Aerial Robot Arms (ARAs) enable aerial drones to interact and influence objects in various environments. Traditional ARA controllers need the availability of a high-precision model to avoid high control chattering. Furthermore, in practical applications of aerial object manipulation, the payloads that ARAs can handle vary, depending on the nature of the task. The high uncertainties due to modeling errors and an unknown payload are inversely proportional to the stability of ARAs. To address the issue of stability, a new adaptive robust controller, based on the Radial Basis Function (RBF) neural network, is proposed. A three-tier approach is also followed. Firstly, a detailed new model for the ARA is derived using the Lagrange–d’A

This article deals with the approximate algorithm for two dimensional multi-space fractional bioheat equations (M-SFBHE). The application of the collection method will be expanding for presenting a numerical technique for solving M-SFBHE based on “shifted Jacobi-Gauss-Labatto polynomials” (SJ-GL-Ps) in the matrix form. The Caputo formula has been utilized to approximate the fractional derivative and to demonstrate its usefulness and accuracy, the proposed methodology was applied in two examples. The numerical results revealed that the used approach is very effective and gives high accuracy and good convergence.

    Current study was carried out to determine the adsorption ability of the Multiwall carbon nanotubes (MWCNTs) by adsorption Malachite Green dye from an aqueous solution. Crystal structure of the materials was measured using powder X-rays diffraction (PXRD), UV–Vis diffuse reflectance and specific surface area (BET). Many parameters that affecting the adsorption process such as contact time, pH, adsorbent dosage, initial dye concentration and temperature were studied. The outcome showed that an increasing occurred in the adsorbent dosage and the rate of dye removal, and the best efficiency for Malachite Green dye removal was amounted 99. 11 %. The results were obtained at optimal reaction conditions were pH = 5.5, cata

     The spatial assessment criteria system for hybridizing renewable energy sources, such as hybrid solar-wind farms, is critical in selecting ideal installation sites that maximize benefits, reduce costs, protect the environment, and serve the community. However, a systematic approach to designing indicator systems is rarely used in relevant site selection studies. Therefore, the current paper attempts to present an inclusive framework based on content validity to create an effective criteria system for siting wind-solar plants. To this end, the criteria considered in the related literature are captured, and the top 10 frequent indicators are identified. The Delphi technique is used to subject commonly used factors to expert judgme

     The present study aims to assess environmental pollution using the resistivity method and geological logging technique over a municipal dumpsite of Ijagun Ijebu Ode, underlain by the Afowo Formation within the Dahomey Basin southwestern Nigeria. Forty vertical electrical resistivity soundings stations and six 2D electrical resistivity imaging profiles using Schlumberger and Wenner array respectively with maximum spread-length of 40m at each sounding and profile length of 60 m and 120 m and one borehole log were carried out. Three geoelectrical layers were obtained in the control area, their resistivity values with their corresponding depth of sediment materials is 126 Ωm – 724 Ωm at depth range 0.9 m – 1.1 m (topsoil), 6

     Minimizing the power consumption of electronic systems is one of the most critical concerns in the design of integrated circuits for very large-scale integration (VLSI). Despite the reality that VLSI design is known for its compact size, low power, low price, excellent dependability, and high functionality, the design stage remains difficult to improve in terms of time and power. Several optimization algorithms have been designed to tackle the present issues in VLSI design. This study discusses a bi-objective optimization technique for circuit partitioning based on a genetic algorithm. The motivation for the proposed research is derived from the basic concept that, if some portions of a circuit's system are deactivated during th

The free piston engine linear generator (FPELG) is a simple engine structure with few components, making it a promising power generation system. However, because the engine works without a crankshaft, the handling of the piston motion control (PMC) is the main challenge influencing the stability and performance of FPELGs. In this article, the optimal operating parameters of FPELG for maximising engine performance and reducing exhaust gas emissions were studied. Moreover, the influence of adding hydrogen (H2) to compressed natural gas (CNG) fuel on FPELG performance was investigated. The influence of operating parameters on in-cylinder pressure was also analysed. The single-piston FPELG fuelled by CNG blended with H2 was used to run the expe

The frequency dependent noise attenuation (FDNAT) filter was applied on 2D seismic data line DE21 in east Diwaniya, south eastern Iraq to improve the signal to noise ratio. After applied FDNAT on the seismic data, it gives good results and caused to remove a lot of random noise. This processing is helpful in enhancement the picking of the signal of the reflectors and therefore the interpretation of data will be easy later. The quality control by using spectrum analysis is used as a quality factor in proving the effects of FDNAT filter to remove the random noise.

Abstract—The upper limb amputation exerts a significant burden on the amputee, limiting their ability to perform everyday activities, and degrading their quality of life. Amputee patients’ quality of life can be improved if they have natural control over their prosthetic hands. Among the biological signals, most commonly used to predict upper limb motor intentions, surface electromyography (sEMG), and axial acceleration sensor signals are essential components of shoulder-level upper limb prosthetic hand control systems. In this work, a pattern recognition system is proposed to create a plan for categorizing high-level upper limb prostheses in seven various types of shoulder girdle motions. Thus, combining seven feature groups, w