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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
Tue Jan 02 2018
Journal Name
Arab Journal Of Basic And Applied Sciences
Daftardar-Jafari method for solving nonlinear thin film flow problem
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Publication Date
Sun Jun 30 2002
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Performance of Plate-Electrostatic Precipitator for Removal of R.M.O.C. Dust
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Publication Date
Sat Oct 01 2022
Journal Name
Al–bahith Al–a'alami
NEW ENVIRONMENT FOR COMMUNICATION OR ECHO MEDIA THROUGH : “Citizen Journalism”
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Since the beginning of this century, a new communication map has been formed that foretells to get mankind to enter into a media environment in which the media is mixed with communication, which is technically and even intellectually known as integration.

This environment and its features are no different from the environment in its natural physical incision. If the level and temperature in the physical nature is a specific issue in the natural ecological balance, the level of freedoms, especially the transfer of information and views and circulation in society is also a determinant in the extent of media balance in the world on the one hand and in each country on the other.

There is also a special environment for nature,

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Publication Date
Wed May 17 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Projective Properties for Symmetrical Magnetic Lens by Using Exponential Model
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A computational investigation is carried out in the field of charged particle optics with the aid of the numerical analysis methods. The work is concerned with the design of symmetrical double pole piece magnetic lens.  The axial magnetic flux density distribution is determined by using exponential model, from which the paraxial-ray equation is solved to obtain the trajectory of particles that satisfy the suggested exponential model.  From the knowledge of the first and second derivatives of axial potential distribution, the optical properties such as the focal length and aberration coefficients (radial distortion coefficient and spiral distortion coefficient) are determined.  Finally, the pole piece profiles capable of pr

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Publication Date
Mon May 27 2019
Journal Name
Al-khwarizmi Engineering Journal
Design and Implementation of SCADA System for Sugar Production Line
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SCADA is the technology that allows the operator to gather data from one or more various facilities and to send control instructions to those facilities.  This paper represents an adaptable and low cost SCADA system for a particular sugar manufacturing process, by using Programmable Logic Controls (Siemens s7-1200, 1214Dc/ Dc/ Rly). The system will control and monitor the laboratory production line chose from sugar industry. The project comprises of two sections the first one is the hardware section that has been designed, and built using components suitable for making it for laboratory purposes, and the second section was the software as the PLC programming, designing the HMI, creating alarms and trending system. The system will ha

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Publication Date
Fri Jan 01 2021
Journal Name
Journal Of Economics And Administrative Sciences
Formulating a strategy for the Northern Oil Company(Case Study)
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                  The research aims to present a proposed strategy for the North Oil Company, and the proposed strategy took into account the surrounding environmental conditions and adopted in its formulation on the basis and scientific steps that are comprehensive and realistic, as it covered the main activities of the company (production and exploration activities, refining and refining activities, export and transport of oil, research and development activity, financial activity, information technology, human resources) and the (David) model has been adopted in the environmental analysis of the factors that have been diagnosed according to a

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Publication Date
Fri Aug 31 2012
Journal Name
Al-khwarizmi Engineering Journal
Empirical Equations for Analysis of Two-Way Reinforced Concrete Slabs
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There are many different methods for analysis of two-way reinforced concrete slabs. The most efficient methods depend on using certain factors given in different codes of reinforced concrete design. The other ways of analysis of two-way slabs are the direct design method and the equivalent frame method. But these methods usually need a long time for analysis of the slabs.

In this paper, a new simple method has been developed to analyze the two-way slabs by using simple empirical formulae, and the results of final analysis of some examples have been compared with other different methods given in different codes of practice.

The comparison proof that this simple proposed method gives good results and it can be used in analy

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Publication Date
Wed May 27 2020
Journal Name
Research Gate
Information Booklet COVID-19 Graphs For Iraq First 3 Months
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This booklet contains the basic data and graphs forCOVID-19 in Iraq during the first three months of thepandemic ( 24 February to 19 May - 2020 ) , It isperformed to help researchers regarding this health problem (PDF) Information Booklet COVID-19 Graphs For Iraq First 3 Months. Available from: https://www.researchgate.net/publication/341655944_Information_Booklet_COVID-19_Graphs_For_Iraq_First_3_Months#fullTextFileContent [accessed Oct 26 2024].

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Publication Date
Sun Dec 01 2013
Journal Name
2013 Ieee International Rf And Microwave Conference (rfm)
Differential Evolution algorithm for linear frequency modulation radar signal denoising
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Signal denoising is directly related to sample estimation of received signals, either by estimating the equation parameters for the target reflections or the surrounding noise and clutter accompanying the data of interest. Radar signals recorded using analogue or digital devices are not immune to noise. Random or white noise with no coherency is mainly produced in the form of random electrons, and caused by heat, environment, and stray circuitry loses. These factors influence the output signal voltage, thus creating detectable noise. Differential Evolution (DE) is an effectual, competent, and robust optimisation method used to solve different problems in the engineering and scientific domains, such as in signal processing. This paper looks

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Publication Date
Thu Jul 17 2025
Journal Name
Journal Of College Of Law For Legal And Political Sciences
Management's responsibility for breach of investment administrative contracts
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