 2015
Journal Name
Journal Of Engineering And Development
3D Presentation for Baghdad University Buildings Using Total Station Device
...Show More Authors

capable of the measuring with a high degree of precision in a single instrument. Total stations device are used for station setting up, setting-outmany points from one station. Their major purpose of this work is to take advantage of total station for setting up building and to establish 3D representation using AutoCAD program. The area of the study was Civil Engineering Department at Baghdad University campus AL Jadiriyah. The completion of the work is done in two stages; 1. The field work: In this stage, the Total Station Nikon Nivo-5C was selected for the current study. This device was measured horizontal and vertical distance, elevations, and coordinates from a single set up. This data directly stored on memory. 2. The office work: In t

... Show More
Publication Date
Tue Sep 30 2014
Journal Name
Iosr Journal Of Mathematics
Modification Adomian Decomposition Method for solving Seventh OrderIntegro-Differential Equations
...Show More Authors

In this paper, a method based on modified adomian decomposition method for solving Seventh order integro-differential equations (MADM). The distinctive feature of the method is that it can be used to find the analytic solution without transformation of boundary value problems. To test the efficiency of the method presented two examples are solved by proposed method.

View Publication
Publication Date
Sun Sep 05 2010
Journal Name
Baghdad Science Journal
Volterra Runge- Kutta Methods for Solving Nonlinear Volterra Integral Equations
...Show More Authors

In this paper Volterra Runge-Kutta methods which include: method of order two and four will be applied to general nonlinear Volterra integral equations of the second kind. Moreover we study the convergent of the algorithms of Volterra Runge-Kutta methods. Finally, programs for each method are written in MATLAB language and a comparison between the two types has been made depending on the least square errors.

View Publication Preview PDF
Crossref
Publication Date
Sat Jan 01 2005
Journal Name
Iraqi Journal Of Science
Comparison between Zernike moment and central moments for matching problem
...Show More Authors

Moment invariants have wide applications in image recognition since they were proposed.

Publication Date
Wed Feb 20 2019
Journal Name
Iraqi Journal Of Physics
Study the atomic properties of 2s shell for some atoms
...Show More Authors

Ground state energies and other properties of 2S shell for some atoms as Be(Z=4), B(Z=5), C(Z=6) and N(Z=7) were calculated by using Hartree-Fock wave function. We found the values of potential energies in hartree unit (3.8369, 6.78565, 10.18852 and 14.41089) respectively and the other proprieties like expectation values of the position < r1m >  were in agreement with the published results. All the studied atomic properties were normalized. 

View Publication Preview PDF
Crossref (3)
Crossref
Publication Date
Wed Dec 28 2022
Journal Name
Journal Of Chemical Technology And Metallurgy
THERMODYNAMIC ANALYSIS OF MOISTURE ADSORPTION ISOTHERM FOR MEFENAMIC ACID TABLETS
...Show More Authors

Publication Date
Sun Dec 01 2024
Journal Name
Baghdad Science Journal
Bernoulli Polynomials Method for Solving Integral Equations with Singular Kernel
...Show More Authors

هناك دائما حاجة إلى طريقة فعالة لتوليد حل عددي أكثر دقة للمعادلات التكاملية ذات النواة المفردة أو المفردة الضعيفة لأن الطرق العددية لها محدودة. في هذه الدراسة ، تم حل المعادلات التكاملية ذات النواة المفردة أو المفردة الضعيفة باستخدام طريقة متعددة حدود برنولي. الهدف الرئيسي من هذه الدراسة هو ايجاد حل تقريبي لمثل هذه المشاكل في شكل متعددة الحدود في سلسلة من الخطوات المباشرة. أيضا ، تم افتراض أن مقام النواة

... Show More
View Publication
Scopus Clarivate Crossref