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Function approximation technique-based adaptive virtual decomposition control for a serial-chain manipulator
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SUMMARY<p>The virtual decomposition control (VDC) is an efficient tool suitable to deal with the full-dynamics-based control problem of complex robots. However, the regressor-based adaptive control used by VDC to control every subsystem and to estimate the unknown parameters demands specific knowledge about the system physics. Therefore, in this paper, we focus on reorganizing the equation of the VDC for a serial chain manipulator using the adaptive function approximation technique (FAT) without needing specific system physics. The dynamic matrices of the dynamic equation of every subsystem (e.g. link and joint) are approximated by orthogonal functions due to the minimum approximation errors produced. The control, the virtual stability of every subsystem and the stability of the entire robotic system are proved in this work. Then the computational complexity of the FAT is compared with the regressor-based approach. Despite the apparent advantage of the FAT in avoiding the regressor matrix, its computational complexity can result in difficulties in the implementation because of the representation of the dynamic matrices of the link subsystem by two large sparse matrices. In effect, the FAT-based adaptive VDC requires further work for improving the representation of the dynamic matrices of the target subsystem. Two case studies are simulated by Matlab/Simulink: a 2-R manipulator and a 6-DOF planar biped robot for verification purposes.</p>
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Publication Date
Fri Sep 30 2022
Journal Name
Journal Of Economics And Administrative Sciences
Comparison of Some Methods for Estimating the Survival Function and Failure Rate for the Exponentiated Expanded Power Function Distribution
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       We have presented the distribution of the exponentiated expanded power function (EEPF) with four parameters, where this distribution was created by the exponentiated expanded method created by the scientist Gupta to expand the exponential distribution by adding a new shape parameter to the cumulative function of the distribution, resulting in a new distribution, and this method is characterized by obtaining a distribution that belongs for the exponential family. We also obtained a function of survival rate and failure rate for this distribution, where some mathematical properties were derived, then we used the method of maximum likelihood (ML) and method least squares developed  (LSD) to estimate the parameters an

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Publication Date
Thu Sep 15 2022
Journal Name
Al-academy
meta and its dimensions in the designed bio-formation - virtual reality environment - a model
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This study revolves around the rapid changes of science and a comparison of the formal and practical aspects and the reason behind summoning the changes and their types, which are subject to the influence of the recipient. This transformation represents formal and intellectual production cycles and formal functional generation that is subject to the goals of the system of multiple differences at the level of time and place. It meets the needs and the request for change, but access to it comes through multiple systems and portals that are different from the normal and the usual, so this study was called (meta and its dimensions in the designed biological formation (virtual reality environment - a model). The research seeks to find solutio

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Publication Date
Wed Oct 01 2014
Journal Name
Engineering And Technology Journal
Investigating Forward kinematic Analysis of a 5-axes Robotic Manipulator using Denavit-Hartenberg Method and Artificial Neural Network
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Publication Date
Fri Dec 23 2011
Journal Name
International Journal Of The Physical Sciences
Fast prediction of power transfer stability index based on radial basis function neural network
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Publication Date
Thu Dec 14 2023
Journal Name
Iete Journal Of Research
Performance Enhancement of VLC-NOMA Employing Beamforming Function based vehicle-to-multivehicle Communication system
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Publication Date
Mon Feb 01 2021
Journal Name
Journal Of Physics: Conference Series
The Fear Effect on a Food Chain Prey-Predator Model Incorporating a Prey Refuge and Harvesting
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Abstract<p>In this paper, we investigate the impact of fear on a food chain mathematical model with prey refuge and harvesting. The prey species reproduces by to the law of logistic growth. The model is adapted from version of the Holling type-II prey-first predator and Lotka-Volterra for first predator-second predator model. The conditions, have been examined that assurance the existence of equilibrium points. Uniqueness and boundedness of the solution of the system have been achieve. The local and global dynamical behaviors are discussed and analyzed. In the end, numerical simulations are confirmed the theoretical results that obtained and to display the effectiveness of varying each parameter</p> ... Show More
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Publication Date
Thu Jun 03 2021
Journal Name
021 8th International Conference On Computing For Sustainable Global Development (indiacom)
Tilting-rotors Quadcopters: A New Dynamics Modelling and Simulation based on the Newton-Euler Method with Lead Compensator Control
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Publication Date
Sun Jan 01 2017
Journal Name
Journal Of Engineering
Adaptive Sliding Mode Controller for Servo Actuator System with Friction
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This paper addresses the use of adaptive sliding mode control for the servo actuator system with friction. The adaptive sliding mode control has several advantages over traditional sliding mode control method. Firstly, the magnitude of control effort is reduced to the minimal admissible level defined by the conditions for the sliding mode to exist. Secondly, the upper bounds of uncertainties are not required to be known in advance. Therefore, adaptive sliding mode control method can be effectively implemented. The numerical simulation via MATLAB 2014a for servo actuator system with friction is investigated to confirm the effectiveness of the proposed robust adaptive sliding mode control scheme. The results clarify, after

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Publication Date
Wed Nov 01 2017
Journal Name
Journal Of Engineering
Design of L1 -Adaptive Controller for Single Axis Positioning Table
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L1 adaptive controller has proven to provide fast adaptation with guaranteed transients in a large variety of systems. It is commonly used for controlling systems with uncertain time-varying unknown parameters. The effectiveness of  L1 adaptive controller for position control of single axis has been examined and compared with Model Reference Adaptive Controller (MRAC). The Linear servo motor is one of the main constituting elements of the x-y table which is mostly used in automation application. It is characterized by time-varying friction and disturbance.

    The tracking and steady state performances of both controllers have been assessed fo

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Publication Date
Mon Mar 30 2026
Journal Name
Journal Of Al-qadisiyah For Computer Science And Mathematics
Adaptive Security Model for Data Protection Using Behavioral User Authentication
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Credential compromise is one of the most widespread security threats, allowing adversaries to bypass traditional authentication measures and impersonate legitimate users. Traditional intrusion detection systems are often based on network-level or macro-behavioral indicators, which can be easily spoofed by an attacker, thus compromising the effectiveness of those mechanisms. This study presents an improved adaptive intrusion detection system to authenticate user behavior based on micro-digital behavioral profiling. It involves the use of timing of keystrokes, micro-mouse, navigation in the application, and interaction rhythm signatures. The proposed system uses a hybrid model consisting of Long Short-Term Memory (LSTM) sequence predi

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