A reduced-order extended state observer (RESO) based a continuous sliding mode control (SMC) is proposed in this paper for the tracking problem of high order Brunovsky systems with the existence of external perturbations and system uncertainties. For this purpose, a composite control is constituted by two consecutive steps. First, the reduced-order ESO (RESO) technique is designed to estimate unknown system states and total disturbance without estimating an available state. Second, the continuous SMC law is designed based on the estimations supplied by the RESO estimator in order to govern the nominal system part. More importantly, the robustness performance is well achieved by compensating not only the lumped disturbance, but also its estimation error. Finally, the tracking performance is examined by carrying out several simulations on robotic systems with compliant actuators as an application example of the high order systems. In addition, the comparative study is conducted between the proposed SMC method with RESO and a feedback linearization control (FLC) with a full-order ESO to confirm the estimation and tracking performance of the proposed scheme.
The study aimed to find out the degree of practicing Arabic language teachers in the preparatory stage of higher-order thinking skills from their point of view in the first, second and third Baghdad Rusafa directorates of education. The descriptive survey method was used. The study population consisted of teachers of the Arabic language in the directorates of Baghdad, Rusafa, First, Second and Third, and the sample number was (284) teachers. A questionnaire was built on higher-order thinking skills. The validity and reliability of the tool were verified, after which the scale was applied to the research sample of (116) schools and (168) teachers who were randomly selected from the schools affiliated to the Baghdad Education Directorates Rus
... Show MoreSymmetric cryptography forms the backbone of secure data communication and storage by relying on the strength and randomness of cryptographic keys. This increases complexity, enhances cryptographic systems' overall robustness, and is immune to various attacks. The present work proposes a hybrid model based on the Latin square matrix (LSM) and subtractive random number generator (SRNG) algorithms for producing random keys. The hybrid model enhances the security of the cipher key against different attacks and increases the degree of diffusion. Different key lengths can also be generated based on the algorithm without compromising security. It comprises two phases. The first phase generates a seed value that depends on producing a rand
... Show MoreWith the quick grow of multimedia contents, from among this content, face recognition has got a lot of significant, specifically in latest little years. The face as object formed of various recognition characteristics for detect; so, it is still the most challenge research domain for researchers in area of image processing and computer vision. In this survey article, tried to solve the most demanding facial features like illuminations, aging, pose variation, partial occlusion and facial expression. Therefore, it indispensable factors in the system of facial recognition when performed on facial pictures. This paper study the most advanced facial detection techniques too, approaches: Hidden Markov Models, Principal Component Analysis (PCA)
... Show MoreMulti-agent systems are subfield of Artificial Intelligence that has experienced rapid growth because of its flexibility and intelligence in order to solve distributed problems. Multi-agent systems (MAS) have got interest from various researchers in different disciplines for solving sophisticated problems by dividing them into smaller tasks. These tasks can be assigned to agents as autonomous entities with their private database, which act on their environment, perceive, process, retain and recall by using multiple inputs. MAS can be defined as a network of individual agents that share knowledge and communicate with each other in order to solve a problem that is beyond the scope of a single agent. It is imperative to understand the chara
... Show MoreE-learning seeks to create an interactive learning environment between the teacher and the learner through electronic media conveying in more than one direction, regardless of how the environment and its variables are identified. It also develops skills necessary to deal with technology in order to be able to take into account the individual differences between them and helps e-learning teacher and learner to achieve the goals set in advance and identify educational objectives in a clear manner. The research aims to identify e-learning in its benefits and management systems. It has three sections dealt with in the current research. Chapter II concentrates on the research Methodology, which consisted of three sections: The first s
... Show MoreThe aesthetic expression and its orders are important for steel structures forming. Steel structures are a compilation of structural elements, where its shapes have standard dimensions and pre-fabricated. As the steel construction systems not only aim to achieve the functional requirements for users, but must also have the symbolic aesthetics which provides visually and cognitive expression for viewers. In this sense the research interested in expressional aesthetics in these systems and highlights the importance of attention as structural items. Therefore the visual items which related with steel structures contain some of the most powerful forms of modern architecture, steel structures with a glass cladding, agility an
... Show MoreHumans use deception daily since it can significantly affect their life and provide a getaway solution for any undesired situation. Deception is either related to low-stakes (e.g. innocuous) or high-stakes (e.g. with harmful situations). Deception investigation importance has increased, and it became a critical issue over the years with the increase of security levels around the globe. Technology has made remarkable achievements in many human life fields, including deception detection. Automated deception detection systems (DDSs) are widely used in different fields, especially for security purposes. The DDS is comprised of multiple stages, each of which should be built/trained to perform intelligently so that the whole system can give th
... Show MoreJournal of Theoretical and Applied Information Technology is a peer-reviewed electronic research papers & review papers journal with aim of promoting and publishing original high quality research dealing with theoretical and scientific aspects in all disciplines of IT (Informaiton Technology
In this work a model of a source generating truly random quadrature phase shift keying (QPSK) signal constellation required for quantum key distribution (QKD) system based on BB84 protocol using phase coding is implemented by using the software package OPTISYSTEM9. The randomness of the sequence generated is achieved by building an optical setup based on a weak laser source, beam splitters and single-photon avalanche photodiodes operating in Geiger mode. The random string obtained from the optical setup is used to generate the quadrature phase shift keying signal constellation required for phase coding in quantum key distribution system based on BB84 protocol with a bit rate of 2GHz/s.