In this paper, a robust adaptive sliding mode controller is designed for a mobile platform trajectory tracking.  The mobile platform is an example of a nonholonomic mechanical system. The presence of holonomic constraints reduces the number of degree of freedom that represents the system model, while the nonholonomic constraints reduce the differentiable degree of freedom. The mathematical model was derived here for the mobile platform, considering the existence of one holonomic and two nonholonomic constraints imposed on system dynamics. The partial feedback linearization method was used to get the input-output relation, where the output is the error functions between the position of a certain point on the platform

Position control of servo motor systems is a challenging task because of inevitable factors such as uncertainties, nonlinearities, parametric variations, and external perturbations. In this article, to alleviate the above issues, a practical adaptive fast terminal sliding mode control (PAFTSMC) is proposed for better tracking performance of the servo motor system by using a state observer and bidirectional adaptive law. First, a smooth-tangent-hyperbolic-function-based practical fast terminal sliding mode control (PFTSM) surface is designed to ensure not only fast finite time tracking error convergence but also chattering reduction. Second, the PAFTSMC is proposed for the servo motor, in which a two-way adaptive law is designed to further s

Lagrange series and the Bessel function are two classical methods that were created by series expanding from Taylor series. In this paper, the purpose of those two methods was to find the values of the eccentric anomaly for one period (0–360)°. The Matlab program is used to apply the results, the input parameters were eccentricity (0–1), mean anomaly (0–360)°, and finally the parameter W (1–13). The program does not need a tolerance to obtain a precise value for eccentric anomaly like other iterative and non-iterative methods to stop the program; it will stop after completing the required period from 0° to 360° for a body that is determined by the solver. The output will be the final value of the eccentric anomaly. Furthermore,

This paper proposes a novel method for generating True Random Numbers (TRNs) using electromechanical switches. The proposed generator is implemented using an FPGA board. The system utilizes the phenomenon of electromechanical switch bounce to produce a randomly fluctuated signal that is used to trigger a counter to generate a binary random number. Compared to other true random number generation methods, the proposed approach features a high degree of randomness using a simple circuit that can be easily built using off-the-shelf components. The proposed system is implemented using a commercial relay circuit connected to an FPGA board that is used to process and record the generated random sequences. Applying statistical testing on the exp

The road network serves as a hub for opportunities in production and consumption, resource extraction, and social cohabitation. In turn, this promotes a higher standard of living and the expansion of cities. This research explores the road network's spatial connectedness and its effects on travel and urban form in the Al-Kadhimiya and Al-Adhamiya municipalities. Satellite images and paper maps have been employed to extract information on the existing road network, including their kinds, conditions, density, and lengths. The spatial structure of the road network was then generated using the ArcGIS software environment. The road pattern connectivity was evaluated using graph theory indices. The study demands the abstractio

Epithelial mesenchymal transition (EMT) is a process comprising cellular and molecular events which result in cells shifting from an epithelial to a mesenchymal phenotype. Periodontitis is a destructive chronic disease of the periodontium initiated in response to a dysbiotic microbiome, and dominated by Gram-negative bacteria in the subgingival niches accompanied by an aberrant immune response in susceptible subjects. Both EMT and periodontitis share common risk factors and drivers, including Gram-negative bacteria, excess inflammatory cytokine production, smoking, oxidative stress and diabetes mellitus. In addition, periodontitis is characterized by down-regulation of key epithelial markers such as E-cadherin together with up-regulation of

Green synthesis of bimetallic nanoparticles of Fe/Ni (G-Fe/Ni-NPs) and zeolite-5A supported (G-Z-Fe/Ni-NPs) as heterogeneous Fenton-like oxidation for the decolourisation of reactive red 120-dye (RR120) from the aqueous medium using green tea extract as a reducing agent. Zeolite-5A from local kaolin is prepared and characterised using the hydrothermal method and is used as a supporting material for Fe/Ni-NPs. (SEM), (EDX), (AFM), (XRD), (FT-IR), (BET). Its zeta potential were used to characterise G-Fe/Ni-NPs and G-Z-Fe/Ni-NPs. The decolourisation efficiency (Ed) of the RR120-dye using a heterogeneous Fenton-like for G-Fe/Ni-NPs and G-Z-Fe/Ni-NPs is 99.8% and 99.9%, respectively, under the optimum conditions: [H2O2] = 20 and 1 mmol/L

The special core analysis tests were accomplished on a set of core plugs for Mishrif Formation (mA, mB1, and mB2cde/mC units) in West Qurna/1 oilfield, southern Iraq. Oil relative permeability (K_ro) data and the Corey-type fit of the data as functions of the brine saturation at the core outlet face for individual samples in the water-oil imbibition process to estimate relative permeability measurements by the centrifuge method were utilized. Identical correlations for oil and water relative permeabilities were extracted by steady-state and unsteady-state methods. For the mA samples, the gas-water capillary pressure curves were within a narrow range (almost identical) indicating that mA is a homogeneous unit. Kro curves for thr