Preferred Language
Articles
/
iRYW14kBVTCNdQwCMI0A
On-Board Digital Twin Based on Impedance and Model Predictive Control for Aerial Robot Grasping
...Show More Authors

Aerial manipulation of objects has a number of advantages as it is not limited by the morphology of the terrain. One of the main problems of the aerial payload process is the lack of real-time prediction of the interaction between the gripper of the aerial robot and the payload. This paper introduces a digital twin (DT) approach based on impedance control of the aerial payload transmission process. The impedance control technique is implemented to develop the target impedance based on emerging the mass of the payload and the model of the gripper fingers. Tracking the position of the interactional point between the fingers of gripper and payload, inside the impedance control, is achieved using model predictive control (MPD) approach. The developed on-board DT offered a model where interaction with the unknown payload and aerial robot dynamics is informed. Beside this, the results showed the ability of the introduced DT to foretell the conditions of the forces acting on the payload which helped to predict the situation of aerial manipulation process. Additionally, the results showed that the DT model could detect real-time errors in the physical asset.

Scopus Clarivate Crossref
View Publication
Publication Date
Wed Nov 01 2017
Journal Name
Journal Of Computational And Theoretical Nanoscience
Solution for Multi-Objective Optimisation Master Production Scheduling Problems Based on Swarm Intelligence Algorithms
...Show More Authors

The emphasis of Master Production Scheduling (MPS) or tactic planning is on time and spatial disintegration of the cumulative planning targets and forecasts, along with the provision and forecast of the required resources. This procedure eventually becomes considerably difficult and slow as the number of resources, products and periods considered increases. A number of studies have been carried out to understand these impediments and formulate algorithms to optimise the production planning problem, or more specifically the master production scheduling (MPS) problem. These algorithms include an Evolutionary Algorithm called Genetic Algorithm, a Swarm Intelligence methodology called Gravitational Search Algorithm (GSA), Bat Algorithm (BAT), T

... Show More
View Publication Preview PDF
Scopus (15)
Crossref (11)
Scopus Crossref
Publication Date
Sat Sep 21 2013
Journal Name
Nonlinear Dynamics
BER performance enhancement for secure wireless optical communication systems based on chaotic MIMO techniques
...Show More Authors

View Publication
Scopus (7)
Crossref (7)
Scopus Clarivate Crossref
Publication Date
Mon Jan 04 2021
Journal Name
Multimedia Tools And Applications
Attention enhancement system for college students with brain biofeedback signals based on virtual reality
...Show More Authors

View Publication
Scopus (4)
Crossref (5)
Scopus Clarivate Crossref
Publication Date
Mon Oct 02 2023
Journal Name
Journal Of Engineering
Microgrid Integration Based on Deep Learning NARMA-L2 Controller for Maximum Power Point Tracking
...Show More Authors

This paper presents a hybrid energy resources (HER) system consisting of solar PV, storage, and utility grid. It is a challenge in real time to extract maximum power point (MPP) from the PV solar under variations of the irradiance strength.  This work addresses challenges in identifying global MPP, dynamic algorithm behavior, tracking speed, adaptability to changing conditions, and accuracy. Shallow Neural Networks using the deep learning NARMA-L2 controller have been proposed. It is modeled to predict the reference voltage under different irradiance. The dynamic PV solar and nonlinearity have been trained to track the maximum power drawn from the PV solar systems in real time.

Moreover, the proposed controller i

... Show More
View Publication Preview PDF
Crossref
Publication Date
Wed Jun 01 2022
Journal Name
Baghdad Science Journal
WOAIP: Wireless Optimization Algorithm for Indoor Placement Based on Binary Particle Swarm Optimization (BPSO)
...Show More Authors

Optimizing the Access Point (AP) deployment has a great role in wireless applications due to the need for providing an efficient communication with low deployment costs. Quality of Service (QoS), is a major significant parameter and objective to be considered along with AP placement as well the overall deployment cost. This study proposes and investigates a multi-level optimization algorithm called Wireless Optimization Algorithm for Indoor Placement (WOAIP) based on Binary Particle Swarm Optimization (BPSO). WOAIP aims to obtain the optimum AP multi-floor placement with effective coverage that makes it more capable of supporting QoS and cost-effectiveness. Five pairs (coverage, AP deployment) of weights, signal thresholds and received s

... Show More
View Publication Preview PDF
Scopus (6)
Crossref (4)
Scopus Clarivate Crossref
Publication Date
Fri Dec 01 2023
Journal Name
Iraqi Journal Of Physics
Gas Sensor for Hazardous Nitrogen Dioxide Based on TiO2 Nanotube Synthesis via Electrochemical Method
...Show More Authors

Because of the quick growth of electrical instruments used in noxious gas detection, the importance of gas sensors has increased. X-ray diffraction (XRD) can be used to examine the crystal phase structure of sensing materials, which affects the properties of gas sensing. This contributes to the study of the effect of electrochemical synthesis of titanium dioxide (TiO2) materials with various crystal phase shapes, such as rutile TiO2 (R-TiO2NTs) and anatase TiO2 (A-TiO2NTs). In this work, we have studied the effect of voltage on preparing TiO2 nanotube arrays via the anodization technique for gas sensor applications. The results acquired from XRD, energy dispersion spectro

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Sat Nov 05 2022
Journal Name
Sensors
Enhancement of the CAST Block Algorithm Based on Novel S-Box for Image Encryption
...Show More Authors

Background and Aim: due to the rapid growth of data communication and multimedia system applications, security becomes a critical issue in the communication and storage of images. This study aims to improve encryption and decryption for various types of images by decreasing time consumption and strengthening security. Methodology: An algorithm is proposed for encrypting images based on the Carlisle Adams and Stafford Tavares CAST block cipher algorithm with 3D and 2D logistic maps. A chaotic function that increases the randomness in the encrypted data and images, thereby breaking the relation sequence through the encryption procedure, is introduced. The time is decreased by using three secure and private S-Boxes rather than using si

... Show More
View Publication
Crossref (11)
Crossref
Publication Date
Fri Dec 31 2021
Journal Name
International Journal Of Intelligent Engineering And Systems
Performance Analysis for Hybrid Massive MIMO FSO/RF Links Based on Efficient Channel Codes
...Show More Authors

View Publication
Scopus (2)
Crossref (1)
Scopus Crossref
Publication Date
Fri Jan 01 2021
Journal Name
Ieee Access
Microwave Nondestructive Testing for Defect Detection in Composites Based on K-Means Clustering Algorithm
...Show More Authors

View Publication
Scopus (57)
Crossref (57)
Scopus Clarivate Crossref
Publication Date
Tue Jun 10 2025
Journal Name
Wasit Journal Of Sports Sciences
The impact of the Needham model on learning the skills of dribbling and handling in football for students
...Show More Authors

View Publication